2025-04-16T01:42:22.796Z,1744767742.796 [Supervisor](DEBUG): Initializing supervisor.
2025-04-16T01:42:22.800Z,1744767742.800 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2025-04-16T01:42:22.801Z,1744767742.801 [SyncHandler](INFO): Protected caller Thread ID is 4720
2025-04-16T01:42:22.801Z,1744767742.801 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2025-04-16T01:42:22.802Z,1744767742.802 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2025-04-16T01:42:22.803Z,1744767742.803 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 4721
2025-04-16T01:42:22.807Z,1744767742.807 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2025-04-16T01:42:22.828Z,1744767742.828 [ComponentRegistry](DEBUG): Component "CommandExec" handled in its own thread.
2025-04-16T01:42:22.829Z,1744767742.829 [CommandExec ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2025-04-16T01:42:22.829Z,1744767742.829 [CommandExec ThreadHandler](INFO): Protected caller Thread ID is 4722
2025-04-16T01:42:22.833Z,1744767742.833 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2025-04-16T01:42:22.834Z,1744767742.834 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2025-04-16T01:42:22.835Z,1744767742.835 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 4723
2025-04-16T01:42:22.837Z,1744767742.837 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2025-04-16T01:42:22.838Z,1744767742.838 [logger ThreadHandler](DEBUG): Created PCaller Thread at 405114E0
2025-04-16T01:42:22.839Z,1744767742.839 [logger ThreadHandler](INFO): Protected caller Thread ID is 4724
2025-04-16T01:42:22.843Z,1744767742.843 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2025-04-16T01:42:22.843Z,1744767742.843 [Supervisor](INFO): Looking for Config files in directory: Config/
2025-04-16T01:42:22.845Z,1744767742.845 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2025-04-16T01:42:22.951Z,1744767742.951 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2025-04-16T01:42:22.952Z,1744767742.952 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2025-04-16T01:42:23.188Z,1744767743.188 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2025-04-16T01:42:23.188Z,1744767743.188 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2025-04-16T01:42:23.465Z,1744767743.465 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2025-04-16T01:42:23.466Z,1744767743.466 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2025-04-16T01:42:23.583Z,1744767743.583 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2025-04-16T01:42:23.584Z,1744767743.584 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2025-04-16T01:42:24.368Z,1744767744.368 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2025-04-16T01:42:24.369Z,1744767744.369 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2025-04-16T01:42:24.896Z,1744767744.896 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2025-04-16T01:42:24.896Z,1744767744.896 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2025-04-16T01:42:25.471Z,1744767745.471 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2025-04-16T01:42:25.472Z,1744767745.472 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2025-04-16T01:42:25.907Z,1744767745.907 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2025-04-16T01:42:25.908Z,1744767745.908 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2025-04-16T01:42:26.281Z,1744767746.281 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2025-04-16T01:42:26.281Z,1744767746.281 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2025-04-16T01:42:26.673Z,1744767746.673 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2025-04-16T01:42:26.674Z,1744767746.674 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2025-04-16T01:42:26.925Z,1744767746.925 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2025-04-16T01:42:26.926Z,1744767746.926 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2025-04-16T01:42:27.167Z,1744767747.167 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2025-04-16T01:42:27.168Z,1744767747.168 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2025-04-16T01:42:27.267Z,1744767747.267 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2025-04-16T01:42:27.507Z,1744767747.507 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2025-04-16T01:42:27.775Z,1744767747.775 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2025-04-16T01:42:27.776Z,1744767747.776 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2025-04-16T01:42:28.033Z,1744767748.033 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2025-04-16T01:42:28.035Z,1744767748.035 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-makai/
2025-04-16T01:42:28.036Z,1744767748.036 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/secure.cfg
2025-04-16T01:42:28.130Z,1744767748.130 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Battery.cfg
2025-04-16T01:42:28.410Z,1744767748.410 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2025-04-16T01:42:28.410Z,1744767748.410 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Navigation.cfg
2025-04-16T01:42:28.505Z,1744767748.505 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Sensor.cfg
2025-04-16T01:42:28.686Z,1744767748.686 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/vehicle.cfg
2025-04-16T01:42:28.796Z,1744767748.796 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Simulator.cfg
2025-04-16T01:42:28.916Z,1744767748.916 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Servo.cfg
2025-04-16T01:42:29.039Z,1744767749.039 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Control.cfg
2025-04-16T01:42:29.143Z,1744767749.143 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Science.cfg
2025-04-16T01:42:29.313Z,1744767749.313 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Derivation.cfg
2025-04-16T01:42:29.420Z,1744767749.420 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/workSite.cfg
2025-04-16T01:42:29.514Z,1744767749.514 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/logger.cfg
2025-04-16T01:42:29.621Z,1744767749.621 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/BIT.cfg
2025-04-16T01:42:29.718Z,1744767749.718 [Supervisor](IMPORTANT): Reloading configuration overrides from Data/persisted.cfg
2025-04-16T01:42:29.725Z,1744767749.725 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2025-04-16T01:42:29.910Z,1744767749.910 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2025-04-16T01:42:29.911Z,1744767749.911 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2025-04-16T01:42:30.077Z,1744767750.077 [BuoyancyServo] Loaded
2025-04-16T01:42:30.077Z,1744767750.077 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2025-04-16T01:42:30.102Z,1744767750.102 [ElevatorServo] Loaded
2025-04-16T01:42:30.102Z,1744767750.102 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2025-04-16T01:42:30.125Z,1744767750.125 [MassServo] Loaded
2025-04-16T01:42:30.125Z,1744767750.125 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2025-04-16T01:42:30.148Z,1744767750.148 [RudderServo] Loaded
2025-04-16T01:42:30.148Z,1744767750.148 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2025-04-16T01:42:30.167Z,1744767750.167 [ThrusterHE] Loaded
2025-04-16T01:42:30.167Z,1744767750.167 [ComponentRegistry](DEBUG): SyncComponent "ThrusterHE" handled in the control thread.
2025-04-16T01:42:30.168Z,1744767750.168 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2025-04-16T01:42:30.168Z,1744767750.168 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2025-04-16T01:42:30.335Z,1744767750.335 [SBIT](DEBUG): Construct Startup Built In Test.
2025-04-16T01:42:30.350Z,1744767750.350 [SBIT] Loaded
2025-04-16T01:42:30.351Z,1744767750.351 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2025-04-16T01:42:30.354Z,1744767750.354 [IBIT](DEBUG): Construct Initiated Built In Test.
2025-04-16T01:42:30.375Z,1744767750.375 [IBIT] Loaded
2025-04-16T01:42:30.376Z,1744767750.376 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2025-04-16T01:42:30.381Z,1744767750.381 [CBIT](DEBUG): Construct Continuous Built In Test.
2025-04-16T01:42:30.577Z,1744767750.577 [CBIT] Loaded
2025-04-16T01:42:30.577Z,1744767750.577 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2025-04-16T01:42:30.609Z,1744767750.609 [GFScanner] Loaded
2025-04-16T01:42:30.610Z,1744767750.610 [ComponentRegistry](DEBUG): SyncComponent "GFScanner" handled in the control thread.
2025-04-16T01:42:30.610Z,1744767750.610 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2025-04-16T01:42:30.611Z,1744767750.611 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2025-04-16T01:42:30.779Z,1744767750.779 [CTD_Seabird] Loaded
2025-04-16T01:42:30.779Z,1744767750.779 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread.
2025-04-16T01:42:30.780Z,1744767750.780 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 406834E0
2025-04-16T01:42:30.780Z,1744767750.780 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 4812
2025-04-16T01:42:30.816Z,1744767750.816 [ESPComponent] Loaded
2025-04-16T01:42:30.816Z,1744767750.816 [ComponentRegistry](DEBUG): SyncComponent "ESPComponent" handled in the control thread.
2025-04-16T01:42:30.838Z,1744767750.838 [PAR_Licor] Loaded
2025-04-16T01:42:30.838Z,1744767750.838 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2025-04-16T01:42:30.885Z,1744767750.885 [WetLabsBB2FL] Loaded
2025-04-16T01:42:30.885Z,1744767750.885 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2025-04-16T01:42:30.886Z,1744767750.886 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 406B34E0
2025-04-16T01:42:30.887Z,1744767750.887 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 4813
2025-04-16T01:42:30.888Z,1744767750.888 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2025-04-16T01:42:30.888Z,1744767750.888 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2025-04-16T01:42:30.942Z,1744767750.942 [DepthRateCalculator] Loaded
2025-04-16T01:42:30.942Z,1744767750.942 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2025-04-16T01:42:30.947Z,1744767750.947 [PitchRateCalculator] Loaded
2025-04-16T01:42:30.948Z,1744767750.948 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2025-04-16T01:42:30.958Z,1744767750.958 [SpeedCalculator] Loaded
2025-04-16T01:42:30.959Z,1744767750.959 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2025-04-16T01:42:30.963Z,1744767750.963 [YawRateCalculator] Loaded
2025-04-16T01:42:30.964Z,1744767750.964 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2025-04-16T01:42:30.984Z,1744767750.984 [ElevatorOffsetCalculator] Loaded
2025-04-16T01:42:30.984Z,1744767750.984 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2025-04-16T01:42:30.985Z,1744767750.985 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2025-04-16T01:42:30.985Z,1744767750.985 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2025-04-16T01:42:31.123Z,1744767751.123 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2025-04-16T01:42:31.124Z,1744767751.124 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2025-04-16T01:42:31.153Z,1744767751.153 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2025-04-16T01:42:31.154Z,1744767751.154 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2025-04-16T01:42:31.268Z,1744767751.268 [DeadReckonUsingMultipleVelocitySources] Loaded
2025-04-16T01:42:31.269Z,1744767751.269 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2025-04-16T01:42:31.283Z,1744767751.283 [NavChart] Loaded
2025-04-16T01:42:31.283Z,1744767751.283 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2025-04-16T01:42:31.289Z,1744767751.289 [UniversalFixResidualReporter] Loaded
2025-04-16T01:42:31.289Z,1744767751.289 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2025-04-16T01:42:31.290Z,1744767751.290 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2025-04-16T01:42:31.290Z,1744767751.290 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2025-04-16T01:42:31.778Z,1744767751.778 [AHRS_M2] Loaded
2025-04-16T01:42:31.778Z,1744767751.778 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2025-04-16T01:42:31.816Z,1744767751.816 [BackseatComponent] Loaded
2025-04-16T01:42:31.817Z,1744767751.817 [ComponentRegistry](DEBUG): Component "BackseatComponent" handled in its own thread.
2025-04-16T01:42:31.818Z,1744767751.818 [BackseatComponent ThreadHandler](DEBUG): Created PCaller Thread at 40A7F4E0
2025-04-16T01:42:31.818Z,1744767751.818 [BackseatComponent ThreadHandler](INFO): Protected caller Thread ID is 4814
2025-04-16T01:42:31.821Z,1744767751.821 [LcmUniversalReporter] Loaded
2025-04-16T01:42:31.821Z,1744767751.821 [ComponentRegistry](DEBUG): SyncComponent "LcmUniversalReporter" handled in the control thread.
2025-04-16T01:42:32.569Z,1744767752.569 [BPC1] Loaded
2025-04-16T01:42:32.569Z,1744767752.569 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2025-04-16T01:42:32.770Z,1744767752.770 [DAT] Loaded
2025-04-16T01:42:32.770Z,1744767752.770 [ComponentRegistry](DEBUG): Component "DAT" handled in its own thread.
2025-04-16T01:42:32.771Z,1744767752.771 [DAT ThreadHandler](DEBUG): Created PCaller Thread at 40AAF4E0
2025-04-16T01:42:32.772Z,1744767752.772 [DAT ThreadHandler](INFO): Protected caller Thread ID is 4815
2025-04-16T01:42:32.878Z,1744767752.878 [DataOverHttps] Loaded
2025-04-16T01:42:32.879Z,1744767752.879 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2025-04-16T01:42:32.880Z,1744767752.880 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 40ADF4E0
2025-04-16T01:42:32.880Z,1744767752.880 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 4816
2025-04-16T01:42:32.980Z,1744767752.980 [Depth_Keller] Loaded
2025-04-16T01:42:32.981Z,1744767752.981 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2025-04-16T01:42:32.986Z,1744767752.986 [DropWeight] Loaded
2025-04-16T01:42:32.986Z,1744767752.986 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2025-04-16T01:42:33.087Z,1744767753.087 [NAL9602] Loaded
2025-04-16T01:42:33.087Z,1744767753.087 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2025-04-16T01:42:33.169Z,1744767753.169 [Onboard] Loaded
2025-04-16T01:42:33.169Z,1744767753.169 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread.
2025-04-16T01:42:33.170Z,1744767753.170 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 40B0F4E0
2025-04-16T01:42:33.171Z,1744767753.171 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 4817
2025-04-16T01:42:33.216Z,1744767753.216 [PowerOnly](INFO): Adding load control power supply at /dev/loadB1
2025-04-16T01:42:33.266Z,1744767753.266 [PowerOnly] Loaded
2025-04-16T01:42:33.267Z,1744767753.267 [ComponentRegistry](DEBUG): SyncComponent "PowerOnly" handled in the control thread.
2025-04-16T01:42:33.281Z,1744767753.281 [Power24vConverter] Loaded
2025-04-16T01:42:33.281Z,1744767753.281 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread.
2025-04-16T01:42:33.333Z,1744767753.333 [Radio_Surface] Loaded
2025-04-16T01:42:33.333Z,1744767753.333 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2025-04-16T01:42:33.334Z,1744767753.334 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 40B3F4E0
2025-04-16T01:42:33.335Z,1744767753.335 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 4818
2025-04-16T01:42:33.391Z,1744767753.391 [Sonardyne_Nano] Loaded
2025-04-16T01:42:33.391Z,1744767753.391 [ComponentRegistry](DEBUG): SyncComponent "Sonardyne_Nano" handled in the control thread.
2025-04-16T01:42:33.392Z,1744767753.392 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2025-04-16T01:42:33.392Z,1744767753.392 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2025-04-16T01:42:33.470Z,1744767753.470 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2025-04-16T01:42:33.470Z,1744767753.470 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2025-04-16T01:42:33.526Z,1744767753.526 [VerticalControl](DEBUG): Construct VerticalControl.
2025-04-16T01:42:33.581Z,1744767753.581 [VerticalControl] Loaded
2025-04-16T01:42:33.581Z,1744767753.581 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2025-04-16T01:42:33.584Z,1744767753.584 [HorizontalControl](DEBUG): Construct HorizontalControl.
2025-04-16T01:42:33.629Z,1744767753.629 [HorizontalControl] Loaded
2025-04-16T01:42:33.630Z,1744767753.630 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2025-04-16T01:42:33.632Z,1744767753.632 [SpeedControl](DEBUG): Construct SpeedControl.
2025-04-16T01:42:33.634Z,1744767753.634 [SpeedControl] Loaded
2025-04-16T01:42:33.634Z,1744767753.634 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2025-04-16T01:42:33.637Z,1744767753.637 [LoopControl](DEBUG): Construct LoopControl.
2025-04-16T01:42:33.638Z,1744767753.638 [LoopControl] Loaded
2025-04-16T01:42:33.638Z,1744767753.638 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2025-04-16T01:42:33.638Z,1744767753.638 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2025-04-16T01:42:33.639Z,1744767753.639 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2025-04-16T01:42:33.649Z,1744767753.649 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2025-04-16T01:42:33.650Z,1744767753.650 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2025-04-16T01:42:34.007Z,1744767754.007 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2025-04-16T01:42:34.013Z,1744767754.013 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2025-04-16T01:42:34.017Z,1744767754.017 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2025-04-16T01:42:34.028Z,1744767754.028 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2025-04-16T01:42:34.029Z,1744767754.029 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40C654E0
2025-04-16T01:42:34.029Z,1744767754.029 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 4819
2025-04-16T01:42:34.034Z,1744767754.034 [Supervisor](INFO): Main Thread ID is 822
2025-04-16T01:42:34.034Z,1744767754.034 [Supervisor](DEBUG): Running supervisor.
2025-04-16T01:42:34.035Z,1744767754.035 [CommandExec ThreadHandler](INFO): Handler Thread ID is 4820
2025-04-16T01:42:34.035Z,1744767754.035 [CommandExec](INFO): Initializing the command executive.
2025-04-16T01:42:34.037Z,1744767754.037 [CommandLine ThreadHandler](INFO): Handler Thread ID is 4821
2025-04-16T01:42:34.039Z,1744767754.039 [controlThread ThreadHandler](INFO): Handler Thread ID is 4822
2025-04-16T01:42:34.039Z,1744767754.039 [controlThread](DEBUG): Initializing ControlThread
2025-04-16T01:42:34.041Z,1744767754.041 [SBIT](INFO): Initialize SBIT Component.
2025-04-16T01:42:34.041Z,1744767754.041 [SBIT](IMPORTANT): git: 2025-04-15
2025-04-16T01:42:34.042Z,1744767754.042 [SBIT](INFO): git hash: e5e9d680ffe788b716b2397065cfa67465e27e09
2025-04-16T01:42:34.042Z,1744767754.042 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2025-04-16T01:42:34.043Z,1744767754.043 [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
2025-04-16T01:42:34.045Z,1744767754.045 [SBIT](INFO): Beginning SBIT in 61.000000 seconds.
2025-04-16T01:42:34.045Z,1744767754.045 [IBIT](INFO): Initialize IBIT Component.
2025-04-16T01:42:34.046Z,1744767754.046 [CBIT](DEBUG): Initialize CBIT Component.
2025-04-16T01:42:34.047Z,1744767754.047 [logger ThreadHandler](INFO): Handler Thread ID is 4823
2025-04-16T01:42:34.059Z,1744767754.059 [CBIT](DEBUG): Initialized mux pins.
2025-04-16T01:42:34.059Z,1744767754.059 [CBIT](DEBUG): Initializing the watchdog timer.
2025-04-16T01:42:34.068Z,1744767754.068 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 4824
2025-04-16T01:42:34.068Z,1744767754.068 [CTD_Seabird](DEBUG): Initializing CTD_Seabird.
2025-04-16T01:42:34.073Z,1744767754.073 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 4826
2025-04-16T01:42:34.076Z,1744767754.076 [WetLabsBB2FL](INFO): Powering up
2025-04-16T01:42:34.077Z,1744767754.077 [BackseatComponent ThreadHandler](INFO): Handler Thread ID is 4828
2025-04-16T01:42:34.083Z,1744767754.083 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2025-04-16T01:42:34.084Z,1744767754.084 [CBIT](DEBUG): Initializing heartbeat.
2025-04-16T01:42:34.085Z,1744767754.085 [DAT ThreadHandler](INFO): Handler Thread ID is 4829
2025-04-16T01:42:34.085Z,1744767754.085 [DAT](INFO): Powering up
2025-04-16T01:42:34.086Z,1744767754.086 [DAT](DEBUG): Initializing DAT.
2025-04-16T01:42:34.088Z,1744767754.088 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 4831
2025-04-16T01:42:34.090Z,1744767754.090 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2025-04-16T01:42:34.112Z,1744767754.112 [Onboard ThreadHandler](INFO): Handler Thread ID is 4832
2025-04-16T01:42:34.129Z,1744767754.129 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 4833
2025-04-16T01:42:34.155Z,1744767754.155 [CBIT](DEBUG): Deactivating emergency mode.
2025-04-16T01:42:34.156Z,1744767754.156 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 4834
2025-04-16T01:42:34.158Z,1744767754.158 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2025-04-16T01:42:34.158Z,1744767754.158 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2025-04-16T01:42:34.159Z,1744767754.159 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2025-04-16T01:42:34.159Z,1744767754.159 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2025-04-16T01:42:34.159Z,1744767754.159 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2025-04-16T01:42:34.159Z,1744767754.159 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2025-04-16T01:42:34.159Z,1744767754.159 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2025-04-16T01:42:34.160Z,1744767754.160 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2025-04-16T01:42:34.195Z,1744767754.195 [CBIT](DEBUG): Backplane powered.
2025-04-16T01:42:34.196Z,1744767754.196 [GFScanner](DEBUG): Initializing GFScanner
2025-04-16T01:42:34.196Z,1744767754.196 [GFScanner](DEBUG): Deactivating GF circuits.
2025-04-16T01:42:34.204Z,1744767754.204 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2025-04-16T01:42:34.204Z,1744767754.204 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2025-04-16T01:42:34.204Z,1744767754.204 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2025-04-16T01:42:34.205Z,1744767754.205 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2025-04-16T01:42:34.205Z,1744767754.205 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2025-04-16T01:42:34.206Z,1744767754.206 [NavChart](DEBUG): Initialize NavChart Navigation.
2025-04-16T01:42:34.207Z,1744767754.207 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2025-04-16T01:42:34.210Z,1744767754.210 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2025-04-16T01:42:34.212Z,1744767754.212 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2025-04-16T01:42:34.213Z,1744767754.213 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2025-04-16T01:42:34.213Z,1744767754.213 [LoopControl](DEBUG): Initialize LoopControlComponent.
2025-04-16T01:42:34.214Z,1744767754.214 [MissionManager](IMPORTANT): Using TethysL tl-to-tx parser
2025-04-16T01:42:34.215Z,1744767754.215 [MissionManager](INFO): Loading Mission from file: Missions/Startup.tl
2025-04-16T01:42:34.215Z,1744767754.215 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Startup.tl
2025-04-16T01:42:34.224Z,1744767754.224 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Startup.tl
2025-04-16T01:42:34.306Z,1744767754.306 [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>

2025-04-16T01:42:34.326Z,1744767754.326 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2025-04-16T01:42:34.340Z,1744767754.340 [DAT](INFO): Using elevation to construct direction to contact in vehicle frame.
2025-04-16T01:42:34.362Z,1744767754.362 [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
    }
  }
}


2025-04-16T01:42:34.363Z,1744767754.363 [MissionManager](INFO): Loading Mission from file: Missions/Default.tl
2025-04-16T01:42:34.379Z,1744767754.379 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Default.tl
2025-04-16T01:42:34.388Z,1744767754.388 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Default.tl
2025-04-16T01:42:34.536Z,1744767754.536 [Radio_Surface](INFO): Powering up
2025-04-16T01:42:34.677Z,1744767754.677 [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>

2025-04-16T01:42:34.683Z,1744767754.683 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2025-04-16T01:42:34.704Z,1744767754.704 [Default:A.Wait](DEBUG): Construct Wait.
2025-04-16T01:42:34.706Z,1744767754.706 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-04-16T01:42:34.734Z,1744767754.734 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2025-04-16T01:42:34.753Z,1744767754.753 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2025-04-16T01:42:34.759Z,1744767754.759 [Default:E.Execute](DEBUG): Construct Execute.
2025-04-16T01:42:34.782Z,1744767754.782 [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"
  }
}


2025-04-16T01:42:34.787Z,1744767754.787 [controlThread](DEBUG): Component order: CycleStarter,ESPComponent,PAR_Licor,AHRS_M2,BPC1,Depth_Keller,DropWeight,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,
2025-04-16T01:42:34.811Z,1744767754.811 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2025-04-16T01:42:34.872Z,1744767754.872 [Depth_Keller](INFO): Initializing.
2025-04-16T01:42:34.874Z,1744767754.874 [PowerOnly](INFO): Powering up loadControl
2025-04-16T01:42:34.892Z,1744767754.892 [Power24vConverter](INFO): Powering up.
2025-04-16T01:42:34.893Z,1744767754.893 [Sonardyne_Nano](INFO): Initializing.
2025-04-16T01:42:34.920Z,1744767754.920 [DepthRateCalculator](ERROR): Depth measurement is not active
2025-04-16T01:42:34.942Z,1744767754.942 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2025-04-16T01:42:34.948Z,1744767754.948 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2025-04-16T01:42:34.949Z,1744767754.949 [ElevatorServo](DEBUG): Initializing EZServoServo.
2025-04-16T01:42:34.956Z,1744767754.956 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2025-04-16T01:42:34.957Z,1744767754.957 [MassServo](DEBUG): Initializing EZServoServo.
2025-04-16T01:42:34.968Z,1744767754.968 [MassServo](DEBUG): Initializing MassServo.
2025-04-16T01:42:34.968Z,1744767754.968 [RudderServo](DEBUG): Initializing EZServoServo.
2025-04-16T01:42:34.976Z,1744767754.976 [RudderServo](DEBUG): Initializing RudderServo.
2025-04-16T01:42:34.976Z,1744767754.976 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-04-16T01:42:34.984Z,1744767754.984 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-04-16T01:42:36.687Z,1744767756.687 [WetLabsBB2FL](INFO): Powering down
2025-04-16T01:42:36.822Z,1744767756.822 [Sonardyne_Nano](ERROR): Failed to get valid response or reached max queue size, flushing UART
2025-04-16T01:42:38.109Z,1744767758.109 [Sonardyne_Nano](IMPORTANT): Found beacon with acoustic ID 2213
2025-04-16T01:42:46.220Z,1744767766.220 [DAT](INFO): DAT read: 

2025-04-16T01:42:46.221Z,1744767766.221 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-04-16T01:42:47.984Z,1744767767.984 [DAT](INFO): DAT read: MF Frequency Band

2025-04-16T01:42:47.986Z,1744767767.986 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-04-16T01:42:47.986Z,1744767767.986 [DAT](INFO): DAT read: Apr 16 2025 01:42:42 

2025-04-16T01:42:48.992Z,1744767768.992 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-04-16T01:42:48.994Z,1744767768.994 [DAT](INFO): DAT read: CONNECT 01200 bits/sec 1 of 4, Rate 1/2 CC

2025-04-16T01:42:48.994Z,1744767768.994 [DAT](INFO): commRate: 1200
2025-04-16T01:42:51.059Z,1744767771.059 [DAT](INFO): entering command mode
2025-04-16T01:42:51.260Z,1744767771.260 [DAT](INFO): DAT read: 

2025-04-16T01:42:51.261Z,1744767771.261 [DAT](INFO): DAT read: user:1>

2025-04-16T01:42:51.261Z,1744767771.261 [DAT](INFO): setting verbose to 3
2025-04-16T01:42:51.512Z,1744767771.512 [DAT](INFO): DAT read: user:1>

2025-04-16T01:42:51.513Z,1744767771.513 [DAT](INFO): DAT read: Verbose         | 3           

2025-04-16T01:42:51.514Z,1744767771.514 [DAT](INFO): set verbose to 3
2025-04-16T01:42:51.514Z,1744767771.514 [DAT](INFO): setting DatVerbose to 27440
2025-04-16T01:42:51.764Z,1744767771.764 [DAT](INFO): DAT read: user:2>

2025-04-16T01:42:51.765Z,1744767771.765 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-04-16T01:42:51.765Z,1744767771.765 [DAT](INFO): set DatVerbose to 27440
2025-04-16T01:42:51.765Z,1744767771.765 [DAT](INFO): setting transmit power to 8
2025-04-16T01:42:52.016Z,1744767772.016 [DAT](INFO): DAT read: user:3>

2025-04-16T01:42:52.017Z,1744767772.017 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-04-16T01:42:52.017Z,1744767772.017 [DAT](INFO): set transmit power to 8
2025-04-16T01:42:52.018Z,1744767772.018 [DAT](INFO): setting local address to 5
2025-04-16T01:42:52.268Z,1744767772.268 [DAT](INFO): DAT read: user:4>

2025-04-16T01:42:52.269Z,1744767772.269 [DAT](INFO): DAT read: LocalAddr       | 5           

2025-04-16T01:42:52.269Z,1744767772.269 [DAT](INFO): set local address to 5
2025-04-16T01:42:52.270Z,1744767772.270 [DAT](INFO): Setting time to: 1:42:52 And date to:4/16/2025
2025-04-16T01:42:52.520Z,1744767772.520 [DAT](INFO): DAT read: user:5>

2025-04-16T01:42:52.521Z,1744767772.521 [DAT](INFO): DAT read: Wed Apr 16, 2025  01:42:52  

2025-04-16T01:42:52.521Z,1744767772.521 [DAT](INFO): Local DAT time set to Wed Apr 16, 2025  01:42:52  

2025-04-16T01:43:03.089Z,1744767783.089 [NAL9602](INFO): Powering up NAL9602
2025-04-16T01:43:13.994Z,1744767793.994 [NAL9602](INFO): NAL9602 initialized
2025-04-16T01:43:35.866Z,1744767815.866 [SBIT](IMPORTANT): Beginning Startup BIT
2025-04-16T01:43:35.872Z,1744767815.872 [GFScanner](IMPORTANT): Beginning ground fault scan
2025-04-16T01:43:38.246Z,1744767818.246 [NAL9602](INFO): SBD MO Status=2, MOMSN=19524, MT Status=2, MTMSN=0
2025-04-16T01:43:38.246Z,1744767818.246 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-04-16T01:43:40.348Z,1744767820.348 [GFScanner](IMPORTANT): Ground fault detected
mA:
CHAN A0 (Batt): 0.042939
CHAN A1 (24V): 0.010950
CHAN A2 (12V): -0.007180
CHAN A3 (5V): -0.072124
CHAN B0 (3.3V): -0.007761
CHAN B1 (3.15aV): -0.003435
CHAN B2 (3.15bV): -0.002121
CHAN B3 (GND): -0.006580
OPEN: 0.012253
Full Scale: +/- 1 mA
2025-04-16T01:43:58.065Z,1744767838.065 [NAL9602](INFO): SBD MO Status=0, MOMSN=19524, MT Status=0, MTMSN=0
2025-04-16T01:43:58.065Z,1744767838.065 [NAL9602](INFO): No messages in MT queue
2025-04-16T01:44:29.694Z,1744767869.694 [SBIT](IMPORTANT): SBIT PASSED
2025-04-16T01:44:29.694Z,1744767869.694 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2025-04-16T01:44:29.695Z,1744767869.695 [SBIT](IMPORTANT): BPC1.batteryMissingStickThreshold=5 count;

2025-04-16T01:44:29.695Z,1744767869.695 [SBIT](IMPORTANT): DVL_micro.loadAtStartup=0 bool;

2025-04-16T01:44:29.696Z,1744767869.696 [SBIT](IMPORTANT): GFScanner.loadAtStartup=1 bool;

2025-04-16T01:44:29.696Z,1744767869.696 [SBIT](IMPORTANT): GFScanner.simulateHardware=0 bool;

2025-04-16T01:44:29.696Z,1744767869.696 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=219.270665 cubic_centimeter;

2025-04-16T01:44:29.696Z,1744767869.696 [SBIT](IMPORTANT): VerticalControl.massDefault=10.422302 millimeter;

2025-04-16T01:44:30.128Z,1744767870.128 [MissionManager](IMPORTANT): Started mission Startup
2025-04-16T01:44:30.129Z,1744767870.129 [Startup] Running Loop=1
2025-04-16T01:44:30.129Z,1744767870.129 [Startup](DEBUG): Aggregate::initialize Startup
2025-04-16T01:44:30.129Z,1744767870.129 [Startup:A.GoToSurface] Running Loop=1
2025-04-16T01:44:30.129Z,1744767870.129 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-04-16T01:44:30.129Z,1744767870.129 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-04-16T01:44:30.130Z,1744767870.130 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-04-16T01:44:30.130Z,1744767870.130 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-04-16T01:44:30.130Z,1744767870.130 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-04-16T01:44:30.131Z,1744767870.131 [Startup:A.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-04-16T01:44:30.131Z,1744767870.131 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-04-16T01:44:30.133Z,1744767870.133 [Startup:StartupSatComms] Running Loop=1
2025-04-16T01:44:30.133Z,1744767870.133 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2025-04-16T01:44:30.133Z,1744767870.133 [Startup:StartupSatComms:A] Running Loop=1
2025-04-16T01:44:30.478Z,1744767870.478 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2025-04-16T01:44:45.981Z,1744767885.981 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004097
2025-04-16T01:45:30.266Z,1744767930.266 [Startup:StartupSatComms:A](INFO): Timed out from 2025-04-16T01:44:30.1Z
2025-04-16T01:45:30.266Z,1744767930.266 [Startup:StartupSatComms:A] Stopped
2025-04-16T01:45:30.266Z,1744767930.266 [Startup:StartupSatComms:B] Running Loop=1
2025-04-16T01:45:30.710Z,1744767930.710 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-04-16T01:45:34.519Z,1744767934.519 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2025-04-16T01:45:34.519Z,1744767934.519 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2025-04-16T01:45:34.538Z,1744767934.538 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2025-04-16T01:45:34.871Z,1744767934.871 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2025-04-16T01:45:34.884Z,1744767934.884 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2025-04-16T01:45:38.151Z,1744767938.151 [DataOverHttps](INFO): Sending 40 bytes from file Logs/20250415T165130/Courier0214.lzma
2025-04-16T01:45:39.154Z,1744767939.154 [DataOverHttps](INFO): Moved sent file to Logs/20250415T165130/Courier0214.lzma.bak
2025-04-16T01:45:39.154Z,1744767939.154 [DataOverHttps](INFO): SBD MOMSN=24669762
2025-04-16T01:45:54.880Z,1744767954.880 [DataOverHttps](INFO): Sending 152 bytes from file Logs/20250416T014222/Courier0000.lzma
2025-04-16T01:45:55.889Z,1744767955.889 [DataOverHttps](INFO): Moved sent file to Logs/20250416T014222/Courier0000.lzma.bak
2025-04-16T01:45:55.889Z,1744767955.889 [DataOverHttps](INFO): SBD MOMSN=24669764
2025-04-16T01:45:56.620Z,1744767956.620 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,014554.00,A,3647.78500,N,12150.60731,W,0.447,86.27,160425,,,A*4D
2025-04-16T01:45:56.624Z,1744767956.624 [NAL9602](INFO): GPS fix at 20250416T014554: (36.796417, -121.843455)
2025-04-16T01:46:13.264Z,1744767973.264 [DataOverHttps](INFO): Sending 243 bytes from file Logs/20250415T165130/Express0215.lzma
2025-04-16T01:46:14.266Z,1744767974.266 [DataOverHttps](INFO): Moved sent file to Logs/20250415T165130/Express0215.lzma.bak
2025-04-16T01:46:14.266Z,1744767974.266 [DataOverHttps](INFO): SBD MOMSN=24669767
2025-04-16T01:46:28.949Z,1744767988.949 [NAL9602](INFO): Not Powering down - fast GPS
2025-04-16T01:46:30.449Z,1744767990.449 [DataOverHttps](INFO): Sending 827 bytes from file Logs/20250416T014222/Express0001.lzma
2025-04-16T01:46:30.583Z,1744767990.583 [Startup:StartupSatComms:B](INFO): Timed out from 2025-04-16T01:45:30.3Z
2025-04-16T01:46:30.583Z,1744767990.583 [Startup:StartupSatComms:B] Stopped
2025-04-16T01:46:30.583Z,1744767990.583 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2025-04-16T01:46:30.583Z,1744767990.583 [Startup:StartupSatComms] Stopped
2025-04-16T01:46:30.583Z,1744767990.583 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2025-04-16T01:46:30.588Z,1744767990.588 [Startup](INFO): Completed Startup
2025-04-16T01:46:30.588Z,1744767990.588 [MissionManager](INFO): Startup is completed.
2025-04-16T01:46:30.589Z,1744767990.589 [MissionManager](INFO): Uninitializing Mission Startup
2025-04-16T01:46:30.589Z,1744767990.589 [Startup] Stopped
2025-04-16T01:46:30.589Z,1744767990.589 [Startup](DEBUG): Aggregate::uninitialize Startup
2025-04-16T01:46:30.589Z,1744767990.589 [Startup:A.GoToSurface] Stopped
2025-04-16T01:46:30.589Z,1744767990.589 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-04-16T01:46:30.988Z,1744767990.988 [MissionManager](IMPORTANT): Started mission Default
2025-04-16T01:46:30.988Z,1744767990.988 [Default] Running Loop=1
2025-04-16T01:46:30.988Z,1744767990.988 [Default](DEBUG): Aggregate::initialize Default
2025-04-16T01:46:30.988Z,1744767990.988 [Default:B.GoToSurface] Running Loop=1
2025-04-16T01:46:30.988Z,1744767990.988 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-04-16T01:46:30.989Z,1744767990.989 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-04-16T01:46:30.989Z,1744767990.989 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-04-16T01:46:30.989Z,1744767990.989 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-04-16T01:46:30.989Z,1744767990.989 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-04-16T01:46:30.990Z,1744767990.990 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-04-16T01:46:30.990Z,1744767990.990 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-04-16T01:46:30.990Z,1744767990.990 [Default:A.Wait] Running Loop=1
2025-04-16T01:46:30.990Z,1744767990.990 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-04-16T01:46:31.449Z,1744767991.449 [DataOverHttps](INFO): Moved sent file to Logs/20250416T014222/Express0001.lzma.bak
2025-04-16T01:46:31.449Z,1744767991.449 [DataOverHttps](INFO): SBD MOMSN=24669776
2025-04-16T01:46:44.298Z,1744768004.298 [Default:A.Wait](INFO): Done Waiting.
2025-04-16T01:46:44.298Z,1744768004.298 [Default:A.Wait] Stopped
2025-04-16T01:46:44.298Z,1744768004.298 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-04-16T01:46:44.700Z,1744768004.700 [Default:CheckIn] Running Loop=1
2025-04-16T01:46:44.700Z,1744768004.700 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-04-16T01:46:44.700Z,1744768004.700 [Default:CheckIn:Read_GPS] Running Loop=1
2025-04-16T01:46:45.108Z,1744768005.108 [Default:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-04-16T01:46:46.715Z,1744768006.715 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,014644.00,A,3647.78656,N,12150.60742,W,0.447,71.45,160425,,,D*42
2025-04-16T01:46:46.717Z,1744768006.717 [NAL9602](INFO): GPS fix at 20250416T014644: (36.796443, -121.843457)
2025-04-16T01:46:46.728Z,1744768006.728 [Default:CheckIn:Read_GPS] Stopped
2025-04-16T01:46:46.728Z,1744768006.728 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-04-16T01:46:47.144Z,1744768007.144 [Default:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-04-16T01:46:54.691Z,1744768014.691 [DataOverHttps](INFO): Sending 226 bytes from file Logs/20250416T014222/Courier0004.lzma
2025-04-16T01:46:55.693Z,1744768015.693 [DataOverHttps](INFO): Moved sent file to Logs/20250416T014222/Courier0004.lzma.bak
2025-04-16T01:46:55.693Z,1744768015.693 [DataOverHttps](INFO): SBD MOMSN=24669795
2025-04-16T01:47:02.078Z,1744768022.078 [NAL9602](INFO): SBD MO Status=0, MOMSN=19525, MT Status=0, MTMSN=0
2025-04-16T01:47:02.078Z,1744768022.078 [NAL9602](INFO): No messages in MT queue
2025-04-16T01:47:11.836Z,1744768031.836 [DataOverHttps](INFO): Sending 347 bytes from file Logs/20250416T014222/Express0005.lzma
2025-04-16T01:47:12.837Z,1744768032.837 [DataOverHttps](INFO): Moved sent file to Logs/20250416T014222/Express0005.lzma.bak
2025-04-16T01:47:12.837Z,1744768032.837 [DataOverHttps](INFO): SBD MOMSN=24669800
2025-04-16T01:47:14.199Z,1744768034.199 [Default:CheckIn:Read_Iridium] Stopped
2025-04-16T01:47:14.199Z,1744768034.199 [Default:CheckIn:C.Wait] Running Loop=1
2025-04-16T01:47:14.199Z,1744768034.199 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-04-16T01:47:32.788Z,1744768052.788 [NAL9602](INFO): Not Powering down - fast GPS
2025-04-16T01:48:53.333Z,1744768133.333 [DataOverHttps](IMPORTANT): SBD MTMSN=20250416T014853
2025-04-16T01:49:00.828Z,1744768140.828 [DataOverHttps](INFO): Received command: gfscan
2025-04-16T01:49:00.832Z,1744768140.832 [CommandExec](IMPORTANT): got command gfscan
2025-04-16T01:49:00.900Z,1744768140.900 [GFScanner](IMPORTANT): Beginning ground fault scan
2025-04-16T01:49:05.324Z,1744768145.324 [GFScanner](IMPORTANT): Ground fault detected
mA:
CHAN A0 (Batt): 0.001798
CHAN A1 (24V): 0.005598
CHAN A2 (12V): -0.023021
CHAN A3 (5V): -0.035355
CHAN B0 (3.3V): -0.008318
CHAN B1 (3.15aV): -0.003300
CHAN B2 (3.15bV): -0.002159
CHAN B3 (GND): -0.005822
OPEN: 0.012275
Full Scale: +/- 1 mA
2025-04-16T01:50:09.136Z,1744768209.136 [BPC1](ERROR): Battery stick #2 (s/n: 0124) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-04-16T01:50:09.137Z,1744768209.137 [BPC1](INFO): Calculating totals. Valid battery stick count: 53. Valid reserve battery stick count: 6.
2025-04-16T01:50:09.140Z,1744768209.140 [BPC1](INFO): Received data from all battery sticks.
2025-04-16T01:52:14.816Z,1744768334.816 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2025-04-16T01:52:14.816Z,1744768334.816 [Default:CheckIn:C.Wait] Stopped
2025-04-16T01:52:14.816Z,1744768334.816 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-04-16T01:52:14.816Z,1744768334.816 [Default:CheckIn:D] Running Loop=1
2025-04-16T01:52:15.229Z,1744768335.229 [Default:CheckIn:D] Stopped
2025-04-16T01:52:15.229Z,1744768335.229 [Default:CheckIn:E] Running Loop=1
2025-04-16T01:52:15.618Z,1744768335.618 [Default:CheckIn:E](IMPORTANT): Default mission has been running for  5.737356 min 
2025-04-16T01:52:15.618Z,1744768335.618 [Default:CheckIn:E] Stopped
2025-04-16T01:52:15.618Z,1744768335.618 [Default:CheckIn](INFO): Completed Default:CheckIn
2025-04-16T01:52:15.618Z,1744768335.618 [Default:CheckIn] Stopped
2025-04-16T01:52:15.618Z,1744768335.618 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-04-16T01:52:15.618Z,1744768335.618 [Default:CheckIn](INFO): Running loop #2
2025-04-16T01:52:15.618Z,1744768335.618 [Default:CheckIn] Running Loop=2
2025-04-16T01:52:15.618Z,1744768335.618 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-04-16T01:52:15.618Z,1744768335.618 [Default:CheckIn:Read_GPS] Running Loop=1
2025-04-16T01:52:17.638Z,1744768337.638 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,015215.00,A,3647.79110,N,12150.62325,W,0.486,277.66,160425,,,D*78
2025-04-16T01:52:17.645Z,1744768337.645 [NAL9602](INFO): GPS fix at 20250416T015215: (36.796518, -121.843721)
2025-04-16T01:52:17.688Z,1744768337.688 [Default:CheckIn:Read_GPS] Stopped
2025-04-16T01:52:17.688Z,1744768337.688 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-04-16T01:52:25.343Z,1744768345.343 [DataOverHttps](INFO): Sending 207 bytes from file Logs/20250416T014222/Courier0007.lzma
2025-04-16T01:52:26.345Z,1744768346.345 [DataOverHttps](INFO): Moved sent file to Logs/20250416T014222/Courier0007.lzma.bak
2025-04-16T01:52:26.345Z,1744768346.345 [DataOverHttps](INFO): SBD MOMSN=24669817
2025-04-16T01:52:26.521Z,1744768346.521 [NAL9602](INFO): SBD MO Status=0, MOMSN=19526, MT Status=0, MTMSN=0
2025-04-16T01:52:26.522Z,1744768346.522 [NAL9602](INFO): No messages in MT queue
2025-04-16T01:52:44.672Z,1744768364.672 [DataOverHttps](INFO): Sending 447 bytes from file Logs/20250416T014222/Express0008.lzma
2025-04-16T01:52:45.673Z,1744768365.673 [DataOverHttps](INFO): Moved sent file to Logs/20250416T014222/Express0008.lzma.bak
2025-04-16T01:52:45.673Z,1744768365.673 [DataOverHttps](INFO): SBD MOMSN=24669820
2025-04-16T01:52:57.236Z,1744768377.236 [NAL9602](INFO): Not Powering down - fast GPS
2025-04-16T01:53:01.747Z,1744768381.747 [DataOverHttps](INFO): Sending 62 bytes from file Logs/20250416T014222/Express0011.lzma
2025-04-16T01:53:02.750Z,1744768382.750 [DataOverHttps](INFO): Moved sent file to Logs/20250416T014222/Express0011.lzma.bak
2025-04-16T01:53:02.750Z,1744768382.750 [DataOverHttps](INFO): SBD MOMSN=24669827
2025-04-16T01:53:04.124Z,1744768384.124 [Default:CheckIn:Read_Iridium] Stopped
2025-04-16T01:53:04.124Z,1744768384.124 [Default:CheckIn:C.Wait] Running Loop=1
2025-04-16T01:53:04.124Z,1744768384.124 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-04-16T01:53:41.617Z,1744768421.617 [DataOverHttps](IMPORTANT): SBD MTMSN=20250416T015342
2025-04-16T01:53:49.043Z,1744768429.043 [DataOverHttps](INFO): Received command: run Maintenance/calibrate_sparton_compass.tl
2025-04-16T01:53:49.246Z,1744768429.246 [CommandExec](IMPORTANT): got command run ./Missions/Maintenance/calibrate_sparton_compass.tl
2025-04-16T01:53:49.247Z,1744768429.247 [MissionManager](INFO): Loading Mission from file: ./Missions/Maintenance/calibrate_sparton_compass.tl
2025-04-16T01:53:49.247Z,1744768429.247 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Maintenance/calibrate_sparton_compass.tl
2025-04-16T01:53:49.249Z,1744768429.249 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Maintenance/calibrate_sparton_compass.tl
2025-04-16T01:53:53.179Z,1744768433.179 [MissionManager](DEBUG): TethyslAPI: ./Missions/Maintenance/calibrate_sparton_compass.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="calibrate_sparton_compass">
    <DefineArg Name="MissionTimeout">
        <Units:minute />
        <Value>60</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>60</Value>
    </DefineArg>
    <DefineArg Name="YoYoMinDepth">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="YoYoMaxDepth">
        <Units:meter />
        <Value>40</Value>
    </DefineArg>
    <DefineArg Name="YoYoMinAltitude">
        <Units:meter />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="YoYoPitch">
        <Units:degree />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="RudderAngle">
        <Units:degree />
        <Value>13</Value>
    </DefineArg>
    <DefineArg Name="Speed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="CalibrationInitTimeout">
        <Units:minute />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>50</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <Timeout Duration="MissionTimeout" />
    <Insert Filename="Insert/Science.tl" />
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="NeedCommsTime" />
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Call RefId="NeedComms" Id="StartingMission" />
    <Guidance:Pitch>
        <Parallel />
        <Setting>
            <Guidance:Pitch.massPosition />
            <Control:VerticalControl.massDefault />
        </Setting>
    </Guidance:Pitch>
    <Guidance:Buoyancy>
        <Parallel />
        <Setting>
            <Guidance:Buoyancy.position />
            <Control:VerticalControl.buoyancyNeutral />
        </Setting>
    </Guidance:Buoyancy>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.minDepth />
            <Arg Name="YoYoMinDepth" />
        </Setting>
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="YoYoMaxDepth" />
        </Setting>
        <Setting>
            <Guidance:DepthEnvelope.pitch />
            <Arg Name="YoYoPitch" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="YoYoMinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.pitch />
            <Arg Name="YoYoPitch" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:YoYo>
        <Parallel />
        <Setting>
            <Guidance:YoYo.pitch />
            <Arg Name="YoYoPitch" />
        </Setting>
    </Guidance:YoYo>
    <Aggregate Id="AdaptCal">
        <Sequence />
        <ReadDatum Id="WaitForCalibrationInit">
            <Timeout Duration="CalibrationInitTimeout">
                <Syslog Severity="Important">Failed to initialize calibration within timeout. Stopping mission.</Syslog>
                <Guidance:Execute>
                    <Sequence />
                    <Setting>
                        <Guidance:Execute.command />
                        <String>stop</String>
                    </Setting>
                </Guidance:Execute>
            </Timeout>
            <Sensor:AHRS_M2.number_of_calbration_points />
        </ReadDatum>
        <Aggregate Id="AcquireCalibrationPoints">
            <Sequence />
            <Guidance:Point>
                <Parallel />
                <Setting>
                    <Guidance:Point.rudderAngle />
                    <Arg Name="RudderAngle" />
                </Setting>
            </Guidance:Point>
            <Guidance:SetSpeed>
                <Parallel />
                <Setting>
                    <Guidance:SetSpeed.speed />
                    <Arg Name="Speed" />
                </Setting>
            </Guidance:SetSpeed>
        </Aggregate>
        <Sensor:CalibrateAHRS_M2>
            <Parallel />
        </Sensor:CalibrateAHRS_M2>
    </Aggregate>
</Mission>

2025-04-16T01:53:53.186Z,1744768433.186 [MissionManager](INFO): DefineArg calibrate_sparton_compass.MissionTimeout = 60.000000 min
2025-04-16T01:53:53.189Z,1744768433.189 [MissionManager](INFO): DefineArg calibrate_sparton_compass.NeedCommsTime = 60.000000 min
2025-04-16T01:53:53.192Z,1744768433.192 [MissionManager](INFO): DefineArg calibrate_sparton_compass.YoYoMinDepth = 5.000000 m
2025-04-16T01:53:53.195Z,1744768433.195 [MissionManager](INFO): DefineArg calibrate_sparton_compass.YoYoMaxDepth = 40.000000 m
2025-04-16T01:53:53.222Z,1744768433.222 [MissionManager](INFO): DefineArg calibrate_sparton_compass.YoYoMinAltitude = 7.000000 m
2025-04-16T01:53:53.226Z,1744768433.226 [MissionManager](INFO): DefineArg calibrate_sparton_compass.YoYoPitch = 20.000000 arcdeg
2025-04-16T01:53:53.237Z,1744768433.237 [MissionManager](INFO): DefineArg calibrate_sparton_compass.RudderAngle = 13.000000 arcdeg
2025-04-16T01:53:53.242Z,1744768433.242 [MissionManager](INFO): DefineArg calibrate_sparton_compass.Speed = 1.000000 m/s
2025-04-16T01:53:53.253Z,1744768433.253 [MissionManager](INFO): DefineArg calibrate_sparton_compass.CalibrationInitTimeout = 2.000000 min
2025-04-16T01:53:53.260Z,1744768433.260 [MissionManager](INFO): DefineArg calibrate_sparton_compass.MinAltitude = 5.000000 m
2025-04-16T01:53:53.263Z,1744768433.263 [MissionManager](INFO): DefineArg calibrate_sparton_compass.MaxDepth = 50.000000 m
2025-04-16T01:53:53.274Z,1744768433.274 [MissionManager](INFO): DefineArg calibrate_sparton_compass.MinOffshore = 2.000000 km
2025-04-16T01:53:53.275Z,1744768433.275 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-04-16T01:53:53.279Z,1744768433.279 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-04-16T01:53:53.292Z,1744768433.292 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-04-16T01:53:56.724Z,1744768436.724 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/Science.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="Science">
    <DefineArg Name="PeakDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="TimeWindowPeakReport">
        <Units:minute />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="HighestChlPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestSaltPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestOilPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="PatchTracking">
        <False />
    </DefineArg>
    <DefineArg Name="FilterWidthHorizontal">
        <Units:count />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesSlidingwindow">
        <Units:count />
        <Value>100</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionHorizontal">
        <Units:percent />
        <Value>80</Value>
    </DefineArg>
    <DefineArg Name="PeakDetectNO3Active">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectOilActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectFDOMActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectSalinityActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDinoflagellatesActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreDinoflagellatesActive">
        <False />
    </DefineArg>
    <DefineArg Name="UpwardDerivativeOfTemperatureActive">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledAanderaaO2">
        <Science:Aanderaa_O2.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledNeilBrown">
        <Science:CTD_NeilBrown.loadAtStartup />
    </DefineArg>
    <DefineArg Name="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>
    <DefineArg Name="PlanktivoreHMavgROIPeakThresh">
        <Units:count_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreDiatomsPeakThresh">
        <Units:count_per_milliliter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreDinoflagellatesPeakThresh">
        <Units:count_per_milliliter />
        <Value>0</Value>
    </DefineArg>
    <DefineOutput Name="GoDown">
        <True />
    </DefineOutput>
    <DefineOutput Name="PeakChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3">
        <Units:micromole_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Depth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOil">
        <Units:kilogram_per_cubic_meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOM">
        <Units:part_per_billion />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatoms">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatoms">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOil">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="TriggeredOnChl">
        <False />
    </DefineOutput>
    <DefineOutput Name="ChlTriggering">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledAanderaaO2" />
        </While>
        <Universal:mass_concentration_of_oxygen_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
        </While>
        <Universal:sea_water_temperature />
        <Universal:sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledSeabird" />
        </While>
        <Science:CTD_Seabird.sea_water_temperature />
        <Science:CTD_Seabird.sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
            <And>
                <Arg Name="UpwardDerivativeOfTemperatureActive" />
            </And>
        </While>
        <Universal:upward_derivative_of_sea_water_temperature />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsBB2FL" />
            <Or>
                <Arg Name="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="Info">
            GoDown, PlanktivoreLMavgROIPeakThresh, PeakPlanktivoreLMavgROI, PeakPlanktivoreLMavgROIDepth, EdgePlanktivoreLMavgROI, EdgePlanktivoreLMavgROIDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreHMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_HM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="EdgeDetectPlanktivoreHMavgROIActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_HM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFraction />
                <Arg Name="OffPeakFractionVertical" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreHMavgROIPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROI">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreHMavgROIPeakThresh, PeakPlanktivoreHMavgROI, PeakPlanktivoreHMavgROIDepth, EdgePlanktivoreHMavgROI, EdgePlanktivoreHMavgROIDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreHMavgROIPeakThresh" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreHMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="EdgePlanktivoreHMavgROIDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
            <Arg Name="EdgePlanktivoreHMavgROI" />
            <Arg Name="EdgePlanktivoreHMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="PeakDetectPlanktivoreDiatomsActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_diatoms</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="EdgeDetectPlanktivoreDiatomsActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_diatoms</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFraction />
                <Arg Name="OffPeakFractionVertical" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreDiatomsPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatoms">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreDiatomsPeakThresh, PeakPlanktivoreDiatoms, PeakPlanktivoreDiatomsDepth, EdgePlanktivoreDiatoms, EdgePlanktivoreDiatomsDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreDiatomsPeakThresh" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreDiatoms" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="EdgePlanktivoreDiatomsDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
            <Arg Name="EdgePlanktivoreDiatoms" />
            <Arg Name="EdgePlanktivoreDiatomsDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="PeakDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDinoflagellates">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="EdgeDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFraction />
                <Arg Name="OffPeakFractionVertical" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreDinoflagellatesPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellates">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellates">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreDinoflagellatesPeakThresh, PeakPlanktivoreDinoflagellates, PeakPlanktivoreDinoflagellatesDepth, EdgePlanktivoreDinoflagellates, EdgePlanktivoreDinoflagellatesDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreDinoflagellatesPeakThresh" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreDinoflagellates" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="EdgePlanktivoreDinoflagellatesDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
            <Arg Name="EdgePlanktivoreDinoflagellates" />
            <Arg Name="EdgePlanktivoreDinoflagellatesDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="ChlThreshTrigger">
        <While>
            <Arg Name="ChlThreshTriggerActive" />
        </While>
        <Trigger:ValueDetect>
            <Sequence />
            <Setting>
                <Trigger:ValueDetect.detect />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.lowerThreshold />
                <Arg Name="ChlLowerThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.upperThreshold />
                <Arg Name="ChlUpperThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.numProfilesThreshold />
                <Arg Name="NumProfilesThresh" />
            </Setting>
            <OutputArg Name="ChlTriggering">
                <Trigger:ValueDetect.outputValue />
            </OutputArg>
        </Trigger:ValueDetect>
        <Assign>
            <Sequence />
            <Arg Name="TriggeredOnChl" />
            <True />
        </Assign>
        <Syslog Severity="Important">
            Triggered. PeakChl values on 
            <Arg Name="NumProfilesThresh" />
            <Units:count />
             consecutive yo-yo profiles fall in [
            <Arg Name="ChlLowerThresh" />
            <Units:microgram_per_liter />
            <Arg Name="ChlUpperThresh" />
            <Units:microgram_per_liter />
            ] (NaN bound is ignored).
        </Syslog>
    </Aggregate>
</Aggregate>

2025-04-16T01:53:56.764Z,1744768436.764 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.PeakDetectChlActive = 0 bool
2025-04-16T01:53:56.767Z,1744768436.767 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.EdgeDetectChlActive = 0 bool
2025-04-16T01:53:56.771Z,1744768436.771 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.TimeWindowPeakReport = nan min
2025-04-16T01:53:56.773Z,1744768436.773 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.HighestChlPeakReportActive = 0 bool
2025-04-16T01:53:56.776Z,1744768436.776 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.HighestSaltPeakReportActive = 0 bool
2025-04-16T01:53:56.779Z,1744768436.779 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.HighestOilPeakReportActive = 0 bool
2025-04-16T01:53:56.787Z,1744768436.787 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.PatchTracking = 0 bool
2025-04-16T01:53:56.814Z,1744768436.814 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.FilterWidthHorizontal = 3.000000 count
2025-04-16T01:53:56.828Z,1744768436.828 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.NumProfilesSlidingwindow = 100.000000 count
2025-04-16T01:53:56.830Z,1744768436.830 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.OffPeakFractionHorizontal = 80.000000 %
2025-04-16T01:53:56.837Z,1744768436.837 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.PeakDetectNO3Active = 0 bool
2025-04-16T01:53:56.844Z,1744768436.844 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.PeakDetectOilActive = 0 bool
2025-04-16T01:53:56.852Z,1744768436.852 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.PeakDetectFDOMActive = 0 bool
2025-04-16T01:53:56.867Z,1744768436.867 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.PeakDetectSalinityActive = 0 bool
2025-04-16T01:53:56.870Z,1744768436.870 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-04-16T01:53:56.874Z,1744768436.874 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-04-16T01:53:56.889Z,1744768436.889 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-04-16T01:53:56.896Z,1744768436.896 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.EdgeDetectPlanktivoreHMavgROIActive = 0 bool
2025-04-16T01:53:56.898Z,1744768436.898 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-04-16T01:53:56.905Z,1744768436.905 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.EdgeDetectPlanktivoreDiatomsActive = 0 bool
2025-04-16T01:53:56.909Z,1744768436.909 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-04-16T01:53:56.932Z,1744768436.932 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.EdgeDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-04-16T01:53:56.934Z,1744768436.934 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-04-16T01:53:56.939Z,1744768436.939 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.EnabledAanderaaO2 = 0 bool
2025-04-16T01:53:56.951Z,1744768436.951 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.EnabledNeilBrown = 0 bool
2025-04-16T01:53:56.958Z,1744768436.958 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.EnabledSeabird = 1 bool
2025-04-16T01:53:56.963Z,1744768436.963 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.EnabledWetLabsBB2FL = 1 bool
2025-04-16T01:53:56.975Z,1744768436.975 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-04-16T01:53:56.982Z,1744768436.982 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.EnabledWetLabsUBAT = 0 bool
2025-04-16T01:53:56.994Z,1744768436.994 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.LowPassWindowLength = 20.000000 count
2025-04-16T01:53:56.998Z,1744768436.998 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.MedianFilterLen = 5.000000 count
2025-04-16T01:53:57.041Z,1744768437.041 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.ShallowBound = nan m
2025-04-16T01:53:57.072Z,1744768437.072 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.DeepBound = nan m
2025-04-16T01:53:57.079Z,1744768437.079 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-04-16T01:53:57.082Z,1744768437.082 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.OffPeakFractionVertical = nan %
2025-04-16T01:53:57.090Z,1744768437.090 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.ChlPeakThresh = 0.000000 ug/l
2025-04-16T01:53:57.094Z,1744768437.094 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.ChlThreshTriggerActive = 0 bool
2025-04-16T01:53:57.110Z,1744768437.110 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.ChlLowerThresh = nan ug/l
2025-04-16T01:53:57.114Z,1744768437.114 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.ChlUpperThresh = nan ug/l
2025-04-16T01:53:57.125Z,1744768437.125 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.NumProfilesThresh = 5.000000 count
2025-04-16T01:53:57.129Z,1744768437.129 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-04-16T01:53:57.140Z,1744768437.140 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.PlanktivoreHMavgROIPeakThresh = 0.000000 count/s
2025-04-16T01:53:57.147Z,1744768437.147 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.PlanktivoreDiatomsPeakThresh = 0.000000 count/ml
2025-04-16T01:53:57.150Z,1744768437.150 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.PlanktivoreDinoflagellatesPeakThresh = 0.000000 count/ml
2025-04-16T01:53:57.162Z,1744768437.162 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.GoDown = 1 bool
2025-04-16T01:53:57.169Z,1744768437.169 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakChl = nan ug/l
2025-04-16T01:53:57.176Z,1744768437.176 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakChlDepth = nan m
2025-04-16T01:53:57.191Z,1744768437.191 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakChlTemperature = nan degC
2025-04-16T01:53:57.194Z,1744768437.194 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakChlLatitude = nan arcdeg
2025-04-16T01:53:57.206Z,1744768437.206 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakChlLongitude = nan arcdeg
2025-04-16T01:53:57.209Z,1744768437.209 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgeChl = nan ug/l
2025-04-16T01:53:57.220Z,1744768437.220 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgeChlDepth = nan m
2025-04-16T01:53:57.228Z,1744768437.228 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgeChlTemperature = nan degC
2025-04-16T01:53:57.239Z,1744768437.239 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgeChlLatitude = nan arcdeg
2025-04-16T01:53:57.242Z,1744768437.242 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgeChlLongitude = nan arcdeg
2025-04-16T01:53:57.250Z,1744768437.250 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakNO3 = nan umol/l
2025-04-16T01:53:57.254Z,1744768437.254 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakNO3Depth = nan m
2025-04-16T01:53:57.269Z,1744768437.269 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakNO3Latitude = nan arcdeg
2025-04-16T01:53:57.284Z,1744768437.284 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakNO3Longitude = nan arcdeg
2025-04-16T01:53:57.291Z,1744768437.291 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakOil = nan kg/m3
2025-04-16T01:53:57.308Z,1744768437.308 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakOilDepth = nan m
2025-04-16T01:53:57.313Z,1744768437.313 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakOilLatitude = nan arcdeg
2025-04-16T01:53:57.336Z,1744768437.336 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakOilLongitude = nan arcdeg
2025-04-16T01:53:57.343Z,1744768437.343 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakFDOM = nan ppb
2025-04-16T01:53:57.347Z,1744768437.347 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakFDOMDepth = nan m
2025-04-16T01:53:57.358Z,1744768437.358 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakFDOMTemperature = nan degC
2025-04-16T01:53:57.370Z,1744768437.370 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakFDOMLatitude = nan arcdeg
2025-04-16T01:53:57.385Z,1744768437.385 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakFDOMLongitude = nan arcdeg
2025-04-16T01:53:57.395Z,1744768437.395 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakSalt = nan psu
2025-04-16T01:53:57.441Z,1744768437.441 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakSaltDepth = nan m
2025-04-16T01:53:57.450Z,1744768437.450 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakSaltTemperature = nan degC
2025-04-16T01:53:57.453Z,1744768437.453 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakSaltLatitude = nan arcdeg
2025-04-16T01:53:57.462Z,1744768437.462 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakSaltLongitude = nan arcdeg
2025-04-16T01:53:57.469Z,1744768437.469 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-04-16T01:53:57.489Z,1744768437.489 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-04-16T01:53:57.497Z,1744768437.497 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-04-16T01:53:57.503Z,1744768437.503 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-04-16T01:53:57.514Z,1744768437.514 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-04-16T01:53:57.521Z,1744768437.521 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-04-16T01:53:57.525Z,1744768437.525 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-04-16T01:53:57.540Z,1744768437.540 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-04-16T01:53:57.548Z,1744768437.548 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-04-16T01:53:57.560Z,1744768437.560 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-04-16T01:53:57.563Z,1744768437.563 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-04-16T01:53:57.566Z,1744768437.566 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-04-16T01:53:57.578Z,1744768437.578 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-04-16T01:53:57.605Z,1744768437.605 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-04-16T01:53:57.608Z,1744768437.608 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-04-16T01:53:57.620Z,1744768437.620 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgePlanktivoreHMavgROI = nan count/s
2025-04-16T01:53:57.623Z,1744768437.623 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgePlanktivoreHMavgROIDepth = nan m
2025-04-16T01:53:57.630Z,1744768437.630 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgePlanktivoreHMavgROITemperature = nan degC
2025-04-16T01:53:57.642Z,1744768437.642 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgePlanktivoreHMavgROILatitude = nan arcdeg
2025-04-16T01:53:57.646Z,1744768437.646 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgePlanktivoreHMavgROILongitude = nan arcdeg
2025-04-16T01:53:57.662Z,1744768437.662 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-04-16T01:53:57.669Z,1744768437.669 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-04-16T01:53:57.676Z,1744768437.676 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-04-16T01:53:57.685Z,1744768437.685 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-04-16T01:53:57.701Z,1744768437.701 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-04-16T01:53:57.708Z,1744768437.708 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgePlanktivoreDiatoms = nan count/ml
2025-04-16T01:53:57.716Z,1744768437.716 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgePlanktivoreDiatomsDepth = nan m
2025-04-16T01:53:57.719Z,1744768437.719 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgePlanktivoreDiatomsTemperature = nan degC
2025-04-16T01:53:57.738Z,1744768437.738 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgePlanktivoreDiatomsLatitude = nan arcdeg
2025-04-16T01:53:57.742Z,1744768437.742 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgePlanktivoreDiatomsLongitude = nan arcdeg
2025-04-16T01:53:57.753Z,1744768437.753 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-04-16T01:53:57.756Z,1744768437.756 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-04-16T01:53:57.764Z,1744768437.764 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-04-16T01:53:57.772Z,1744768437.772 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-04-16T01:53:57.775Z,1744768437.775 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-04-16T01:53:57.782Z,1744768437.782 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgePlanktivoreDinoflagellates = nan count/ml
2025-04-16T01:53:57.787Z,1744768437.787 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgePlanktivoreDinoflagellatesDepth = nan m
2025-04-16T01:53:57.806Z,1744768437.806 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgePlanktivoreDinoflagellatesTemperature = nan degC
2025-04-16T01:53:57.810Z,1744768437.810 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgePlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-04-16T01:53:57.850Z,1744768437.850 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgePlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-04-16T01:53:57.858Z,1744768437.858 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PatchChl = nan ug/l
2025-04-16T01:53:57.881Z,1744768437.881 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PatchChlDepth = nan m
2025-04-16T01:53:57.887Z,1744768437.887 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PatchChlLatitude = nan arcdeg
2025-04-16T01:53:57.902Z,1744768437.902 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PatchChlLongitude = nan arcdeg
2025-04-16T01:53:57.906Z,1744768437.906 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PatchChlDistance = nan m
2025-04-16T01:53:57.917Z,1744768437.917 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PatchSalt = nan psu
2025-04-16T01:53:57.921Z,1744768437.921 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PatchSaltDepth = nan m
2025-04-16T01:53:57.933Z,1744768437.933 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PatchSaltLatitude = nan arcdeg
2025-04-16T01:53:57.941Z,1744768437.941 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PatchSaltLongitude = nan arcdeg
2025-04-16T01:53:57.948Z,1744768437.948 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PatchSaltDistance = nan m
2025-04-16T01:53:57.955Z,1744768437.955 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PatchOil = nan psu
2025-04-16T01:53:57.959Z,1744768437.959 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PatchOilDepth = nan m
2025-04-16T01:53:57.966Z,1744768437.966 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PatchOilLatitude = nan arcdeg
2025-04-16T01:53:57.970Z,1744768437.970 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PatchOilLongitude = nan arcdeg
2025-04-16T01:53:57.994Z,1744768437.994 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PatchOilDistance = nan m
2025-04-16T01:53:58.009Z,1744768438.009 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.TriggeredOnChl = 0 bool
2025-04-16T01:53:58.014Z,1744768438.014 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.ChlTriggering = nan ug/l
2025-04-16T01:53:58.109Z,1744768438.109 [calibrate_sparton_compass:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-04-16T01:53:58.147Z,1744768438.147 [calibrate_sparton_compass:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-04-16T01:53:58.198Z,1744768438.198 [calibrate_sparton_compass:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-04-16T01:53:58.258Z,1744768438.258 [calibrate_sparton_compass:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-04-16T01:53:58.298Z,1744768438.298 [calibrate_sparton_compass:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-04-16T01:53:58.329Z,1744768438.329 [calibrate_sparton_compass:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-04-16T01:53:58.367Z,1744768438.367 [calibrate_sparton_compass:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-04-16T01:53:58.399Z,1744768438.399 [calibrate_sparton_compass:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-04-16T01:53:58.428Z,1744768438.428 [calibrate_sparton_compass:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-04-16T01:53:58.455Z,1744768438.455 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-04-16T01:53:58.493Z,1744768438.493 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-04-16T01:53:58.552Z,1744768438.552 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-04-16T01:53:58.588Z,1744768438.588 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-04-16T01:53:58.658Z,1744768438.658 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-04-16T01:53:58.714Z,1744768438.714 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-04-16T01:53:58.761Z,1744768438.761 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-04-16T01:53:58.793Z,1744768438.793 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-04-16T01:53:58.830Z,1744768438.830 [calibrate_sparton_compass:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-04-16T01:53:58.845Z,1744768438.845 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-04-16T01:53:58.845Z,1744768438.845 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-04-16T01:53:58.846Z,1744768438.846 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-04-16T01:53:59.294Z,1744768439.294 [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>

2025-04-16T01:53:59.309Z,1744768439.309 [MissionManager](INFO): DefineArg calibrate_sparton_compass:NeedComms.DiveInterval = 1.000000 h
2025-04-16T01:53:59.324Z,1744768439.324 [MissionManager](INFO): DefineArg calibrate_sparton_compass:NeedComms.WaitForPitchUp = 10.000000 min
2025-04-16T01:53:59.331Z,1744768439.331 [MissionManager](INFO): DefineArg calibrate_sparton_compass:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-04-16T01:53:59.335Z,1744768439.335 [MissionManager](INFO): DefineArg calibrate_sparton_compass:NeedComms.SurfaceDepthRate = nan m/s
2025-04-16T01:53:59.342Z,1744768439.342 [MissionManager](INFO): DefineArg calibrate_sparton_compass:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-04-16T01:53:59.346Z,1744768439.346 [MissionManager](INFO): DefineArg calibrate_sparton_compass:NeedComms.SurfacingTimeout = 1000.000000 s
2025-04-16T01:53:59.358Z,1744768439.358 [MissionManager](INFO): DefineArg calibrate_sparton_compass:NeedComms.GPSTimeout = 7.000000 min
2025-04-16T01:53:59.372Z,1744768439.372 [MissionManager](INFO): DefineArg calibrate_sparton_compass:NeedComms.CommsTimeout = 30.000000 min
2025-04-16T01:53:59.387Z,1744768439.387 [calibrate_sparton_compass:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-04-16T01:53:59.469Z,1744768439.469 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-04-16T01:53:59.469Z,1744768439.469 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-04-16T01:53:59.470Z,1744768439.470 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-04-16T01:53:59.631Z,1744768439.631 [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>

2025-04-16T01:53:59.636Z,1744768439.636 [MissionManager](INFO): DefineArg calibrate_sparton_compass:StandardEnvelopes.MinAltitude = 5.000000 m
2025-04-16T01:53:59.647Z,1744768439.647 [MissionManager](INFO): DefineArg calibrate_sparton_compass:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-04-16T01:53:59.650Z,1744768439.650 [MissionManager](INFO): DefineArg calibrate_sparton_compass:StandardEnvelopes.MaxDepth = 200.000000 m
2025-04-16T01:53:59.654Z,1744768439.654 [MissionManager](INFO): DefineArg calibrate_sparton_compass:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-04-16T01:53:59.672Z,1744768439.672 [calibrate_sparton_compass:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-04-16T01:53:59.688Z,1744768439.688 [calibrate_sparton_compass:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-04-16T01:53:59.732Z,1744768439.732 [calibrate_sparton_compass:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-04-16T01:53:59.758Z,1744768439.758 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-04-16T01:53:59.758Z,1744768439.758 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-04-16T01:53:59.763Z,1744768439.763 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-04-16T01:53:59.798Z,1744768439.798 [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>

2025-04-16T01:53:59.807Z,1744768439.807 [MissionManager](INFO): DefineArg calibrate_sparton_compass:BackseatDriver.EnableBackseat = 0 bool
2025-04-16T01:53:59.814Z,1744768439.814 [calibrate_sparton_compass:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-04-16T01:53:59.817Z,1744768439.817 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-04-16T01:53:59.817Z,1744768439.817 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-04-16T01:53:59.818Z,1744768439.818 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-04-16T01:54:00.071Z,1744768440.071 [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>

2025-04-16T01:54:00.076Z,1744768440.076 [MissionManager](INFO): DefineArg calibrate_sparton_compass:PowerOnly.SampleAll = 0 bool
2025-04-16T01:54:00.079Z,1744768440.079 [MissionManager](INFO): DefineArg calibrate_sparton_compass:PowerOnly.SampleLoad1 = 0 bool
2025-04-16T01:54:00.093Z,1744768440.093 [MissionManager](INFO): DefineArg calibrate_sparton_compass:PowerOnly.SampleLoad2 = 0 bool
2025-04-16T01:54:00.096Z,1744768440.096 [MissionManager](INFO): DefineArg calibrate_sparton_compass:PowerOnly.SampleLoad3 = 0 bool
2025-04-16T01:54:00.107Z,1744768440.107 [MissionManager](INFO): DefineArg calibrate_sparton_compass:PowerOnly.EnabledPowerOnly = 1 bool
2025-04-16T01:54:00.119Z,1744768440.119 [calibrate_sparton_compass:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-04-16T01:54:00.132Z,1744768440.132 [calibrate_sparton_compass:K.Pitch](DEBUG): Construct.
2025-04-16T01:54:00.147Z,1744768440.147 [calibrate_sparton_compass:L.Buoyancy](DEBUG): Construct Buoyancy.
2025-04-16T01:54:00.151Z,1744768440.151 [calibrate_sparton_compass:M.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-04-16T01:54:00.177Z,1744768440.177 [calibrate_sparton_compass:N.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-04-16T01:54:00.208Z,1744768440.208 [calibrate_sparton_compass:O.YoYo](DEBUG): Construct YoYo.
2025-04-16T01:54:00.222Z,1744768440.222 [calibrate_sparton_compass:AdaptCal:WaitForCalibrationInit:A_Timeout:B.Execute](DEBUG): Construct Execute.
2025-04-16T01:54:00.273Z,1744768440.273 [calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints:A.Point](DEBUG): Construct.
2025-04-16T01:54:00.296Z,1744768440.296 [calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints:B.SetSpeed](DEBUG): Construct.
2025-04-16T01:54:00.307Z,1744768440.307 [calibrate_sparton_compass:AdaptCal:C.CalibrateAHRS_M2](DEBUG): Construct CalibrateSparton.
2025-04-16T01:54:00.386Z,1744768440.386 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

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

  # Mission-wide settings

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

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

    # You probably need to change these.

    # You probably do not need to change these.

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

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

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

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

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

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

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

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

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

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

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

  # Missions should almost always start with a timeout

  timeout duration=MissionTimeout

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

  # Most missions should use the NeedComms aggregate.

  insert id="NeedComms" Insert/NeedComms.tl

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

  insert Insert/StandardEnvelopes.tl

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

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

  # Check for additional instructions first.

  call id="StartingMission" refId="NeedComms"

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

  behavior Guidance:Pitch {
    run in parallel

    set massPosition = Control:VerticalControl.massDefault
  }

  behavior Guidance:Buoyancy {
    run in parallel

    set position = Control:VerticalControl.buoyancyNeutral
  }

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

    run in parallel

    set minDepth = YoYoMinDepth

    set maxDepth = YoYoMaxDepth

    set pitch = YoYoPitch
  }

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

    run in parallel

    set minAltitude = YoYoMinAltitude

    set pitch = YoYoPitch
  }

  behavior Guidance:YoYo {
    run in parallel

    set pitch = YoYoPitch
  }

  aggregate AdaptCal {
    run in sequence

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

        behavior Guidance:Execute {
          run in sequence

          set command = "stop"
        }
      }

      Sensor:AHRS_M2.number_of_calbration_points
    }

    aggregate AcquireCalibrationPoints {
      run in sequence

      behavior Guidance:Point {
        run in parallel

        set rudderAngle = RudderAngle
      }

      behavior Guidance:SetSpeed {
        run in parallel

        set speed = Speed
      }
    }

    behavior Sensor:CalibrateAHRS_M2 {
      run in parallel
    }
  }
}


2025-04-16T01:54:00.403Z,1744768440.403 [CommandExec](IMPORTANT): Running ./Missions/Maintenance/calibrate_sparton_compass.tl
2025-04-16T01:54:00.683Z,1744768440.683 [Default] Stopped
2025-04-16T01:54:00.683Z,1744768440.683 [Default](DEBUG): Aggregate::uninitialize Default
2025-04-16T01:54:00.683Z,1744768440.683 [Default:B.GoToSurface] Stopped
2025-04-16T01:54:00.684Z,1744768440.684 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-04-16T01:54:00.684Z,1744768440.684 [Default:CheckIn] Stopped
2025-04-16T01:54:00.684Z,1744768440.684 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-04-16T01:54:00.684Z,1744768440.684 [Default:CheckIn:C.Wait] Stopped
2025-04-16T01:54:00.684Z,1744768440.684 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-04-16T01:54:00.684Z,1744768440.684 [MissionManager](IMPORTANT): Started mission calibrate_sparton_compass
2025-04-16T01:54:00.684Z,1744768440.684 [calibrate_sparton_compass] Running Loop=1
2025-04-16T01:54:00.684Z,1744768440.684 [calibrate_sparton_compass](DEBUG): Aggregate::initialize calibrate_sparton_compass
2025-04-16T01:54:00.684Z,1744768440.684 [calibrate_sparton_compass:Science] Running Loop=1
2025-04-16T01:54:00.685Z,1744768440.685 [calibrate_sparton_compass:Science](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science
2025-04-16T01:54:00.685Z,1744768440.685 [calibrate_sparton_compass:Science:A] Running Loop=1
2025-04-16T01:54:00.685Z,1744768440.685 [calibrate_sparton_compass:Science:B] Running Loop=1
2025-04-16T01:54:00.685Z,1744768440.685 [calibrate_sparton_compass:Science:C] Running Loop=1
2025-04-16T01:54:00.685Z,1744768440.685 [calibrate_sparton_compass:Science:D] Running Loop=1
2025-04-16T01:54:00.685Z,1744768440.685 [calibrate_sparton_compass:Science:E] Running Loop=1
2025-04-16T01:54:00.685Z,1744768440.685 [calibrate_sparton_compass:Science:F] Running Loop=1
2025-04-16T01:54:00.685Z,1744768440.685 [calibrate_sparton_compass:Science:Read_Oil] Running Loop=1
2025-04-16T01:54:00.685Z,1744768440.685 [calibrate_sparton_compass:Science:PeakDetectChl] Running Loop=1
2025-04-16T01:54:00.685Z,1744768440.685 [calibrate_sparton_compass:Science:PeakDetectChl](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:PeakDetectChl
2025-04-16T01:54:00.685Z,1744768440.685 [calibrate_sparton_compass:Science:PeakDetectChl:A] Running Loop=1
2025-04-16T01:54:00.685Z,1744768440.685 [calibrate_sparton_compass:Science:EdgeDetectChl] Running Loop=1
2025-04-16T01:54:00.686Z,1744768440.686 [calibrate_sparton_compass:Science:EdgeDetectChl](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:EdgeDetectChl
2025-04-16T01:54:00.686Z,1744768440.686 [calibrate_sparton_compass:Science:EdgeDetectChl:A] Running Loop=1
2025-04-16T01:54:00.686Z,1744768440.686 [calibrate_sparton_compass:Science:HighestChlPeakReport] Running Loop=1
2025-04-16T01:54:00.686Z,1744768440.686 [calibrate_sparton_compass:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:HighestChlPeakReport
2025-04-16T01:54:00.686Z,1744768440.686 [calibrate_sparton_compass:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-04-16T01:54:00.687Z,1744768440.687 [calibrate_sparton_compass:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-04-16T01:54:00.691Z,1744768440.691 [calibrate_sparton_compass:Science:PeakDetectNO3] Running Loop=1
2025-04-16T01:54:00.691Z,1744768440.691 [calibrate_sparton_compass:Science:PeakDetectNO3](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:PeakDetectNO3
2025-04-16T01:54:00.692Z,1744768440.692 [calibrate_sparton_compass:Science:PeakDetectNO3:A] Running Loop=1
2025-04-16T01:54:00.692Z,1744768440.692 [calibrate_sparton_compass:Science:PeakDetectOil] Running Loop=1
2025-04-16T01:54:00.692Z,1744768440.692 [calibrate_sparton_compass:Science:PeakDetectOil](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:PeakDetectOil
2025-04-16T01:54:00.701Z,1744768440.701 [calibrate_sparton_compass:Science:PeakDetectOil:A] Running Loop=1
2025-04-16T01:54:00.702Z,1744768440.702 [calibrate_sparton_compass:Science:HighestOilPeakReport] Running Loop=1
2025-04-16T01:54:00.702Z,1744768440.702 [calibrate_sparton_compass:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:HighestOilPeakReport
2025-04-16T01:54:00.702Z,1744768440.702 [calibrate_sparton_compass:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-04-16T01:54:00.702Z,1744768440.702 [calibrate_sparton_compass:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-04-16T01:54:00.702Z,1744768440.702 [calibrate_sparton_compass:Science:PeakDetectFDOM] Running Loop=1
2025-04-16T01:54:00.702Z,1744768440.702 [calibrate_sparton_compass:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:PeakDetectFDOM
2025-04-16T01:54:00.703Z,1744768440.703 [calibrate_sparton_compass:Science:PeakDetectFDOM:A] Running Loop=1
2025-04-16T01:54:00.703Z,1744768440.703 [calibrate_sparton_compass:Science:PeakDetectSalinity] Running Loop=1
2025-04-16T01:54:00.703Z,1744768440.703 [calibrate_sparton_compass:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:PeakDetectSalinity
2025-04-16T01:54:00.703Z,1744768440.703 [calibrate_sparton_compass:Science:PeakDetectSalinity:A] Running Loop=1
2025-04-16T01:54:00.703Z,1744768440.703 [calibrate_sparton_compass:Science:HighestSaltPeakReport] Running Loop=1
2025-04-16T01:54:00.707Z,1744768440.707 [calibrate_sparton_compass:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:HighestSaltPeakReport
2025-04-16T01:54:00.707Z,1744768440.707 [calibrate_sparton_compass:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-04-16T01:54:00.707Z,1744768440.707 [calibrate_sparton_compass:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-04-16T01:54:00.708Z,1744768440.708 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-04-16T01:54:00.708Z,1744768440.708 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:PeakDetectPlanktivoreLMavgROI
2025-04-16T01:54:00.708Z,1744768440.708 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-04-16T01:54:00.708Z,1744768440.708 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2025-04-16T01:54:00.708Z,1744768440.708 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:EdgeDetectPlanktivoreLMavgROI
2025-04-16T01:54:00.708Z,1744768440.708 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-04-16T01:54:00.708Z,1744768440.708 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-04-16T01:54:00.709Z,1744768440.709 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:PeakDetectPlanktivoreHMavgROI
2025-04-16T01:54:00.709Z,1744768440.709 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-04-16T01:54:00.709Z,1744768440.709 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreHMavgROI] Running Loop=1
2025-04-16T01:54:00.709Z,1744768440.709 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:EdgeDetectPlanktivoreHMavgROI
2025-04-16T01:54:00.709Z,1744768440.709 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-04-16T01:54:00.709Z,1744768440.709 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-04-16T01:54:00.709Z,1744768440.709 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:PeakDetectPlanktivoreDiatoms
2025-04-16T01:54:00.709Z,1744768440.709 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2025-04-16T01:54:00.709Z,1744768440.709 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreDiatoms] Running Loop=1
2025-04-16T01:54:00.710Z,1744768440.710 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:EdgeDetectPlanktivoreDiatoms
2025-04-16T01:54:00.710Z,1744768440.710 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreDiatoms:A] Running Loop=1
2025-04-16T01:54:00.710Z,1744768440.710 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-04-16T01:54:00.710Z,1744768440.710 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:PeakDetectPlanktivoreDinoflagellates
2025-04-16T01:54:00.710Z,1744768440.710 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-04-16T01:54:00.710Z,1744768440.710 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreDinoflagellates] Running Loop=1
2025-04-16T01:54:00.710Z,1744768440.710 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:EdgeDetectPlanktivoreDinoflagellates
2025-04-16T01:54:00.711Z,1744768440.711 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-04-16T01:54:00.711Z,1744768440.711 [calibrate_sparton_compass:Science:ChlThreshTrigger] Running Loop=1
2025-04-16T01:54:00.716Z,1744768440.716 [calibrate_sparton_compass:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:ChlThreshTrigger
2025-04-16T01:54:00.716Z,1744768440.716 [calibrate_sparton_compass:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-04-16T01:54:00.716Z,1744768440.716 [calibrate_sparton_compass:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-04-16T01:54:00.717Z,1744768440.717 [calibrate_sparton_compass:Science:OceanCurrent] Running Loop=1
2025-04-16T01:54:00.717Z,1744768440.717 [calibrate_sparton_compass:Science:OceanCurrent](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:OceanCurrent
2025-04-16T01:54:00.717Z,1744768440.717 [calibrate_sparton_compass:Science:OceanCurrent:A.] Running Loop=1
2025-04-16T01:54:00.717Z,1744768440.717 [calibrate_sparton_compass:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-04-16T01:54:00.717Z,1744768440.717 [calibrate_sparton_compass:StandardEnvelopes] Running Loop=1
2025-04-16T01:54:00.717Z,1744768440.717 [calibrate_sparton_compass:StandardEnvelopes](DEBUG): Aggregate::initialize calibrate_sparton_compass:StandardEnvelopes
2025-04-16T01:54:00.717Z,1744768440.717 [calibrate_sparton_compass:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-04-16T01:54:00.717Z,1744768440.717 [calibrate_sparton_compass:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-04-16T01:54:00.718Z,1744768440.718 [calibrate_sparton_compass:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-04-16T01:54:00.718Z,1744768440.718 [calibrate_sparton_compass:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-04-16T01:54:00.718Z,1744768440.718 [calibrate_sparton_compass:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-04-16T01:54:00.718Z,1744768440.718 [calibrate_sparton_compass:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-04-16T01:54:00.718Z,1744768440.718 [calibrate_sparton_compass:BackseatDriver] Running Loop=1
2025-04-16T01:54:00.718Z,1744768440.718 [calibrate_sparton_compass:BackseatDriver](DEBUG): Aggregate::initialize calibrate_sparton_compass:BackseatDriver
2025-04-16T01:54:00.718Z,1744768440.718 [calibrate_sparton_compass:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-04-16T01:54:00.718Z,1744768440.718 [calibrate_sparton_compass:PowerOnly] Running Loop=1
2025-04-16T01:54:00.719Z,1744768440.719 [calibrate_sparton_compass:PowerOnly](DEBUG): Aggregate::initialize calibrate_sparton_compass:PowerOnly
2025-04-16T01:54:00.719Z,1744768440.719 [calibrate_sparton_compass:PowerOnly:A] Running Loop=1
2025-04-16T01:54:00.719Z,1744768440.719 [calibrate_sparton_compass:PowerOnly:B] Running Loop=1
2025-04-16T01:54:00.719Z,1744768440.719 [calibrate_sparton_compass:PowerOnly:C] Running Loop=1
2025-04-16T01:54:00.719Z,1744768440.719 [calibrate_sparton_compass:PowerOnly:D] Running Loop=1
2025-04-16T01:54:00.719Z,1744768440.719 [calibrate_sparton_compass:PowerOnly:E.Wait] Running Loop=1
2025-04-16T01:54:00.723Z,1744768440.723 [calibrate_sparton_compass:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-04-16T01:54:00.723Z,1744768440.723 [calibrate_sparton_compass:K.Pitch] Running Loop=1
2025-04-16T01:54:00.723Z,1744768440.723 [calibrate_sparton_compass:K.Pitch](DEBUG): Initialize.
2025-04-16T01:54:00.724Z,1744768440.724 [calibrate_sparton_compass:L.Buoyancy] Running Loop=1
2025-04-16T01:54:00.724Z,1744768440.724 [calibrate_sparton_compass:L.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-04-16T01:54:00.724Z,1744768440.724 [calibrate_sparton_compass:M.DepthEnvelope] Running Loop=1
2025-04-16T01:54:00.724Z,1744768440.724 [calibrate_sparton_compass:M.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-04-16T01:54:00.724Z,1744768440.724 [calibrate_sparton_compass:N.AltitudeEnvelope] Running Loop=1
2025-04-16T01:54:00.724Z,1744768440.724 [calibrate_sparton_compass:N.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-04-16T01:54:00.724Z,1744768440.724 [calibrate_sparton_compass:O.YoYo] Running Loop=1
2025-04-16T01:54:00.724Z,1744768440.724 [calibrate_sparton_compass:O.YoYo](DEBUG): Initialize YoYoComponent.
2025-04-16T01:54:00.725Z,1744768440.725 [calibrate_sparton_compass:C] Running Loop=1
2025-04-16T01:54:00.725Z,1744768440.725 [calibrate_sparton_compass:O.YoYo] Running Loop=1
2025-04-16T01:54:00.726Z,1744768440.726 [calibrate_sparton_compass:N.AltitudeEnvelope] Running Loop=1
2025-04-16T01:54:00.726Z,1744768440.726 [calibrate_sparton_compass:M.DepthEnvelope] Running Loop=1
2025-04-16T01:54:00.732Z,1744768440.732 [calibrate_sparton_compass:L.Buoyancy] Running Loop=1
2025-04-16T01:54:00.732Z,1744768440.732 [calibrate_sparton_compass:K.Pitch] Running Loop=1
2025-04-16T01:54:00.733Z,1744768440.733 [calibrate_sparton_compass:PowerOnly] Running Loop=1
2025-04-16T01:54:00.733Z,1744768440.733 [calibrate_sparton_compass:PowerOnly:D] Stopped
2025-04-16T01:54:00.733Z,1744768440.733 [calibrate_sparton_compass:PowerOnly:C] Stopped
2025-04-16T01:54:00.733Z,1744768440.733 [calibrate_sparton_compass:PowerOnly:B] Stopped
2025-04-16T01:54:00.733Z,1744768440.733 [calibrate_sparton_compass:PowerOnly:A] Stopped
2025-04-16T01:54:00.733Z,1744768440.733 [calibrate_sparton_compass:BackseatDriver] Running Loop=1
2025-04-16T01:54:00.734Z,1744768440.734 [calibrate_sparton_compass:StandardEnvelopes] Running Loop=1
2025-04-16T01:54:00.734Z,1744768440.734 [calibrate_sparton_compass:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-04-16T01:54:00.734Z,1744768440.734 [calibrate_sparton_compass:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-04-16T01:54:00.734Z,1744768440.734 [calibrate_sparton_compass:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-04-16T01:54:00.735Z,1744768440.735 [calibrate_sparton_compass:C] Stopped
2025-04-16T01:54:00.739Z,1744768440.739 [calibrate_sparton_compass:E] Running Loop=1
2025-04-16T01:54:00.739Z,1744768440.739 [calibrate_sparton_compass:Science] Running Loop=1
2025-04-16T01:54:00.741Z,1744768440.741 [calibrate_sparton_compass:Science:ChlThreshTrigger] Stopped
2025-04-16T01:54:00.741Z,1744768440.741 [calibrate_sparton_compass:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:ChlThreshTrigger
2025-04-16T01:54:00.741Z,1744768440.741 [calibrate_sparton_compass:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-04-16T01:54:00.741Z,1744768440.741 [calibrate_sparton_compass:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-04-16T01:54:00.741Z,1744768440.741 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreDinoflagellates] Stopped
2025-04-16T01:54:00.741Z,1744768440.741 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:EdgeDetectPlanktivoreDinoflagellates
2025-04-16T01:54:00.741Z,1744768440.741 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreDinoflagellates:A] Stopped
2025-04-16T01:54:00.741Z,1744768440.741 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-04-16T01:54:00.742Z,1744768440.742 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:PeakDetectPlanktivoreDinoflagellates
2025-04-16T01:54:00.742Z,1744768440.742 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2025-04-16T01:54:00.742Z,1744768440.742 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreDiatoms] Stopped
2025-04-16T01:54:00.742Z,1744768440.742 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:EdgeDetectPlanktivoreDiatoms
2025-04-16T01:54:00.742Z,1744768440.742 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreDiatoms:A] Stopped
2025-04-16T01:54:00.742Z,1744768440.742 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-04-16T01:54:00.742Z,1744768440.742 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:PeakDetectPlanktivoreDiatoms
2025-04-16T01:54:00.742Z,1744768440.742 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2025-04-16T01:54:00.742Z,1744768440.742 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreHMavgROI] Stopped
2025-04-16T01:54:00.742Z,1744768440.742 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:EdgeDetectPlanktivoreHMavgROI
2025-04-16T01:54:00.742Z,1744768440.742 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreHMavgROI:A] Stopped
2025-04-16T01:54:00.742Z,1744768440.742 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-04-16T01:54:00.742Z,1744768440.742 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:PeakDetectPlanktivoreHMavgROI
2025-04-16T01:54:00.742Z,1744768440.742 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2025-04-16T01:54:00.743Z,1744768440.743 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2025-04-16T01:54:00.743Z,1744768440.743 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:EdgeDetectPlanktivoreLMavgROI
2025-04-16T01:54:00.743Z,1744768440.743 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2025-04-16T01:54:00.743Z,1744768440.743 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-04-16T01:54:00.743Z,1744768440.743 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:PeakDetectPlanktivoreLMavgROI
2025-04-16T01:54:00.743Z,1744768440.743 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2025-04-16T01:54:00.747Z,1744768440.747 [calibrate_sparton_compass:Science:HighestSaltPeakReport] Stopped
2025-04-16T01:54:00.747Z,1744768440.747 [calibrate_sparton_compass:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:HighestSaltPeakReport
2025-04-16T01:54:00.747Z,1744768440.747 [calibrate_sparton_compass:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-04-16T01:54:00.748Z,1744768440.748 [calibrate_sparton_compass:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-04-16T01:54:00.748Z,1744768440.748 [calibrate_sparton_compass:Science:PeakDetectSalinity] Stopped
2025-04-16T01:54:00.748Z,1744768440.748 [calibrate_sparton_compass:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:PeakDetectSalinity
2025-04-16T01:54:00.748Z,1744768440.748 [calibrate_sparton_compass:Science:PeakDetectSalinity:A] Stopped
2025-04-16T01:54:00.748Z,1744768440.748 [calibrate_sparton_compass:Science:PeakDetectFDOM] Stopped
2025-04-16T01:54:00.748Z,1744768440.748 [calibrate_sparton_compass:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:PeakDetectFDOM
2025-04-16T01:54:00.748Z,1744768440.748 [calibrate_sparton_compass:Science:PeakDetectFDOM:A] Stopped
2025-04-16T01:54:00.748Z,1744768440.748 [calibrate_sparton_compass:Science:HighestOilPeakReport] Stopped
2025-04-16T01:54:00.748Z,1744768440.748 [calibrate_sparton_compass:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:HighestOilPeakReport
2025-04-16T01:54:00.748Z,1744768440.748 [calibrate_sparton_compass:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-04-16T01:54:00.748Z,1744768440.748 [calibrate_sparton_compass:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-04-16T01:54:00.748Z,1744768440.748 [calibrate_sparton_compass:Science:PeakDetectOil] Stopped
2025-04-16T01:54:00.748Z,1744768440.749 [calibrate_sparton_compass:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:PeakDetectOil
2025-04-16T01:54:00.749Z,1744768440.749 [calibrate_sparton_compass:Science:PeakDetectOil:A] Stopped
2025-04-16T01:54:00.749Z,1744768440.749 [calibrate_sparton_compass:Science:PeakDetectNO3] Stopped
2025-04-16T01:54:00.749Z,1744768440.749 [calibrate_sparton_compass:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:PeakDetectNO3
2025-04-16T01:54:00.749Z,1744768440.749 [calibrate_sparton_compass:Science:PeakDetectNO3:A] Stopped
2025-04-16T01:54:00.749Z,1744768440.749 [calibrate_sparton_compass:Science:HighestChlPeakReport] Stopped
2025-04-16T01:54:00.749Z,1744768440.749 [calibrate_sparton_compass:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:HighestChlPeakReport
2025-04-16T01:54:00.749Z,1744768440.749 [calibrate_sparton_compass:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-04-16T01:54:00.749Z,1744768440.749 [calibrate_sparton_compass:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-04-16T01:54:00.749Z,1744768440.749 [calibrate_sparton_compass:Science:EdgeDetectChl] Stopped
2025-04-16T01:54:00.749Z,1744768440.749 [calibrate_sparton_compass:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:EdgeDetectChl
2025-04-16T01:54:00.749Z,1744768440.749 [calibrate_sparton_compass:Science:EdgeDetectChl:A] Stopped
2025-04-16T01:54:00.749Z,1744768440.749 [calibrate_sparton_compass:Science:PeakDetectChl] Stopped
2025-04-16T01:54:00.749Z,1744768440.749 [calibrate_sparton_compass:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:PeakDetectChl
2025-04-16T01:54:00.750Z,1744768440.750 [calibrate_sparton_compass:Science:PeakDetectChl:A] Stopped
2025-04-16T01:54:00.750Z,1744768440.750 [calibrate_sparton_compass:Science:OceanCurrent:A.] Running Loop=1
2025-04-16T01:54:00.750Z,1744768440.750 [calibrate_sparton_compass:Science:Read_Oil] Stopped
2025-04-16T01:54:00.750Z,1744768440.750 [calibrate_sparton_compass:Science:F] Stopped
2025-04-16T01:54:00.750Z,1744768440.750 [calibrate_sparton_compass:Science:E] Running Loop=1
2025-04-16T01:54:00.751Z,1744768440.751 [calibrate_sparton_compass:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2025-04-16T01:54:00.751Z,1744768440.751 [calibrate_sparton_compass:Science:D] Stopped
2025-04-16T01:54:00.751Z,1744768440.751 [calibrate_sparton_compass:Science:C] Running Loop=1
2025-04-16T01:54:00.756Z,1744768440.756 [calibrate_sparton_compass:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2025-04-16T01:54:00.757Z,1744768440.757 [calibrate_sparton_compass:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2025-04-16T01:54:00.757Z,1744768440.757 [calibrate_sparton_compass:Science:B] Running Loop=1
2025-04-16T01:54:00.757Z,1744768440.757 [calibrate_sparton_compass:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2025-04-16T01:54:00.758Z,1744768440.758 [calibrate_sparton_compass:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2025-04-16T01:54:00.758Z,1744768440.758 [calibrate_sparton_compass:Science:A] Stopped
2025-04-16T01:54:00.857Z,1744768440.857 [WetLabsBB2FL](INFO): Powering up
2025-04-16T01:54:01.091Z,1744768441.091 [calibrate_sparton_compass:E] Stopped
2025-04-16T01:54:01.091Z,1744768441.091 [calibrate_sparton_compass:F] Running Loop=1
2025-04-16T01:54:01.512Z,1744768441.512 [calibrate_sparton_compass:F] Stopped
2025-04-16T01:54:01.512Z,1744768441.512 [calibrate_sparton_compass:G] Running Loop=1
2025-04-16T01:54:01.893Z,1744768441.893 [calibrate_sparton_compass:G] Stopped
2025-04-16T01:54:01.893Z,1744768441.893 [calibrate_sparton_compass:StartingMission] Running Loop=1
2025-04-16T01:54:01.893Z,1744768441.893 [calibrate_sparton_compass:StartingMission](DEBUG): Aggregate::initialize calibrate_sparton_compass:StartingMission
2025-04-16T01:54:02.292Z,1744768442.292 [calibrate_sparton_compass:N.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2025-04-16T01:54:02.294Z,1744768442.294 [calibrate_sparton_compass:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2025-04-16T01:54:02.294Z,1744768442.294 [calibrate_sparton_compass:NeedComms] Running Loop=1
2025-04-16T01:54:02.294Z,1744768442.294 [calibrate_sparton_compass:NeedComms](DEBUG): Aggregate::initialize calibrate_sparton_compass:NeedComms
2025-04-16T01:54:02.294Z,1744768442.294 [calibrate_sparton_compass:NeedComms:B.GoToSurface] Running Loop=1
2025-04-16T01:54:02.294Z,1744768442.294 [calibrate_sparton_compass:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-04-16T01:54:02.295Z,1744768442.295 [calibrate_sparton_compass:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-04-16T01:54:02.295Z,1744768442.295 [calibrate_sparton_compass:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-04-16T01:54:02.296Z,1744768442.296 [calibrate_sparton_compass:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-04-16T01:54:02.296Z,1744768442.296 [calibrate_sparton_compass:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-04-16T01:54:02.296Z,1744768442.296 [calibrate_sparton_compass:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-04-16T01:54:02.297Z,1744768442.297 [calibrate_sparton_compass:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-04-16T01:54:02.297Z,1744768442.297 [calibrate_sparton_compass:NeedComms:A] Running Loop=1
2025-04-16T01:54:02.298Z,1744768442.298 [calibrate_sparton_compass:NeedComms:A](INFO): last time_fix was:  1744768335.000000 second since 1970/01/01T00:00:00Z 
2025-04-16T01:54:02.298Z,1744768442.298 [calibrate_sparton_compass:NeedComms:A] Stopped
2025-04-16T01:54:02.703Z,1744768442.703 [calibrate_sparton_compass:NeedComms:C] Running Loop=1
2025-04-16T01:54:03.118Z,1744768443.118 [calibrate_sparton_compass:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-04-16T01:54:03.956Z,1744768443.956 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2025-04-16T01:54:04.735Z,1744768444.735 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,015405.00,A,3647.79206,N,12150.62838,W,0.117,306.24,160425,,,D*70
2025-04-16T01:54:04.737Z,1744768444.737 [NAL9602](INFO): GPS fix at 20250416T015405: (36.796534, -121.843806)
2025-04-16T01:54:04.751Z,1744768444.751 [calibrate_sparton_compass:NeedComms:C] Stopped
2025-04-16T01:54:04.751Z,1744768444.751 [calibrate_sparton_compass:NeedComms:D] Running Loop=1
2025-04-16T01:54:05.151Z,1744768445.151 [calibrate_sparton_compass:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-04-16T01:54:12.903Z,1744768452.903 [DataOverHttps](INFO): Sending 75 bytes from file Logs/20250416T014222/Courier0013.lzma
2025-04-16T01:54:13.905Z,1744768453.905 [DataOverHttps](INFO): Moved sent file to Logs/20250416T014222/Courier0013.lzma.bak
2025-04-16T01:54:13.905Z,1744768453.905 [DataOverHttps](INFO): SBD MOMSN=24669838
2025-04-16T01:54:22.036Z,1744768462.036 [CTD_Seabird](ERROR): Failed to parse device response: 0.03,1
2025-04-16T01:54:30.220Z,1744768470.220 [DataOverHttps](INFO): Sending 238 bytes from file Logs/20250416T014222/Express0014.lzma
2025-04-16T01:54:31.221Z,1744768471.221 [DataOverHttps](INFO): Moved sent file to Logs/20250416T014222/Express0014.lzma.bak
2025-04-16T01:54:31.221Z,1744768471.221 [DataOverHttps](INFO): SBD MOMSN=24669841
2025-04-16T01:54:34.610Z,1744768474.610 [NAL9602](INFO): SBD MO Status=2, MOMSN=19527, MT Status=2, MTMSN=0
2025-04-16T01:54:34.610Z,1744768474.610 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-04-16T01:54:45.518Z,1744768485.518 [NAL9602](INFO): SBD MO Status=0, MOMSN=19527, MT Status=0, MTMSN=0
2025-04-16T01:54:45.518Z,1744768485.518 [NAL9602](INFO): No messages in MT queue
2025-04-16T01:54:47.791Z,1744768487.791 [DataOverHttps](INFO): Sending 62 bytes from file Logs/20250416T014222/Express0017.lzma
2025-04-16T01:54:48.793Z,1744768488.793 [DataOverHttps](INFO): Moved sent file to Logs/20250416T014222/Express0017.lzma.bak
2025-04-16T01:54:48.793Z,1744768488.793 [DataOverHttps](INFO): SBD MOMSN=24669847
2025-04-16T01:54:50.386Z,1744768490.386 [calibrate_sparton_compass:NeedComms:D] Stopped
2025-04-16T01:54:50.386Z,1744768490.386 [calibrate_sparton_compass:NeedComms:E] Running Loop=1
2025-04-16T01:54:50.788Z,1744768490.788 [calibrate_sparton_compass:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-04-16T01:54:52.391Z,1744768492.391 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,015453.00,A,3647.79248,N,12150.63228,W,0.952,270.42,160425,,,D*7A
2025-04-16T01:54:52.397Z,1744768492.397 [NAL9602](INFO): GPS fix at 20250416T015453: (36.796541, -121.843871)
2025-04-16T01:54:52.419Z,1744768492.419 [calibrate_sparton_compass:NeedComms:E] Stopped
2025-04-16T01:54:52.420Z,1744768492.420 [calibrate_sparton_compass:NeedComms](INFO): Completed calibrate_sparton_compass:NeedComms
2025-04-16T01:54:52.420Z,1744768492.420 [calibrate_sparton_compass:NeedComms] Stopped
2025-04-16T01:54:52.421Z,1744768492.421 [calibrate_sparton_compass:NeedComms](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:NeedComms
2025-04-16T01:54:52.421Z,1744768492.421 [calibrate_sparton_compass:NeedComms:B.GoToSurface] Stopped
2025-04-16T01:54:52.421Z,1744768492.421 [calibrate_sparton_compass:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-04-16T01:54:52.833Z,1744768492.833 [calibrate_sparton_compass:StartingMission](INFO): Completed calibrate_sparton_compass:StartingMission
2025-04-16T01:54:52.833Z,1744768492.833 [calibrate_sparton_compass:StartingMission] Stopped
2025-04-16T01:54:52.833Z,1744768492.833 [calibrate_sparton_compass:StartingMission](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:StartingMission
2025-04-16T01:54:52.833Z,1744768492.833 [calibrate_sparton_compass:AdaptCal] Running Loop=1
2025-04-16T01:54:52.834Z,1744768492.834 [calibrate_sparton_compass:AdaptCal](DEBUG): Aggregate::initialize calibrate_sparton_compass:AdaptCal
2025-04-16T01:54:52.834Z,1744768492.834 [calibrate_sparton_compass:AdaptCal:C.CalibrateAHRS_M2] Running Loop=1
2025-04-16T01:54:52.834Z,1744768492.834 [calibrate_sparton_compass:AdaptCal:C.CalibrateAHRS_M2](INFO): Initialize CalibrateSpartonComponent.
2025-04-16T01:54:52.834Z,1744768492.834 [calibrate_sparton_compass:AdaptCal:WaitForCalibrationInit] Running Loop=1
2025-04-16T01:54:53.251Z,1744768493.251 [calibrate_sparton_compass:AdaptCal:C.CalibrateAHRS_M2] Running Loop=1
2025-04-16T01:54:53.255Z,1744768493.255 [calibrate_sparton_compass:AdaptCal:C.CalibrateAHRS_M2](INFO): Initialize CalibrateSpartonComponent.
2025-04-16T01:54:53.256Z,1744768493.256 [calibrate_sparton_compass:AdaptCal:WaitForCalibrationInit](DEBUG): Initialize ReadDataComponent to sense AHRS_M2.number_of_calbration_points
2025-04-16T01:54:53.627Z,1744768493.627 [calibrate_sparton_compass:AdaptCal:C.CalibrateAHRS_M2](INFO): Initialize CalibrateSpartonComponent.
2025-04-16T01:54:54.031Z,1744768494.031 [calibrate_sparton_compass:AdaptCal:C.CalibrateAHRS_M2](INFO): Initialize CalibrateSpartonComponent.
2025-04-16T01:54:54.494Z,1744768494.494 [calibrate_sparton_compass:AdaptCal:C.CalibrateAHRS_M2](INFO): Initialize CalibrateSpartonComponent.
2025-04-16T01:54:54.823Z,1744768494.823 [calibrate_sparton_compass:AdaptCal:WaitForCalibrationInit] Stopped
2025-04-16T01:54:54.824Z,1744768494.824 [calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints] Running Loop=1
2025-04-16T01:54:54.824Z,1744768494.824 [calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints](DEBUG): Aggregate::initialize calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints
2025-04-16T01:54:54.824Z,1744768494.824 [calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints:A.Point] Running Loop=1
2025-04-16T01:54:54.824Z,1744768494.824 [calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints:A.Point](DEBUG): Initialize.
2025-04-16T01:54:54.824Z,1744768494.824 [calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints:B.SetSpeed] Running Loop=1
2025-04-16T01:54:54.824Z,1744768494.824 [calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints:B.SetSpeed](DEBUG): Initialize.
2025-04-16T01:54:55.236Z,1744768495.236 [calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints:B.SetSpeed] Running Loop=1
2025-04-16T01:54:55.236Z,1744768495.236 [calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints:A.Point] Running Loop=1
2025-04-16T01:55:25.115Z,1744768525.115 [NAL9602](INFO): Not Powering down - fast GPS
2025-04-16T02:02:05.257Z,1744768925.257 [DataOverHttps](IMPORTANT): SBD MTMSN=20250416T020205
2025-04-16T02:02:13.167Z,1744768933.167 [DataOverHttps](INFO): Received command: schedule resume
2025-04-16T02:02:13.273Z,1744768933.273 [CommandExec](IMPORTANT): got command schedule resume
2025-04-16T02:10:56.129Z,1744769456.129 [DataOverHttps](IMPORTANT): SBD MTMSN=20250416T021056
2025-04-16T02:11:03.979Z,1744769463.979 [DataOverHttps](INFO): Received command: configSet VerticalControl.elevLimit 7 degree persist
2025-04-16T02:11:04.547Z,1744769464.547 [CommandExec](IMPORTANT): got command configSet VerticalControl.elevLimit 7 degree persist
2025-04-16T02:12:38.997Z,1744769558.997 [DataOverHttps](IMPORTANT): SBD MTMSN=20250416T021239
2025-04-16T02:12:46.743Z,1744769566.743 [DataOverHttps](INFO): Received command: run Maintenance/calibrate_sparton_compass.tl
2025-04-16T02:12:46.822Z,1744769566.822 [CommandExec](IMPORTANT): got command run ./Missions/Maintenance/calibrate_sparton_compass.tl
2025-04-16T02:12:46.822Z,1744769566.822 [MissionManager](INFO): Uninitializing Mission calibrate_sparton_compass
2025-04-16T02:12:46.823Z,1744769566.823 [calibrate_sparton_compass] Stopped
2025-04-16T02:12:46.823Z,1744769566.823 [calibrate_sparton_compass](DEBUG): Aggregate::uninitialize calibrate_sparton_compass
2025-04-16T02:12:46.823Z,1744769566.823 [calibrate_sparton_compass:Science] Stopped
2025-04-16T02:12:46.823Z,1744769566.823 [calibrate_sparton_compass:Science](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science
2025-04-16T02:12:46.823Z,1744769566.823 [calibrate_sparton_compass:Science:B] Stopped
2025-04-16T02:12:46.823Z,1744769566.823 [calibrate_sparton_compass:Science:C] Stopped
2025-04-16T02:12:46.823Z,1744769566.823 [calibrate_sparton_compass:Science:E] Stopped
2025-04-16T02:12:46.823Z,1744769566.823 [calibrate_sparton_compass:Science:OceanCurrent] Stopped
2025-04-16T02:12:46.823Z,1744769566.823 [calibrate_sparton_compass:Science:OceanCurrent](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:OceanCurrent
2025-04-16T02:12:46.824Z,1744769566.824 [calibrate_sparton_compass:Science:OceanCurrent:A.] Stopped
2025-04-16T02:12:46.824Z,1744769566.824 [calibrate_sparton_compass:StandardEnvelopes] Stopped
2025-04-16T02:12:46.824Z,1744769566.824 [calibrate_sparton_compass:StandardEnvelopes](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:StandardEnvelopes
2025-04-16T02:12:46.824Z,1744769566.824 [calibrate_sparton_compass:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-04-16T02:12:46.824Z,1744769566.824 [calibrate_sparton_compass:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-04-16T02:12:46.824Z,1744769566.824 [calibrate_sparton_compass:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-04-16T02:12:46.824Z,1744769566.824 [calibrate_sparton_compass:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-04-16T02:12:46.824Z,1744769566.824 [calibrate_sparton_compass:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-04-16T02:12:46.824Z,1744769566.824 [calibrate_sparton_compass:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-04-16T02:12:46.824Z,1744769566.824 [calibrate_sparton_compass:BackseatDriver] Stopped
2025-04-16T02:12:46.824Z,1744769566.824 [calibrate_sparton_compass:BackseatDriver](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:BackseatDriver
2025-04-16T02:12:46.824Z,1744769566.824 [calibrate_sparton_compass:BackseatDriver:A.BackseatDriver] Stopped
2025-04-16T02:12:46.825Z,1744769566.825 [calibrate_sparton_compass:PowerOnly] Stopped
2025-04-16T02:12:46.825Z,1744769566.825 [calibrate_sparton_compass:PowerOnly](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:PowerOnly
2025-04-16T02:12:46.825Z,1744769566.825 [calibrate_sparton_compass:PowerOnly:E.Wait] Stopped
2025-04-16T02:12:46.825Z,1744769566.825 [calibrate_sparton_compass:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-04-16T02:12:46.825Z,1744769566.825 [calibrate_sparton_compass:K.Pitch] Stopped
2025-04-16T02:12:46.825Z,1744769566.825 [calibrate_sparton_compass:L.Buoyancy] Stopped
2025-04-16T02:12:46.825Z,1744769566.825 [calibrate_sparton_compass:L.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-04-16T02:12:46.825Z,1744769566.825 [calibrate_sparton_compass:M.DepthEnvelope] Stopped
2025-04-16T02:12:46.825Z,1744769566.825 [calibrate_sparton_compass:M.DepthEnvelope](DEBUG): Uninitialize.
2025-04-16T02:12:46.825Z,1744769566.825 [calibrate_sparton_compass:N.AltitudeEnvelope] Stopped
2025-04-16T02:12:46.825Z,1744769566.825 [calibrate_sparton_compass:N.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-04-16T02:12:46.825Z,1744769566.825 [calibrate_sparton_compass:O.YoYo] Stopped
2025-04-16T02:12:46.825Z,1744769566.825 [calibrate_sparton_compass:O.YoYo](DEBUG): Uninitialize YoYoComponent.
2025-04-16T02:12:46.826Z,1744769566.826 [calibrate_sparton_compass:AdaptCal] Stopped
2025-04-16T02:12:46.826Z,1744769566.826 [calibrate_sparton_compass:AdaptCal](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:AdaptCal
2025-04-16T02:12:46.826Z,1744769566.826 [calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints] Stopped
2025-04-16T02:12:46.826Z,1744769566.826 [calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints
2025-04-16T02:12:46.826Z,1744769566.826 [calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints:A.Point] Stopped
2025-04-16T02:12:46.826Z,1744769566.826 [calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints:B.SetSpeed] Stopped
2025-04-16T02:12:46.826Z,1744769566.826 [calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints:B.SetSpeed](DEBUG): Uninitialize.
2025-04-16T02:12:46.826Z,1744769566.826 [calibrate_sparton_compass:AdaptCal:C.CalibrateAHRS_M2] Stopped
2025-04-16T02:12:46.826Z,1744769566.826 [calibrate_sparton_compass:AdaptCal:C.CalibrateAHRS_M2](INFO): Uninitialize CalibrateSpartonComponent.
2025-04-16T02:12:46.980Z,1744769566.980 [MissionManager](INFO): Loading Mission from file: ./Missions/Maintenance/calibrate_sparton_compass.tl
2025-04-16T02:12:46.980Z,1744769566.980 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Maintenance/calibrate_sparton_compass.tl
2025-04-16T02:12:46.990Z,1744769566.990 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Maintenance/calibrate_sparton_compass.tl
2025-04-16T02:12:47.154Z,1744769567.154 [AHRS_M2](IMPORTANT): Acquired 7 calibration points.
2025-04-16T02:12:47.411Z,1744769567.411 [WetLabsBB2FL](INFO): Powering down
2025-04-16T02:12:47.941Z,1744769567.941 [AHRS_M2](IMPORTANT): Magnetic calibration quality (0[best] to 10000) is 0.000235.
2025-04-16T02:12:51.181Z,1744769571.181 [MissionManager](DEBUG): TethyslAPI: ./Missions/Maintenance/calibrate_sparton_compass.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="calibrate_sparton_compass">
    <DefineArg Name="MissionTimeout">
        <Units:minute />
        <Value>60</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>60</Value>
    </DefineArg>
    <DefineArg Name="YoYoMinDepth">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="YoYoMaxDepth">
        <Units:meter />
        <Value>40</Value>
    </DefineArg>
    <DefineArg Name="YoYoMinAltitude">
        <Units:meter />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="YoYoPitch">
        <Units:degree />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="RudderAngle">
        <Units:degree />
        <Value>13</Value>
    </DefineArg>
    <DefineArg Name="Speed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="CalibrationInitTimeout">
        <Units:minute />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>50</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <Timeout Duration="MissionTimeout" />
    <Insert Filename="Insert/Science.tl" />
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="NeedCommsTime" />
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Call RefId="NeedComms" Id="StartingMission" />
    <Guidance:Pitch>
        <Parallel />
        <Setting>
            <Guidance:Pitch.massPosition />
            <Control:VerticalControl.massDefault />
        </Setting>
    </Guidance:Pitch>
    <Guidance:Buoyancy>
        <Parallel />
        <Setting>
            <Guidance:Buoyancy.position />
            <Control:VerticalControl.buoyancyNeutral />
        </Setting>
    </Guidance:Buoyancy>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.minDepth />
            <Arg Name="YoYoMinDepth" />
        </Setting>
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="YoYoMaxDepth" />
        </Setting>
        <Setting>
            <Guidance:DepthEnvelope.pitch />
            <Arg Name="YoYoPitch" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="YoYoMinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.pitch />
            <Arg Name="YoYoPitch" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:YoYo>
        <Parallel />
        <Setting>
            <Guidance:YoYo.pitch />
            <Arg Name="YoYoPitch" />
        </Setting>
    </Guidance:YoYo>
    <Aggregate Id="AdaptCal">
        <Sequence />
        <ReadDatum Id="WaitForCalibrationInit">
            <Timeout Duration="CalibrationInitTimeout">
                <Syslog Severity="Important">Failed to initialize calibration within timeout. Stopping mission.</Syslog>
                <Guidance:Execute>
                    <Sequence />
                    <Setting>
                        <Guidance:Execute.command />
                        <String>stop</String>
                    </Setting>
                </Guidance:Execute>
            </Timeout>
            <Sensor:AHRS_M2.number_of_calbration_points />
        </ReadDatum>
        <Aggregate Id="AcquireCalibrationPoints">
            <Sequence />
            <Guidance:Point>
                <Parallel />
                <Setting>
                    <Guidance:Point.rudderAngle />
                    <Arg Name="RudderAngle" />
                </Setting>
            </Guidance:Point>
            <Guidance:SetSpeed>
                <Parallel />
                <Setting>
                    <Guidance:SetSpeed.speed />
                    <Arg Name="Speed" />
                </Setting>
            </Guidance:SetSpeed>
        </Aggregate>
        <Sensor:CalibrateAHRS_M2>
            <Parallel />
        </Sensor:CalibrateAHRS_M2>
    </Aggregate>
</Mission>

2025-04-16T02:12:51.193Z,1744769571.193 [MissionManager](INFO): DefineArg calibrate_sparton_compass.MissionTimeout = 60.000000 min
2025-04-16T02:12:51.195Z,1744769571.195 [MissionManager](INFO): DefineArg calibrate_sparton_compass.NeedCommsTime = 60.000000 min
2025-04-16T02:12:51.197Z,1744769571.197 [MissionManager](INFO): DefineArg calibrate_sparton_compass.YoYoMinDepth = 5.000000 m
2025-04-16T02:12:51.200Z,1744769571.200 [MissionManager](INFO): DefineArg calibrate_sparton_compass.YoYoMaxDepth = 40.000000 m
2025-04-16T02:12:51.203Z,1744769571.203 [MissionManager](INFO): DefineArg calibrate_sparton_compass.YoYoMinAltitude = 7.000000 m
2025-04-16T02:12:51.233Z,1744769571.233 [MissionManager](INFO): DefineArg calibrate_sparton_compass.YoYoPitch = 20.000000 arcdeg
2025-04-16T02:12:51.240Z,1744769571.240 [MissionManager](INFO): DefineArg calibrate_sparton_compass.RudderAngle = 13.000000 arcdeg
2025-04-16T02:12:51.244Z,1744769571.244 [MissionManager](INFO): DefineArg calibrate_sparton_compass.Speed = 1.000000 m/s
2025-04-16T02:12:51.246Z,1744769571.246 [MissionManager](INFO): DefineArg calibrate_sparton_compass.CalibrationInitTimeout = 2.000000 min
2025-04-16T02:12:51.249Z,1744769571.249 [MissionManager](INFO): DefineArg calibrate_sparton_compass.MinAltitude = 5.000000 m
2025-04-16T02:12:51.251Z,1744769571.251 [MissionManager](INFO): DefineArg calibrate_sparton_compass.MaxDepth = 50.000000 m
2025-04-16T02:12:51.257Z,1744769571.257 [MissionManager](INFO): DefineArg calibrate_sparton_compass.MinOffshore = 2.000000 km
2025-04-16T02:12:51.258Z,1744769571.258 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-04-16T02:12:51.258Z,1744769571.258 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-04-16T02:12:51.267Z,1744769571.267 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-04-16T02:12:54.696Z,1744769574.696 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/Science.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="Science">
    <DefineArg Name="PeakDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="TimeWindowPeakReport">
        <Units:minute />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="HighestChlPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestSaltPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestOilPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="PatchTracking">
        <False />
    </DefineArg>
    <DefineArg Name="FilterWidthHorizontal">
        <Units:count />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesSlidingwindow">
        <Units:count />
        <Value>100</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionHorizontal">
        <Units:percent />
        <Value>80</Value>
    </DefineArg>
    <DefineArg Name="PeakDetectNO3Active">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectOilActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectFDOMActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectSalinityActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDinoflagellatesActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreDinoflagellatesActive">
        <False />
    </DefineArg>
    <DefineArg Name="UpwardDerivativeOfTemperatureActive">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledAanderaaO2">
        <Science:Aanderaa_O2.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledNeilBrown">
        <Science:CTD_NeilBrown.loadAtStartup />
    </DefineArg>
    <DefineArg Name="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>
    <DefineArg Name="PlanktivoreHMavgROIPeakThresh">
        <Units:count_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreDiatomsPeakThresh">
        <Units:count_per_milliliter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreDinoflagellatesPeakThresh">
        <Units:count_per_milliliter />
        <Value>0</Value>
    </DefineArg>
    <DefineOutput Name="GoDown">
        <True />
    </DefineOutput>
    <DefineOutput Name="PeakChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3">
        <Units:micromole_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Depth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOil">
        <Units:kilogram_per_cubic_meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOM">
        <Units:part_per_billion />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatoms">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatoms">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOil">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="TriggeredOnChl">
        <False />
    </DefineOutput>
    <DefineOutput Name="ChlTriggering">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledAanderaaO2" />
        </While>
        <Universal:mass_concentration_of_oxygen_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
        </While>
        <Universal:sea_water_temperature />
        <Universal:sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledSeabird" />
        </While>
        <Science:CTD_Seabird.sea_water_temperature />
        <Science:CTD_Seabird.sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
            <And>
                <Arg Name="UpwardDerivativeOfTemperatureActive" />
            </And>
        </While>
        <Universal:upward_derivative_of_sea_water_temperature />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsBB2FL" />
            <Or>
                <Arg Name="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="Info">
            GoDown, PlanktivoreLMavgROIPeakThresh, PeakPlanktivoreLMavgROI, PeakPlanktivoreLMavgROIDepth, EdgePlanktivoreLMavgROI, EdgePlanktivoreLMavgROIDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreHMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_HM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="EdgeDetectPlanktivoreHMavgROIActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_HM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFraction />
                <Arg Name="OffPeakFractionVertical" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreHMavgROIPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROI">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreHMavgROIPeakThresh, PeakPlanktivoreHMavgROI, PeakPlanktivoreHMavgROIDepth, EdgePlanktivoreHMavgROI, EdgePlanktivoreHMavgROIDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreHMavgROIPeakThresh" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreHMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="EdgePlanktivoreHMavgROIDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
            <Arg Name="EdgePlanktivoreHMavgROI" />
            <Arg Name="EdgePlanktivoreHMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="PeakDetectPlanktivoreDiatomsActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_diatoms</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="EdgeDetectPlanktivoreDiatomsActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_diatoms</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFraction />
                <Arg Name="OffPeakFractionVertical" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreDiatomsPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatoms">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreDiatomsPeakThresh, PeakPlanktivoreDiatoms, PeakPlanktivoreDiatomsDepth, EdgePlanktivoreDiatoms, EdgePlanktivoreDiatomsDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreDiatomsPeakThresh" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreDiatoms" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="EdgePlanktivoreDiatomsDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
            <Arg Name="EdgePlanktivoreDiatoms" />
            <Arg Name="EdgePlanktivoreDiatomsDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="PeakDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDinoflagellates">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="EdgeDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFraction />
                <Arg Name="OffPeakFractionVertical" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreDinoflagellatesPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellates">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellates">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreDinoflagellatesPeakThresh, PeakPlanktivoreDinoflagellates, PeakPlanktivoreDinoflagellatesDepth, EdgePlanktivoreDinoflagellates, EdgePlanktivoreDinoflagellatesDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreDinoflagellatesPeakThresh" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreDinoflagellates" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="EdgePlanktivoreDinoflagellatesDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
            <Arg Name="EdgePlanktivoreDinoflagellates" />
            <Arg Name="EdgePlanktivoreDinoflagellatesDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="ChlThreshTrigger">
        <While>
            <Arg Name="ChlThreshTriggerActive" />
        </While>
        <Trigger:ValueDetect>
            <Sequence />
            <Setting>
                <Trigger:ValueDetect.detect />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.lowerThreshold />
                <Arg Name="ChlLowerThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.upperThreshold />
                <Arg Name="ChlUpperThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.numProfilesThreshold />
                <Arg Name="NumProfilesThresh" />
            </Setting>
            <OutputArg Name="ChlTriggering">
                <Trigger:ValueDetect.outputValue />
            </OutputArg>
        </Trigger:ValueDetect>
        <Assign>
            <Sequence />
            <Arg Name="TriggeredOnChl" />
            <True />
        </Assign>
        <Syslog Severity="Important">
            Triggered. PeakChl values on 
            <Arg Name="NumProfilesThresh" />
            <Units:count />
             consecutive yo-yo profiles fall in [
            <Arg Name="ChlLowerThresh" />
            <Units:microgram_per_liter />
            <Arg Name="ChlUpperThresh" />
            <Units:microgram_per_liter />
            ] (NaN bound is ignored).
        </Syslog>
    </Aggregate>
</Aggregate>

2025-04-16T02:12:54.722Z,1744769574.722 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.PeakDetectChlActive = 0 bool
2025-04-16T02:12:54.725Z,1744769574.725 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.EdgeDetectChlActive = 0 bool
2025-04-16T02:12:54.727Z,1744769574.727 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.TimeWindowPeakReport = nan min
2025-04-16T02:12:54.729Z,1744769574.729 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.HighestChlPeakReportActive = 0 bool
2025-04-16T02:12:54.731Z,1744769574.731 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.HighestSaltPeakReportActive = 0 bool
2025-04-16T02:12:54.733Z,1744769574.733 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.HighestOilPeakReportActive = 0 bool
2025-04-16T02:12:54.735Z,1744769574.735 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.PatchTracking = 0 bool
2025-04-16T02:12:54.738Z,1744769574.738 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.FilterWidthHorizontal = 3.000000 count
2025-04-16T02:12:54.740Z,1744769574.740 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.NumProfilesSlidingwindow = 100.000000 count
2025-04-16T02:12:54.742Z,1744769574.742 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.OffPeakFractionHorizontal = 80.000000 %
2025-04-16T02:12:54.744Z,1744769574.744 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.PeakDetectNO3Active = 0 bool
2025-04-16T02:12:54.746Z,1744769574.746 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.PeakDetectOilActive = 0 bool
2025-04-16T02:12:54.809Z,1744769574.809 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.PeakDetectFDOMActive = 0 bool
2025-04-16T02:12:54.810Z,1744769574.810 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.PeakDetectSalinityActive = 0 bool
2025-04-16T02:12:54.817Z,1744769574.817 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-04-16T02:12:54.819Z,1744769574.819 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-04-16T02:12:54.829Z,1744769574.829 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-04-16T02:12:54.840Z,1744769574.840 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.EdgeDetectPlanktivoreHMavgROIActive = 0 bool
2025-04-16T02:12:54.852Z,1744769574.852 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-04-16T02:12:54.854Z,1744769574.854 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.EdgeDetectPlanktivoreDiatomsActive = 0 bool
2025-04-16T02:12:54.867Z,1744769574.867 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-04-16T02:12:54.885Z,1744769574.885 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.EdgeDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-04-16T02:12:54.887Z,1744769574.887 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-04-16T02:12:54.890Z,1744769574.890 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.EnabledAanderaaO2 = 0 bool
2025-04-16T02:12:54.905Z,1744769574.905 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.EnabledNeilBrown = 0 bool
2025-04-16T02:12:54.911Z,1744769574.911 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.EnabledSeabird = 1 bool
2025-04-16T02:12:54.914Z,1744769574.914 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.EnabledWetLabsBB2FL = 1 bool
2025-04-16T02:12:54.928Z,1744769574.928 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-04-16T02:12:54.931Z,1744769574.931 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.EnabledWetLabsUBAT = 0 bool
2025-04-16T02:12:54.933Z,1744769574.933 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.LowPassWindowLength = 20.000000 count
2025-04-16T02:12:54.940Z,1744769574.940 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.MedianFilterLen = 5.000000 count
2025-04-16T02:12:54.942Z,1744769574.942 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.ShallowBound = nan m
2025-04-16T02:12:54.948Z,1744769574.948 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.DeepBound = nan m
2025-04-16T02:12:54.951Z,1744769574.951 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-04-16T02:12:54.961Z,1744769574.961 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.OffPeakFractionVertical = nan %
2025-04-16T02:12:54.976Z,1744769574.976 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.ChlPeakThresh = 0.000000 ug/l
2025-04-16T02:12:54.978Z,1744769574.978 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.ChlThreshTriggerActive = 0 bool
2025-04-16T02:12:54.984Z,1744769574.984 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.ChlLowerThresh = nan ug/l
2025-04-16T02:12:54.986Z,1744769574.986 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.ChlUpperThresh = nan ug/l
2025-04-16T02:12:54.993Z,1744769574.993 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.NumProfilesThresh = 5.000000 count
2025-04-16T02:12:54.995Z,1744769574.995 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-04-16T02:12:55.001Z,1744769575.001 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.PlanktivoreHMavgROIPeakThresh = 0.000000 count/s
2025-04-16T02:12:55.012Z,1744769575.012 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.PlanktivoreDiatomsPeakThresh = 0.000000 count/ml
2025-04-16T02:12:55.014Z,1744769575.014 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.PlanktivoreDinoflagellatesPeakThresh = 0.000000 count/ml
2025-04-16T02:12:55.016Z,1744769575.016 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.GoDown = 1 bool
2025-04-16T02:12:55.019Z,1744769575.019 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakChl = nan ug/l
2025-04-16T02:12:55.033Z,1744769575.033 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakChlDepth = nan m
2025-04-16T02:12:55.040Z,1744769575.040 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakChlTemperature = nan degC
2025-04-16T02:12:55.042Z,1744769575.042 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakChlLatitude = nan arcdeg
2025-04-16T02:12:55.052Z,1744769575.052 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakChlLongitude = nan arcdeg
2025-04-16T02:12:55.055Z,1744769575.055 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgeChl = nan ug/l
2025-04-16T02:12:55.061Z,1744769575.061 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgeChlDepth = nan m
2025-04-16T02:12:55.072Z,1744769575.072 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgeChlTemperature = nan degC
2025-04-16T02:12:55.074Z,1744769575.074 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgeChlLatitude = nan arcdeg
2025-04-16T02:12:55.089Z,1744769575.089 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgeChlLongitude = nan arcdeg
2025-04-16T02:12:55.091Z,1744769575.091 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakNO3 = nan umol/l
2025-04-16T02:12:55.097Z,1744769575.097 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakNO3Depth = nan m
2025-04-16T02:12:55.104Z,1744769575.104 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakNO3Latitude = nan arcdeg
2025-04-16T02:12:55.106Z,1744769575.106 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakNO3Longitude = nan arcdeg
2025-04-16T02:12:55.121Z,1744769575.121 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakOil = nan kg/m3
2025-04-16T02:12:55.127Z,1744769575.127 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakOilDepth = nan m
2025-04-16T02:12:55.130Z,1744769575.130 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakOilLatitude = nan arcdeg
2025-04-16T02:12:55.136Z,1744769575.136 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakOilLongitude = nan arcdeg
2025-04-16T02:12:55.139Z,1744769575.139 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakFDOM = nan ppb
2025-04-16T02:12:55.153Z,1744769575.153 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakFDOMDepth = nan m
2025-04-16T02:12:55.160Z,1744769575.160 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakFDOMTemperature = nan degC
2025-04-16T02:12:55.162Z,1744769575.162 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakFDOMLatitude = nan arcdeg
2025-04-16T02:12:55.169Z,1744769575.169 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakFDOMLongitude = nan arcdeg
2025-04-16T02:12:55.208Z,1744769575.208 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakSalt = nan psu
2025-04-16T02:12:55.211Z,1744769575.211 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakSaltDepth = nan m
2025-04-16T02:12:55.221Z,1744769575.221 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakSaltTemperature = nan degC
2025-04-16T02:12:55.232Z,1744769575.232 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakSaltLatitude = nan arcdeg
2025-04-16T02:12:55.234Z,1744769575.234 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakSaltLongitude = nan arcdeg
2025-04-16T02:12:55.245Z,1744769575.245 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-04-16T02:12:55.252Z,1744769575.252 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-04-16T02:12:55.255Z,1744769575.255 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-04-16T02:12:55.262Z,1744769575.262 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-04-16T02:12:55.273Z,1744769575.273 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-04-16T02:12:55.283Z,1744769575.283 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-04-16T02:12:55.286Z,1744769575.286 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-04-16T02:12:55.292Z,1744769575.292 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-04-16T02:12:55.295Z,1744769575.295 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-04-16T02:12:55.301Z,1744769575.301 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-04-16T02:12:55.316Z,1744769575.316 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-04-16T02:12:55.318Z,1744769575.318 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-04-16T02:12:55.325Z,1744769575.325 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-04-16T02:12:55.331Z,1744769575.331 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-04-16T02:12:55.334Z,1744769575.334 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-04-16T02:12:55.337Z,1744769575.337 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgePlanktivoreHMavgROI = nan count/s
2025-04-16T02:12:55.356Z,1744769575.356 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgePlanktivoreHMavgROIDepth = nan m
2025-04-16T02:12:55.358Z,1744769575.358 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgePlanktivoreHMavgROITemperature = nan degC
2025-04-16T02:12:55.376Z,1744769575.376 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgePlanktivoreHMavgROILatitude = nan arcdeg
2025-04-16T02:12:55.378Z,1744769575.378 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgePlanktivoreHMavgROILongitude = nan arcdeg
2025-04-16T02:12:55.385Z,1744769575.385 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-04-16T02:12:55.391Z,1744769575.391 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-04-16T02:12:55.394Z,1744769575.394 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-04-16T02:12:55.404Z,1744769575.404 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-04-16T02:12:55.407Z,1744769575.407 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-04-16T02:12:55.414Z,1744769575.414 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgePlanktivoreDiatoms = nan count/ml
2025-04-16T02:12:55.420Z,1744769575.420 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgePlanktivoreDiatomsDepth = nan m
2025-04-16T02:12:55.423Z,1744769575.423 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgePlanktivoreDiatomsTemperature = nan degC
2025-04-16T02:12:55.433Z,1744769575.433 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgePlanktivoreDiatomsLatitude = nan arcdeg
2025-04-16T02:12:55.440Z,1744769575.440 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgePlanktivoreDiatomsLongitude = nan arcdeg
2025-04-16T02:12:55.442Z,1744769575.442 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-04-16T02:12:55.449Z,1744769575.449 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-04-16T02:12:55.455Z,1744769575.455 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-04-16T02:12:55.462Z,1744769575.462 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-04-16T02:12:55.465Z,1744769575.465 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-04-16T02:12:55.467Z,1744769575.467 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgePlanktivoreDinoflagellates = nan count/ml
2025-04-16T02:12:55.496Z,1744769575.496 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgePlanktivoreDinoflagellatesDepth = nan m
2025-04-16T02:12:55.498Z,1744769575.498 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgePlanktivoreDinoflagellatesTemperature = nan degC
2025-04-16T02:12:55.505Z,1744769575.505 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgePlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-04-16T02:12:55.512Z,1744769575.512 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgePlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-04-16T02:12:55.514Z,1744769575.514 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PatchChl = nan ug/l
2025-04-16T02:12:55.524Z,1744769575.524 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PatchChlDepth = nan m
2025-04-16T02:12:55.527Z,1744769575.527 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PatchChlLatitude = nan arcdeg
2025-04-16T02:12:55.529Z,1744769575.529 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PatchChlLongitude = nan arcdeg
2025-04-16T02:12:55.535Z,1744769575.535 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PatchChlDistance = nan m
2025-04-16T02:12:55.541Z,1744769575.541 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PatchSalt = nan psu
2025-04-16T02:12:55.543Z,1744769575.543 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PatchSaltDepth = nan m
2025-04-16T02:12:55.545Z,1744769575.545 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PatchSaltLatitude = nan arcdeg
2025-04-16T02:12:55.550Z,1744769575.550 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PatchSaltLongitude = nan arcdeg
2025-04-16T02:12:55.565Z,1744769575.565 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PatchSaltDistance = nan m
2025-04-16T02:12:55.567Z,1744769575.567 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PatchOil = nan psu
2025-04-16T02:12:55.573Z,1744769575.573 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PatchOilDepth = nan m
2025-04-16T02:12:55.628Z,1744769575.628 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PatchOilLatitude = nan arcdeg
2025-04-16T02:12:55.630Z,1744769575.630 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PatchOilLongitude = nan arcdeg
2025-04-16T02:12:55.648Z,1744769575.648 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PatchOilDistance = nan m
2025-04-16T02:12:55.650Z,1744769575.650 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.TriggeredOnChl = 0 bool
2025-04-16T02:12:55.654Z,1744769575.654 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.ChlTriggering = nan ug/l
2025-04-16T02:12:55.753Z,1744769575.753 [calibrate_sparton_compass:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-04-16T02:12:55.786Z,1744769575.786 [calibrate_sparton_compass:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-04-16T02:12:55.849Z,1744769575.849 [calibrate_sparton_compass:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-04-16T02:12:55.893Z,1744769575.893 [calibrate_sparton_compass:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-04-16T02:12:55.917Z,1744769575.917 [calibrate_sparton_compass:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-04-16T02:12:55.944Z,1744769575.944 [calibrate_sparton_compass:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-04-16T02:12:55.974Z,1744769575.974 [calibrate_sparton_compass:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-04-16T02:12:56.053Z,1744769576.053 [calibrate_sparton_compass:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-04-16T02:12:56.075Z,1744769576.075 [calibrate_sparton_compass:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-04-16T02:12:56.113Z,1744769576.113 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-04-16T02:12:56.157Z,1744769576.157 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-04-16T02:12:56.217Z,1744769576.217 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-04-16T02:12:56.254Z,1744769576.254 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-04-16T02:12:56.295Z,1744769576.295 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-04-16T02:12:56.324Z,1744769576.324 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-04-16T02:12:56.364Z,1744769576.364 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-04-16T02:12:56.376Z,1744769576.376 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-04-16T02:12:56.429Z,1744769576.429 [calibrate_sparton_compass:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-04-16T02:12:56.460Z,1744769576.460 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-04-16T02:12:56.460Z,1744769576.460 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-04-16T02:12:56.461Z,1744769576.461 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-04-16T02:12:56.665Z,1744769576.665 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/NeedComms.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="NeedComms">
    <DefineArg Name="DiveInterval">
        <Units:hour />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="WaitForPitchUp">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="SurfacePitch">
        <Units:degree />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="SurfaceDepthRate">
        <Units:meter_per_second />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="SurfaceSpeed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="SurfacingTimeout">
        <Units:second />
        <Value>1000</Value>
    </DefineArg>
    <DefineArg Name="GPSTimeout">
        <Units:minute />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="CommsTimeout">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <When>
        <Called />
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
                <Add>
                    <Arg Name="WaitForPitchUp" />
                </Add>
            </Gt>
        </Or>
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
            </Gt>
            <And>
                <Universal:platform_pitch_angle />
                <Gt>
                    <Units:degree />
                    <Value>0</Value>
                </Gt>
            </And>
        </Or>
    </When>
    <Syslog Severity="Info">
        last time_fix was: 
        <Universal:time_fix />
        <Units:epoch_second />
    </Syslog>
    <Guidance:GoToSurface>
        <Progression />
        <Setting>
            <Guidance:GoToSurface.pitch />
            <Arg Name="SurfacePitch" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.depthRate />
            <Arg Name="SurfaceDepthRate" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.speed />
            <Arg Name="SurfaceSpeed" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.surfaceTimeout />
            <Arg Name="SurfacingTimeout" />
        </Setting>
    </Guidance:GoToSurface>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">first GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="CommsTimeout">
            <Syslog Severity="Important">
                Comms timed out after 
                <Arg Name="CommsTimeout" />
                <Units:minute />
                minutes
            </Syslog>
        </Timeout>
        <Universal:platform_communications />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">second GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
</Aggregate>

2025-04-16T02:12:56.670Z,1744769576.670 [MissionManager](INFO): DefineArg calibrate_sparton_compass:NeedComms.DiveInterval = 1.000000 h
2025-04-16T02:12:56.672Z,1744769576.672 [MissionManager](INFO): DefineArg calibrate_sparton_compass:NeedComms.WaitForPitchUp = 10.000000 min
2025-04-16T02:12:56.674Z,1744769576.674 [MissionManager](INFO): DefineArg calibrate_sparton_compass:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-04-16T02:12:56.676Z,1744769576.676 [MissionManager](INFO): DefineArg calibrate_sparton_compass:NeedComms.SurfaceDepthRate = nan m/s
2025-04-16T02:12:56.678Z,1744769576.678 [MissionManager](INFO): DefineArg calibrate_sparton_compass:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-04-16T02:12:56.681Z,1744769576.681 [MissionManager](INFO): DefineArg calibrate_sparton_compass:NeedComms.SurfacingTimeout = 1000.000000 s
2025-04-16T02:12:56.683Z,1744769576.683 [MissionManager](INFO): DefineArg calibrate_sparton_compass:NeedComms.GPSTimeout = 7.000000 min
2025-04-16T02:12:56.685Z,1744769576.685 [MissionManager](INFO): DefineArg calibrate_sparton_compass:NeedComms.CommsTimeout = 30.000000 min
2025-04-16T02:12:56.693Z,1744769576.693 [calibrate_sparton_compass:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-04-16T02:12:56.745Z,1744769576.745 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-04-16T02:12:56.745Z,1744769576.745 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-04-16T02:12:56.746Z,1744769576.746 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-04-16T02:12:56.901Z,1744769576.901 [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>

2025-04-16T02:12:56.905Z,1744769576.905 [MissionManager](INFO): DefineArg calibrate_sparton_compass:StandardEnvelopes.MinAltitude = 5.000000 m
2025-04-16T02:12:56.907Z,1744769576.907 [MissionManager](INFO): DefineArg calibrate_sparton_compass:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-04-16T02:12:56.910Z,1744769576.910 [MissionManager](INFO): DefineArg calibrate_sparton_compass:StandardEnvelopes.MaxDepth = 200.000000 m
2025-04-16T02:12:56.912Z,1744769576.912 [MissionManager](INFO): DefineArg calibrate_sparton_compass:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-04-16T02:12:56.913Z,1744769576.913 [calibrate_sparton_compass:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-04-16T02:12:56.943Z,1744769576.943 [calibrate_sparton_compass:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-04-16T02:12:56.950Z,1744769576.950 [calibrate_sparton_compass:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-04-16T02:12:56.958Z,1744769576.958 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-04-16T02:12:56.958Z,1744769576.958 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-04-16T02:12:56.959Z,1744769576.959 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-04-16T02:12:56.990Z,1744769576.990 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="BackseatDriver">
    <DefineArg Name="EnableBackseat">
        <False />
    </DefineArg>
    <Parallel />
    <Guidance:BackseatDriver>
        <Sequence />
        <Setting>
            <Guidance:BackseatDriver.powerBackseat />
            <Arg Name="EnableBackseat" />
        </Setting>
    </Guidance:BackseatDriver>
</Aggregate>

2025-04-16T02:12:56.993Z,1744769576.993 [MissionManager](INFO): DefineArg calibrate_sparton_compass:BackseatDriver.EnableBackseat = 0 bool
2025-04-16T02:12:56.995Z,1744769576.995 [calibrate_sparton_compass:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-04-16T02:12:56.997Z,1744769576.997 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-04-16T02:12:56.997Z,1744769576.997 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-04-16T02:12:56.999Z,1744769576.999 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-04-16T02:12:57.121Z,1744769577.121 [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>

2025-04-16T02:12:57.128Z,1744769577.128 [MissionManager](INFO): DefineArg calibrate_sparton_compass:PowerOnly.SampleAll = 0 bool
2025-04-16T02:12:57.129Z,1744769577.129 [MissionManager](INFO): DefineArg calibrate_sparton_compass:PowerOnly.SampleLoad1 = 0 bool
2025-04-16T02:12:57.132Z,1744769577.132 [MissionManager](INFO): DefineArg calibrate_sparton_compass:PowerOnly.SampleLoad2 = 0 bool
2025-04-16T02:12:57.134Z,1744769577.134 [MissionManager](INFO): DefineArg calibrate_sparton_compass:PowerOnly.SampleLoad3 = 0 bool
2025-04-16T02:12:57.136Z,1744769577.136 [MissionManager](INFO): DefineArg calibrate_sparton_compass:PowerOnly.EnabledPowerOnly = 1 bool
2025-04-16T02:12:57.142Z,1744769577.142 [calibrate_sparton_compass:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-04-16T02:12:57.145Z,1744769577.145 [calibrate_sparton_compass:K.Pitch](DEBUG): Construct.
2025-04-16T02:12:57.150Z,1744769577.150 [calibrate_sparton_compass:L.Buoyancy](DEBUG): Construct Buoyancy.
2025-04-16T02:12:57.153Z,1744769577.153 [calibrate_sparton_compass:M.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-04-16T02:12:57.160Z,1744769577.160 [calibrate_sparton_compass:N.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-04-16T02:12:57.165Z,1744769577.165 [calibrate_sparton_compass:O.YoYo](DEBUG): Construct YoYo.
2025-04-16T02:12:57.173Z,1744769577.173 [calibrate_sparton_compass:AdaptCal:WaitForCalibrationInit:A_Timeout:B.Execute](DEBUG): Construct Execute.
2025-04-16T02:12:57.228Z,1744769577.228 [calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints:A.Point](DEBUG): Construct.
2025-04-16T02:12:57.235Z,1744769577.235 [calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints:B.SetSpeed](DEBUG): Construct.
2025-04-16T02:12:57.251Z,1744769577.251 [calibrate_sparton_compass:AdaptCal:C.CalibrateAHRS_M2](DEBUG): Construct CalibrateSparton.
2025-04-16T02:12:57.350Z,1744769577.350 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

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

  # Mission-wide settings

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

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

    # You probably need to change these.

    # You probably do not need to change these.

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

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

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

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

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

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

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

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

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

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

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

  # Missions should almost always start with a timeout

  timeout duration=MissionTimeout

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

  # Most missions should use the NeedComms aggregate.

  insert id="NeedComms" Insert/NeedComms.tl

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

  insert Insert/StandardEnvelopes.tl

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

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

  # Check for additional instructions first.

  call id="StartingMission" refId="NeedComms"

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

  behavior Guidance:Pitch {
    run in parallel

    set massPosition = Control:VerticalControl.massDefault
  }

  behavior Guidance:Buoyancy {
    run in parallel

    set position = Control:VerticalControl.buoyancyNeutral
  }

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

    run in parallel

    set minDepth = YoYoMinDepth

    set maxDepth = YoYoMaxDepth

    set pitch = YoYoPitch
  }

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

    run in parallel

    set minAltitude = YoYoMinAltitude

    set pitch = YoYoPitch
  }

  behavior Guidance:YoYo {
    run in parallel

    set pitch = YoYoPitch
  }

  aggregate AdaptCal {
    run in sequence

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

        behavior Guidance:Execute {
          run in sequence

          set command = "stop"
        }
      }

      Sensor:AHRS_M2.number_of_calbration_points
    }

    aggregate AcquireCalibrationPoints {
      run in sequence

      behavior Guidance:Point {
        run in parallel

        set rudderAngle = RudderAngle
      }

      behavior Guidance:SetSpeed {
        run in parallel

        set speed = Speed
      }
    }

    behavior Sensor:CalibrateAHRS_M2 {
      run in parallel
    }
  }
}


2025-04-16T02:12:57.352Z,1744769577.352 [CommandExec](IMPORTANT): Running ./Missions/Maintenance/calibrate_sparton_compass.tl
2025-04-16T02:12:57.634Z,1744769577.634 [MissionManager](IMPORTANT): Started mission calibrate_sparton_compass
2025-04-16T02:12:57.634Z,1744769577.634 [calibrate_sparton_compass] Running Loop=1
2025-04-16T02:12:57.634Z,1744769577.634 [calibrate_sparton_compass](DEBUG): Aggregate::initialize calibrate_sparton_compass
2025-04-16T02:12:57.634Z,1744769577.634 [calibrate_sparton_compass:Science] Running Loop=1
2025-04-16T02:12:57.635Z,1744769577.635 [calibrate_sparton_compass:Science](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science
2025-04-16T02:12:57.635Z,1744769577.635 [calibrate_sparton_compass:Science:A] Running Loop=1
2025-04-16T02:12:57.635Z,1744769577.635 [calibrate_sparton_compass:Science:B] Running Loop=1
2025-04-16T02:12:57.635Z,1744769577.635 [calibrate_sparton_compass:Science:C] Running Loop=1
2025-04-16T02:12:57.635Z,1744769577.635 [calibrate_sparton_compass:Science:D] Running Loop=1
2025-04-16T02:12:57.635Z,1744769577.635 [calibrate_sparton_compass:Science:E] Running Loop=1
2025-04-16T02:12:57.635Z,1744769577.635 [calibrate_sparton_compass:Science:F] Running Loop=1
2025-04-16T02:12:57.635Z,1744769577.635 [calibrate_sparton_compass:Science:Read_Oil] Running Loop=1
2025-04-16T02:12:57.635Z,1744769577.635 [calibrate_sparton_compass:Science:PeakDetectChl] Running Loop=1
2025-04-16T02:12:57.635Z,1744769577.635 [calibrate_sparton_compass:Science:PeakDetectChl](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:PeakDetectChl
2025-04-16T02:12:57.636Z,1744769577.636 [calibrate_sparton_compass:Science:PeakDetectChl:A] Running Loop=1
2025-04-16T02:12:57.636Z,1744769577.636 [calibrate_sparton_compass:Science:EdgeDetectChl] Running Loop=1
2025-04-16T02:12:57.636Z,1744769577.636 [calibrate_sparton_compass:Science:EdgeDetectChl](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:EdgeDetectChl
2025-04-16T02:12:57.636Z,1744769577.636 [calibrate_sparton_compass:Science:EdgeDetectChl:A] Running Loop=1
2025-04-16T02:12:57.636Z,1744769577.636 [calibrate_sparton_compass:Science:HighestChlPeakReport] Running Loop=1
2025-04-16T02:12:57.636Z,1744769577.636 [calibrate_sparton_compass:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:HighestChlPeakReport
2025-04-16T02:12:57.636Z,1744769577.636 [calibrate_sparton_compass:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-04-16T02:12:57.636Z,1744769577.636 [calibrate_sparton_compass:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-04-16T02:12:57.637Z,1744769577.637 [calibrate_sparton_compass:Science:PeakDetectNO3] Running Loop=1
2025-04-16T02:12:57.637Z,1744769577.637 [calibrate_sparton_compass:Science:PeakDetectNO3](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:PeakDetectNO3
2025-04-16T02:12:57.637Z,1744769577.637 [calibrate_sparton_compass:Science:PeakDetectNO3:A] Running Loop=1
2025-04-16T02:12:57.637Z,1744769577.637 [calibrate_sparton_compass:Science:PeakDetectOil] Running Loop=1
2025-04-16T02:12:57.637Z,1744769577.637 [calibrate_sparton_compass:Science:PeakDetectOil](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:PeakDetectOil
2025-04-16T02:12:57.637Z,1744769577.637 [calibrate_sparton_compass:Science:PeakDetectOil:A] Running Loop=1
2025-04-16T02:12:57.637Z,1744769577.637 [calibrate_sparton_compass:Science:HighestOilPeakReport] Running Loop=1
2025-04-16T02:12:57.637Z,1744769577.637 [calibrate_sparton_compass:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:HighestOilPeakReport
2025-04-16T02:12:57.638Z,1744769577.638 [calibrate_sparton_compass:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-04-16T02:12:57.638Z,1744769577.638 [calibrate_sparton_compass:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-04-16T02:12:57.638Z,1744769577.638 [calibrate_sparton_compass:Science:PeakDetectFDOM] Running Loop=1
2025-04-16T02:12:57.638Z,1744769577.638 [calibrate_sparton_compass:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:PeakDetectFDOM
2025-04-16T02:12:57.638Z,1744769577.638 [calibrate_sparton_compass:Science:PeakDetectFDOM:A] Running Loop=1
2025-04-16T02:12:57.638Z,1744769577.638 [calibrate_sparton_compass:Science:PeakDetectSalinity] Running Loop=1
2025-04-16T02:12:57.638Z,1744769577.638 [calibrate_sparton_compass:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:PeakDetectSalinity
2025-04-16T02:12:57.639Z,1744769577.639 [calibrate_sparton_compass:Science:PeakDetectSalinity:A] Running Loop=1
2025-04-16T02:12:57.639Z,1744769577.639 [calibrate_sparton_compass:Science:HighestSaltPeakReport] Running Loop=1
2025-04-16T02:12:57.639Z,1744769577.639 [calibrate_sparton_compass:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:HighestSaltPeakReport
2025-04-16T02:12:57.639Z,1744769577.639 [calibrate_sparton_compass:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-04-16T02:12:57.639Z,1744769577.639 [calibrate_sparton_compass:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-04-16T02:12:57.640Z,1744769577.640 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-04-16T02:12:57.640Z,1744769577.640 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:PeakDetectPlanktivoreLMavgROI
2025-04-16T02:12:57.640Z,1744769577.640 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-04-16T02:12:57.640Z,1744769577.640 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2025-04-16T02:12:57.640Z,1744769577.640 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:EdgeDetectPlanktivoreLMavgROI
2025-04-16T02:12:57.640Z,1744769577.640 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-04-16T02:12:57.640Z,1744769577.640 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-04-16T02:12:57.640Z,1744769577.640 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:PeakDetectPlanktivoreHMavgROI
2025-04-16T02:12:57.641Z,1744769577.641 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-04-16T02:12:57.641Z,1744769577.641 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreHMavgROI] Running Loop=1
2025-04-16T02:12:57.641Z,1744769577.641 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:EdgeDetectPlanktivoreHMavgROI
2025-04-16T02:12:57.641Z,1744769577.641 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-04-16T02:12:57.641Z,1744769577.641 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-04-16T02:12:57.641Z,1744769577.641 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:PeakDetectPlanktivoreDiatoms
2025-04-16T02:12:57.641Z,1744769577.641 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2025-04-16T02:12:57.641Z,1744769577.641 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreDiatoms] Running Loop=1
2025-04-16T02:12:57.641Z,1744769577.641 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:EdgeDetectPlanktivoreDiatoms
2025-04-16T02:12:57.642Z,1744769577.642 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreDiatoms:A] Running Loop=1
2025-04-16T02:12:57.642Z,1744769577.642 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-04-16T02:12:57.642Z,1744769577.642 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:PeakDetectPlanktivoreDinoflagellates
2025-04-16T02:12:57.642Z,1744769577.642 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-04-16T02:12:57.642Z,1744769577.642 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreDinoflagellates] Running Loop=1
2025-04-16T02:12:57.642Z,1744769577.642 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:EdgeDetectPlanktivoreDinoflagellates
2025-04-16T02:12:57.643Z,1744769577.643 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-04-16T02:12:57.643Z,1744769577.643 [calibrate_sparton_compass:Science:ChlThreshTrigger] Running Loop=1
2025-04-16T02:12:57.643Z,1744769577.643 [calibrate_sparton_compass:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:ChlThreshTrigger
2025-04-16T02:12:57.643Z,1744769577.643 [calibrate_sparton_compass:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-04-16T02:12:57.643Z,1744769577.643 [calibrate_sparton_compass:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-04-16T02:12:57.644Z,1744769577.644 [calibrate_sparton_compass:Science:OceanCurrent] Running Loop=1
2025-04-16T02:12:57.644Z,1744769577.644 [calibrate_sparton_compass:Science:OceanCurrent](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:OceanCurrent
2025-04-16T02:12:57.644Z,1744769577.644 [calibrate_sparton_compass:Science:OceanCurrent:A.] Running Loop=1
2025-04-16T02:12:57.644Z,1744769577.644 [calibrate_sparton_compass:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-04-16T02:12:57.644Z,1744769577.644 [calibrate_sparton_compass:StandardEnvelopes] Running Loop=1
2025-04-16T02:12:57.644Z,1744769577.644 [calibrate_sparton_compass:StandardEnvelopes](DEBUG): Aggregate::initialize calibrate_sparton_compass:StandardEnvelopes
2025-04-16T02:12:57.645Z,1744769577.645 [calibrate_sparton_compass:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-04-16T02:12:57.645Z,1744769577.645 [calibrate_sparton_compass:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-04-16T02:12:57.646Z,1744769577.646 [calibrate_sparton_compass:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-04-16T02:12:57.646Z,1744769577.646 [calibrate_sparton_compass:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-04-16T02:12:57.647Z,1744769577.647 [calibrate_sparton_compass:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-04-16T02:12:57.648Z,1744769577.648 [calibrate_sparton_compass:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-04-16T02:12:57.648Z,1744769577.648 [calibrate_sparton_compass:BackseatDriver] Running Loop=1
2025-04-16T02:12:57.649Z,1744769577.649 [calibrate_sparton_compass:BackseatDriver](DEBUG): Aggregate::initialize calibrate_sparton_compass:BackseatDriver
2025-04-16T02:12:57.649Z,1744769577.649 [calibrate_sparton_compass:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-04-16T02:12:57.650Z,1744769577.650 [calibrate_sparton_compass:PowerOnly] Running Loop=1
2025-04-16T02:12:57.650Z,1744769577.650 [calibrate_sparton_compass:PowerOnly](DEBUG): Aggregate::initialize calibrate_sparton_compass:PowerOnly
2025-04-16T02:12:57.650Z,1744769577.650 [calibrate_sparton_compass:PowerOnly:A] Running Loop=1
2025-04-16T02:12:57.650Z,1744769577.650 [calibrate_sparton_compass:PowerOnly:B] Running Loop=1
2025-04-16T02:12:57.650Z,1744769577.650 [calibrate_sparton_compass:PowerOnly:C] Running Loop=1
2025-04-16T02:12:57.650Z,1744769577.650 [calibrate_sparton_compass:PowerOnly:D] Running Loop=1
2025-04-16T02:12:57.650Z,1744769577.650 [calibrate_sparton_compass:PowerOnly:E.Wait] Running Loop=1
2025-04-16T02:12:57.651Z,1744769577.651 [calibrate_sparton_compass:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-04-16T02:12:57.651Z,1744769577.651 [calibrate_sparton_compass:K.Pitch] Running Loop=1
2025-04-16T02:12:57.651Z,1744769577.651 [calibrate_sparton_compass:K.Pitch](DEBUG): Initialize.
2025-04-16T02:12:57.651Z,1744769577.651 [calibrate_sparton_compass:L.Buoyancy] Running Loop=1
2025-04-16T02:12:57.651Z,1744769577.651 [calibrate_sparton_compass:L.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-04-16T02:12:57.651Z,1744769577.651 [calibrate_sparton_compass:M.DepthEnvelope] Running Loop=1
2025-04-16T02:12:57.651Z,1744769577.651 [calibrate_sparton_compass:M.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-04-16T02:12:57.652Z,1744769577.652 [calibrate_sparton_compass:N.AltitudeEnvelope] Running Loop=1
2025-04-16T02:12:57.652Z,1744769577.652 [calibrate_sparton_compass:N.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-04-16T02:12:57.652Z,1744769577.652 [calibrate_sparton_compass:O.YoYo] Running Loop=1
2025-04-16T02:12:57.652Z,1744769577.652 [calibrate_sparton_compass:O.YoYo](DEBUG): Initialize YoYoComponent.
2025-04-16T02:12:57.652Z,1744769577.652 [calibrate_sparton_compass:C] Running Loop=1
2025-04-16T02:12:57.653Z,1744769577.653 [calibrate_sparton_compass:O.YoYo] Running Loop=1
2025-04-16T02:12:57.653Z,1744769577.653 [calibrate_sparton_compass:N.AltitudeEnvelope] Running Loop=1
2025-04-16T02:12:57.654Z,1744769577.654 [calibrate_sparton_compass:M.DepthEnvelope] Running Loop=1
2025-04-16T02:12:57.654Z,1744769577.654 [calibrate_sparton_compass:L.Buoyancy] Running Loop=1
2025-04-16T02:12:57.655Z,1744769577.655 [calibrate_sparton_compass:K.Pitch] Running Loop=1
2025-04-16T02:12:57.655Z,1744769577.655 [calibrate_sparton_compass:PowerOnly] Running Loop=1
2025-04-16T02:12:57.655Z,1744769577.655 [calibrate_sparton_compass:PowerOnly:D] Stopped
2025-04-16T02:12:57.655Z,1744769577.655 [calibrate_sparton_compass:PowerOnly:C] Stopped
2025-04-16T02:12:57.656Z,1744769577.656 [calibrate_sparton_compass:PowerOnly:B] Stopped
2025-04-16T02:12:57.656Z,1744769577.656 [calibrate_sparton_compass:PowerOnly:A] Stopped
2025-04-16T02:12:57.656Z,1744769577.656 [calibrate_sparton_compass:BackseatDriver] Running Loop=1
2025-04-16T02:12:57.656Z,1744769577.656 [calibrate_sparton_compass:StandardEnvelopes] Running Loop=1
2025-04-16T02:12:57.656Z,1744769577.656 [calibrate_sparton_compass:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-04-16T02:12:57.656Z,1744769577.656 [calibrate_sparton_compass:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-04-16T02:12:57.657Z,1744769577.657 [calibrate_sparton_compass:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-04-16T02:12:57.657Z,1744769577.657 [calibrate_sparton_compass:C] Stopped
2025-04-16T02:12:57.657Z,1744769577.657 [calibrate_sparton_compass:E] Running Loop=1
2025-04-16T02:12:57.657Z,1744769577.657 [calibrate_sparton_compass:Science] Running Loop=1
2025-04-16T02:12:57.659Z,1744769577.659 [calibrate_sparton_compass:Science:ChlThreshTrigger] Stopped
2025-04-16T02:12:57.659Z,1744769577.659 [calibrate_sparton_compass:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:ChlThreshTrigger
2025-04-16T02:12:57.659Z,1744769577.659 [calibrate_sparton_compass:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-04-16T02:12:57.659Z,1744769577.659 [calibrate_sparton_compass:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-04-16T02:12:57.659Z,1744769577.659 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreDinoflagellates] Stopped
2025-04-16T02:12:57.659Z,1744769577.659 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:EdgeDetectPlanktivoreDinoflagellates
2025-04-16T02:12:57.659Z,1744769577.659 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreDinoflagellates:A] Stopped
2025-04-16T02:12:57.660Z,1744769577.660 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-04-16T02:12:57.660Z,1744769577.660 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:PeakDetectPlanktivoreDinoflagellates
2025-04-16T02:12:57.660Z,1744769577.660 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2025-04-16T02:12:57.660Z,1744769577.660 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreDiatoms] Stopped
2025-04-16T02:12:57.660Z,1744769577.660 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:EdgeDetectPlanktivoreDiatoms
2025-04-16T02:12:57.660Z,1744769577.660 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreDiatoms:A] Stopped
2025-04-16T02:12:57.660Z,1744769577.660 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-04-16T02:12:57.660Z,1744769577.660 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:PeakDetectPlanktivoreDiatoms
2025-04-16T02:12:57.660Z,1744769577.660 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2025-04-16T02:12:57.660Z,1744769577.660 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreHMavgROI] Stopped
2025-04-16T02:12:57.660Z,1744769577.660 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:EdgeDetectPlanktivoreHMavgROI
2025-04-16T02:12:57.660Z,1744769577.660 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreHMavgROI:A] Stopped
2025-04-16T02:12:57.660Z,1744769577.660 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-04-16T02:12:57.661Z,1744769577.661 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:PeakDetectPlanktivoreHMavgROI
2025-04-16T02:12:57.661Z,1744769577.661 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2025-04-16T02:12:57.661Z,1744769577.661 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2025-04-16T02:12:57.661Z,1744769577.661 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:EdgeDetectPlanktivoreLMavgROI
2025-04-16T02:12:57.661Z,1744769577.661 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2025-04-16T02:12:57.661Z,1744769577.661 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-04-16T02:12:57.661Z,1744769577.661 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:PeakDetectPlanktivoreLMavgROI
2025-04-16T02:12:57.661Z,1744769577.661 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2025-04-16T02:12:57.661Z,1744769577.661 [calibrate_sparton_compass:Science:HighestSaltPeakReport] Stopped
2025-04-16T02:12:57.661Z,1744769577.661 [calibrate_sparton_compass:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:HighestSaltPeakReport
2025-04-16T02:12:57.661Z,1744769577.661 [calibrate_sparton_compass:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-04-16T02:12:57.661Z,1744769577.661 [calibrate_sparton_compass:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-04-16T02:12:57.661Z,1744769577.661 [calibrate_sparton_compass:Science:PeakDetectSalinity] Stopped
2025-04-16T02:12:57.662Z,1744769577.662 [calibrate_sparton_compass:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:PeakDetectSalinity
2025-04-16T02:12:57.662Z,1744769577.662 [calibrate_sparton_compass:Science:PeakDetectSalinity:A] Stopped
2025-04-16T02:12:57.662Z,1744769577.662 [calibrate_sparton_compass:Science:PeakDetectFDOM] Stopped
2025-04-16T02:12:57.662Z,1744769577.662 [calibrate_sparton_compass:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:PeakDetectFDOM
2025-04-16T02:12:57.662Z,1744769577.662 [calibrate_sparton_compass:Science:PeakDetectFDOM:A] Stopped
2025-04-16T02:12:57.662Z,1744769577.662 [calibrate_sparton_compass:Science:HighestOilPeakReport] Stopped
2025-04-16T02:12:57.662Z,1744769577.662 [calibrate_sparton_compass:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:HighestOilPeakReport
2025-04-16T02:12:57.662Z,1744769577.662 [calibrate_sparton_compass:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-04-16T02:12:57.662Z,1744769577.662 [calibrate_sparton_compass:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-04-16T02:12:57.662Z,1744769577.662 [calibrate_sparton_compass:Science:PeakDetectOil] Stopped
2025-04-16T02:12:57.662Z,1744769577.662 [calibrate_sparton_compass:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:PeakDetectOil
2025-04-16T02:12:57.662Z,1744769577.662 [calibrate_sparton_compass:Science:PeakDetectOil:A] Stopped
2025-04-16T02:12:57.662Z,1744769577.662 [calibrate_sparton_compass:Science:PeakDetectNO3] Stopped
2025-04-16T02:12:57.663Z,1744769577.663 [calibrate_sparton_compass:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:PeakDetectNO3
2025-04-16T02:12:57.663Z,1744769577.663 [calibrate_sparton_compass:Science:PeakDetectNO3:A] Stopped
2025-04-16T02:12:57.663Z,1744769577.663 [calibrate_sparton_compass:Science:HighestChlPeakReport] Stopped
2025-04-16T02:12:57.663Z,1744769577.663 [calibrate_sparton_compass:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:HighestChlPeakReport
2025-04-16T02:12:57.663Z,1744769577.663 [calibrate_sparton_compass:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-04-16T02:12:57.663Z,1744769577.663 [calibrate_sparton_compass:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-04-16T02:12:57.687Z,1744769577.687 [calibrate_sparton_compass:Science:EdgeDetectChl] Stopped
2025-04-16T02:12:57.687Z,1744769577.687 [calibrate_sparton_compass:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:EdgeDetectChl
2025-04-16T02:12:57.687Z,1744769577.687 [calibrate_sparton_compass:Science:EdgeDetectChl:A] Stopped
2025-04-16T02:12:57.688Z,1744769577.688 [calibrate_sparton_compass:Science:PeakDetectChl] Stopped
2025-04-16T02:12:57.688Z,1744769577.688 [calibrate_sparton_compass:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:PeakDetectChl
2025-04-16T02:12:57.688Z,1744769577.688 [calibrate_sparton_compass:Science:PeakDetectChl:A] Stopped
2025-04-16T02:12:57.688Z,1744769577.688 [calibrate_sparton_compass:Science:OceanCurrent:A.] Running Loop=1
2025-04-16T02:12:57.688Z,1744769577.688 [calibrate_sparton_compass:Science:Read_Oil] Stopped
2025-04-16T02:12:57.688Z,1744769577.688 [calibrate_sparton_compass:Science:F] Stopped
2025-04-16T02:12:57.688Z,1744769577.688 [calibrate_sparton_compass:Science:E] Running Loop=1
2025-04-16T02:12:57.689Z,1744769577.689 [calibrate_sparton_compass:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2025-04-16T02:12:57.689Z,1744769577.689 [calibrate_sparton_compass:Science:D] Stopped
2025-04-16T02:12:57.689Z,1744769577.689 [calibrate_sparton_compass:Science:C] Running Loop=1
2025-04-16T02:12:57.689Z,1744769577.689 [calibrate_sparton_compass:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2025-04-16T02:12:57.690Z,1744769577.690 [calibrate_sparton_compass:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2025-04-16T02:12:57.690Z,1744769577.690 [calibrate_sparton_compass:Science:B] Running Loop=1
2025-04-16T02:12:57.690Z,1744769577.690 [calibrate_sparton_compass:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2025-04-16T02:12:57.691Z,1744769577.691 [calibrate_sparton_compass:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2025-04-16T02:12:57.691Z,1744769577.691 [calibrate_sparton_compass:Science:A] Stopped
2025-04-16T02:12:57.901Z,1744769577.901 [WetLabsBB2FL](INFO): Powering up
2025-04-16T02:12:58.038Z,1744769578.038 [calibrate_sparton_compass:E] Stopped
2025-04-16T02:12:58.039Z,1744769578.039 [calibrate_sparton_compass:F] Running Loop=1
2025-04-16T02:12:58.440Z,1744769578.440 [calibrate_sparton_compass:F] Stopped
2025-04-16T02:12:58.440Z,1744769578.440 [calibrate_sparton_compass:G] Running Loop=1
2025-04-16T02:12:58.844Z,1744769578.844 [calibrate_sparton_compass:G] Stopped
2025-04-16T02:12:58.845Z,1744769578.845 [calibrate_sparton_compass:StartingMission] Running Loop=1
2025-04-16T02:12:58.845Z,1744769578.845 [calibrate_sparton_compass:StartingMission](DEBUG): Aggregate::initialize calibrate_sparton_compass:StartingMission
2025-04-16T02:12:59.250Z,1744769579.250 [calibrate_sparton_compass:N.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2025-04-16T02:12:59.257Z,1744769579.257 [calibrate_sparton_compass:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2025-04-16T02:12:59.257Z,1744769579.257 [calibrate_sparton_compass:NeedComms] Running Loop=1
2025-04-16T02:12:59.257Z,1744769579.257 [calibrate_sparton_compass:NeedComms](DEBUG): Aggregate::initialize calibrate_sparton_compass:NeedComms
2025-04-16T02:12:59.257Z,1744769579.257 [calibrate_sparton_compass:NeedComms:B.GoToSurface] Running Loop=1
2025-04-16T02:12:59.257Z,1744769579.257 [calibrate_sparton_compass:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-04-16T02:12:59.257Z,1744769579.257 [calibrate_sparton_compass:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-04-16T02:12:59.258Z,1744769579.258 [calibrate_sparton_compass:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-04-16T02:12:59.258Z,1744769579.258 [calibrate_sparton_compass:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-04-16T02:12:59.258Z,1744769579.258 [calibrate_sparton_compass:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-04-16T02:12:59.259Z,1744769579.259 [calibrate_sparton_compass:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-04-16T02:12:59.259Z,1744769579.259 [calibrate_sparton_compass:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-04-16T02:12:59.260Z,1744769579.260 [calibrate_sparton_compass:NeedComms:A] Running Loop=1
2025-04-16T02:12:59.261Z,1744769579.261 [calibrate_sparton_compass:NeedComms:A](INFO): last time_fix was:  1744768493.000000 second since 1970/01/01T00:00:00Z 
2025-04-16T02:12:59.261Z,1744769579.261 [calibrate_sparton_compass:NeedComms:A] Stopped
2025-04-16T02:12:59.665Z,1744769579.665 [calibrate_sparton_compass:NeedComms:C] Running Loop=1
2025-04-16T02:13:00.074Z,1744769580.074 [calibrate_sparton_compass:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-04-16T02:13:00.760Z,1744769580.760 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2025-04-16T02:13:01.665Z,1744769581.665 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,021302.00,A,3647.76688,N,12150.69828,W,0.233,206.19,160425,,,D*7A
2025-04-16T02:13:01.682Z,1744769581.682 [NAL9602](INFO): GPS fix at 20250416T021302: (36.796115, -121.844971)
2025-04-16T02:13:01.697Z,1744769581.697 [UniversalFixResidualReporter](INFO): Fix residual: 24.5 %DT, over the last 1048.4 m. Residual distance 256.8 m at bearing 154.8 degrees. Fix at (36.7961, -121.8450) with 108.8 m made good.
2025-04-16T02:13:01.700Z,1744769581.700 [calibrate_sparton_compass:NeedComms:C] Stopped
2025-04-16T02:13:01.701Z,1744769581.701 [calibrate_sparton_compass:NeedComms:D] Running Loop=1
2025-04-16T02:13:02.106Z,1744769582.106 [calibrate_sparton_compass:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-04-16T02:13:09.808Z,1744769589.808 [DataOverHttps](INFO): Sending 208 bytes from file Logs/20250416T014222/Courier0019.lzma
2025-04-16T02:13:10.813Z,1744769590.813 [DataOverHttps](INFO): Moved sent file to Logs/20250416T014222/Courier0019.lzma.bak
2025-04-16T02:13:10.813Z,1744769590.813 [DataOverHttps](INFO): SBD MOMSN=24669924
2025-04-16T02:13:17.911Z,1744769597.911 [NAL9602](INFO): SBD MO Status=0, MOMSN=19528, MT Status=0, MTMSN=0
2025-04-16T02:13:17.911Z,1744769597.911 [NAL9602](INFO): No messages in MT queue
2025-04-16T02:13:27.361Z,1744769607.361 [DataOverHttps](INFO): Sending 952 bytes from file Logs/20250416T014222/Express0020.lzma
2025-04-16T02:13:28.361Z,1744769608.361 [DataOverHttps](INFO): Moved sent file to Logs/20250416T014222/Express0020.lzma.bak
2025-04-16T02:13:28.361Z,1744769608.361 [DataOverHttps](INFO): SBD MOMSN=24669927
2025-04-16T02:13:46.915Z,1744769626.915 [DataOverHttps](INFO): Sending 78 bytes from file Logs/20250416T014222/Express0023.lzma
2025-04-16T02:13:47.917Z,1744769627.917 [DataOverHttps](INFO): Moved sent file to Logs/20250416T014222/Express0023.lzma.bak
2025-04-16T02:13:47.917Z,1744769627.917 [DataOverHttps](INFO): SBD MOMSN=24669941
2025-04-16T02:13:48.620Z,1744769628.620 [NAL9602](INFO): Not Powering down - fast GPS
2025-04-16T02:13:49.436Z,1744769629.436 [calibrate_sparton_compass:NeedComms:D] Stopped
2025-04-16T02:13:49.436Z,1744769629.436 [calibrate_sparton_compass:NeedComms:E] Running Loop=1
2025-04-16T02:13:49.839Z,1744769629.839 [calibrate_sparton_compass:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-04-16T02:13:51.459Z,1744769631.459 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,021352.00,A,3647.76848,N,12150.70231,W,0.214,290.20,160425,,,D*77
2025-04-16T02:13:51.465Z,1744769631.465 [NAL9602](INFO): GPS fix at 20250416T021352: (36.796141, -121.845039)
2025-04-16T02:13:51.507Z,1744769631.507 [calibrate_sparton_compass:NeedComms:E] Stopped
2025-04-16T02:13:51.512Z,1744769631.512 [calibrate_sparton_compass:NeedComms](INFO): Completed calibrate_sparton_compass:NeedComms
2025-04-16T02:13:51.512Z,1744769631.512 [calibrate_sparton_compass:NeedComms] Stopped
2025-04-16T02:13:51.512Z,1744769631.512 [calibrate_sparton_compass:NeedComms](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:NeedComms
2025-04-16T02:13:51.512Z,1744769631.512 [calibrate_sparton_compass:NeedComms:B.GoToSurface] Stopped
2025-04-16T02:13:51.512Z,1744769631.512 [calibrate_sparton_compass:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-04-16T02:13:51.893Z,1744769631.893 [calibrate_sparton_compass:StartingMission](INFO): Completed calibrate_sparton_compass:StartingMission
2025-04-16T02:13:51.893Z,1744769631.893 [calibrate_sparton_compass:StartingMission] Stopped
2025-04-16T02:13:51.893Z,1744769631.893 [calibrate_sparton_compass:StartingMission](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:StartingMission
2025-04-16T02:13:51.893Z,1744769631.893 [calibrate_sparton_compass:AdaptCal] Running Loop=1
2025-04-16T02:13:51.893Z,1744769631.893 [calibrate_sparton_compass:AdaptCal](DEBUG): Aggregate::initialize calibrate_sparton_compass:AdaptCal
2025-04-16T02:13:51.893Z,1744769631.893 [calibrate_sparton_compass:AdaptCal:C.CalibrateAHRS_M2] Running Loop=1
2025-04-16T02:13:51.894Z,1744769631.894 [calibrate_sparton_compass:AdaptCal:C.CalibrateAHRS_M2](INFO): Initialize CalibrateSpartonComponent.
2025-04-16T02:13:51.894Z,1744769631.894 [calibrate_sparton_compass:AdaptCal:WaitForCalibrationInit] Running Loop=1
2025-04-16T02:13:52.307Z,1744769632.307 [calibrate_sparton_compass:AdaptCal:C.CalibrateAHRS_M2] Running Loop=1
2025-04-16T02:13:52.311Z,1744769632.311 [calibrate_sparton_compass:AdaptCal:C.CalibrateAHRS_M2](INFO): Initialize CalibrateSpartonComponent.
2025-04-16T02:13:52.312Z,1744769632.312 [calibrate_sparton_compass:AdaptCal:WaitForCalibrationInit](DEBUG): Initialize ReadDataComponent to sense AHRS_M2.number_of_calbration_points
2025-04-16T02:13:52.703Z,1744769632.703 [calibrate_sparton_compass:AdaptCal:C.CalibrateAHRS_M2](INFO): Initialize CalibrateSpartonComponent.
2025-04-16T02:13:53.096Z,1744769633.096 [calibrate_sparton_compass:AdaptCal:C.CalibrateAHRS_M2](INFO): Initialize CalibrateSpartonComponent.
2025-04-16T02:13:53.541Z,1744769633.541 [calibrate_sparton_compass:AdaptCal:C.CalibrateAHRS_M2](INFO): Initialize CalibrateSpartonComponent.
2025-04-16T02:13:53.923Z,1744769633.923 [calibrate_sparton_compass:AdaptCal:WaitForCalibrationInit] Stopped
2025-04-16T02:13:53.923Z,1744769633.923 [calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints] Running Loop=1
2025-04-16T02:13:53.924Z,1744769633.924 [calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints](DEBUG): Aggregate::initialize calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints
2025-04-16T02:13:53.924Z,1744769633.924 [calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints:A.Point] Running Loop=1
2025-04-16T02:13:53.924Z,1744769633.924 [calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints:A.Point](DEBUG): Initialize.
2025-04-16T02:13:53.924Z,1744769633.924 [calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints:B.SetSpeed] Running Loop=1
2025-04-16T02:13:53.924Z,1744769633.924 [calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints:B.SetSpeed](DEBUG): Initialize.
2025-04-16T02:13:54.317Z,1744769634.317 [calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints:B.SetSpeed] Running Loop=1
2025-04-16T02:13:54.317Z,1744769634.317 [calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints:A.Point] Running Loop=1
2025-04-16T02:14:09.227Z,1744769649.227 [NAL9602](INFO): SBD MO Status=0, MOMSN=19529, MT Status=0, MTMSN=0
2025-04-16T02:14:09.227Z,1744769649.227 [NAL9602](INFO): No messages in MT queue
2025-04-16T02:14:39.923Z,1744769679.923 [NAL9602](INFO): Not Powering down - fast GPS
2025-04-16T02:16:23.879Z,1744769783.879 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:16:24.243Z,1744769784.243 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:16:24.683Z,1744769784.683 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:16:25.075Z,1744769785.075 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:16:25.495Z,1744769785.495 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:16:25.931Z,1744769785.931 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:16:26.247Z,1744769786.247 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-04-16T02:16:26.247Z,1744769786.247 [ThrusterHE](INFO): Powering down
2025-04-16T02:16:27.077Z,1744769787.077 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-04-16T02:16:27.197Z,1744769787.197 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-04-16T02:16:45.271Z,1744769805.271 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:16:45.675Z,1744769805.675 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:16:46.199Z,1744769806.199 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:16:46.467Z,1744769806.467 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:16:48.483Z,1744769808.483 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:16:48.846Z,1744769808.846 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-04-16T02:16:48.846Z,1744769808.846 [ThrusterHE](INFO): Powering down
2025-04-16T02:16:49.668Z,1744769809.668 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-04-16T02:16:49.784Z,1744769809.784 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-04-16T02:16:57.003Z,1744769817.003 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:16:57.412Z,1744769817.412 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:16:57.816Z,1744769817.816 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:16:59.791Z,1744769819.791 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:17:00.199Z,1744769820.199 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:17:00.576Z,1744769820.576 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-04-16T02:17:00.576Z,1744769820.576 [ThrusterHE](INFO): Powering down
2025-04-16T02:17:01.370Z,1744769821.370 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-04-16T02:17:01.485Z,1744769821.485 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-04-16T02:17:07.079Z,1744769827.079 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:17:09.071Z,1744769829.071 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:17:09.491Z,1744769829.491 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:17:09.900Z,1744769829.900 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:17:10.315Z,1744769830.315 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:17:10.723Z,1744769830.723 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:17:11.066Z,1744769831.066 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-04-16T02:17:11.066Z,1744769831.066 [ThrusterHE](INFO): Powering down
2025-04-16T02:17:11.889Z,1744769831.889 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-04-16T02:17:12.008Z,1744769832.008 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-04-16T02:17:17.532Z,1744769837.532 [ThrusterHE](FAULT): Lock Detect. Motor stopped spinning or could not start spinning. Consider trying best-effort mode.
2025-04-16T02:17:17.532Z,1744769837.532 [ThrusterHE] Hardware Fault, FailCount= 1
2025-04-16T02:17:17.532Z,1744769837.532 [ThrusterHE](ERROR): Hardware Fault
2025-04-16T02:17:17.599Z,1744769837.599 [CBIT](ERROR): Hardware Fault in component: ThrusterHE
2025-04-16T02:17:17.938Z,1744769837.938 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-04-16T02:17:17.938Z,1744769837.938 [ThrusterHE](INFO): Powering down
2025-04-16T02:17:18.737Z,1744769838.737 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-04-16T02:17:18.857Z,1744769838.857 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-04-16T02:17:18.861Z,1744769838.861 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-04-16T02:17:18.861Z,1744769838.861 [ThrusterHE] No Fault, FailCount= 1
2025-04-16T02:17:24.443Z,1744769844.443 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:17:26.103Z,1744769846.103 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:17:26.899Z,1744769846.899 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:17:27.323Z,1744769847.323 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:17:27.727Z,1744769847.727 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:17:28.099Z,1744769848.099 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:17:28.480Z,1744769848.480 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-04-16T02:17:28.480Z,1744769848.480 [ThrusterHE](INFO): Powering down
2025-04-16T02:17:29.274Z,1744769849.274 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-04-16T02:17:29.393Z,1744769849.393 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-04-16T02:17:35.307Z,1744769855.307 [ThrusterHE](FAULT): Lock Detect. Motor stopped spinning or could not start spinning. Consider trying best-effort mode.
2025-04-16T02:17:35.307Z,1744769855.307 [ThrusterHE] Hardware Fault, FailCount= 2
2025-04-16T02:17:35.307Z,1744769855.307 [ThrusterHE](ERROR): Hardware Fault
2025-04-16T02:17:35.375Z,1744769855.375 [CBIT](ERROR): Hardware Fault in component: ThrusterHE
2025-04-16T02:17:35.723Z,1744769855.723 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-04-16T02:17:35.723Z,1744769855.723 [ThrusterHE](INFO): Powering down
2025-04-16T02:17:36.522Z,1744769856.522 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-04-16T02:17:36.636Z,1744769856.636 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-04-16T02:17:36.640Z,1744769856.640 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-04-16T02:17:36.640Z,1744769856.640 [ThrusterHE] No Fault, FailCount= 2
2025-04-16T02:17:42.224Z,1744769862.224 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:17:44.231Z,1744769864.231 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:17:44.651Z,1744769864.651 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:17:45.043Z,1744769865.043 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:17:45.439Z,1744769865.439 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:17:47.463Z,1744769867.463 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:17:47.832Z,1744769867.832 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-04-16T02:17:47.832Z,1744769867.832 [ThrusterHE](INFO): Powering down
2025-04-16T02:17:48.632Z,1744769868.632 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-04-16T02:17:48.752Z,1744769868.752 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-04-16T02:17:54.335Z,1744769874.335 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:17:56.007Z,1744769876.007 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:17:56.383Z,1744769876.383 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:17:56.795Z,1744769876.795 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:17:57.200Z,1744769877.200 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:17:58.023Z,1744769878.023 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:17:58.370Z,1744769878.370 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-04-16T02:17:58.370Z,1744769878.370 [ThrusterHE](INFO): Powering down
2025-04-16T02:17:59.196Z,1744769879.196 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-04-16T02:17:59.312Z,1744769879.312 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-04-16T02:18:04.823Z,1744769884.823 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:18:06.859Z,1744769886.859 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:18:07.279Z,1744769887.279 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:18:07.671Z,1744769887.671 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:18:08.061Z,1744769888.061 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:18:10.091Z,1744769890.091 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:18:10.477Z,1744769890.477 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-04-16T02:18:10.477Z,1744769890.477 [ThrusterHE](INFO): Powering down
2025-04-16T02:18:11.268Z,1744769891.268 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-04-16T02:18:11.384Z,1744769891.384 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-04-16T02:18:18.967Z,1744769898.967 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:18:19.383Z,1744769899.383 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:18:19.792Z,1744769899.792 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:18:20.207Z,1744769900.207 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:18:20.587Z,1744769900.587 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:18:21.047Z,1744769901.047 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:18:21.371Z,1744769901.371 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-04-16T02:18:21.371Z,1744769901.371 [ThrusterHE](INFO): Powering down
2025-04-16T02:18:22.169Z,1744769902.169 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-04-16T02:18:22.284Z,1744769902.284 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-04-16T02:18:29.900Z,1744769909.900 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:18:30.359Z,1744769910.359 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:18:30.743Z,1744769910.743 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:18:31.135Z,1744769911.135 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:18:31.547Z,1744769911.547 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:18:31.951Z,1744769911.951 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:18:32.294Z,1744769912.294 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-04-16T02:18:32.294Z,1744769912.294 [ThrusterHE](INFO): Powering down
2025-04-16T02:18:33.078Z,1744769913.078 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-04-16T02:18:33.193Z,1744769913.193 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-04-16T02:18:41.195Z,1744769921.195 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:18:41.603Z,1744769921.603 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:18:42.023Z,1744769922.023 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:18:42.431Z,1744769922.431 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:18:42.811Z,1744769922.811 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:18:43.219Z,1744769923.219 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:18:43.605Z,1744769923.605 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-04-16T02:18:43.605Z,1744769923.605 [ThrusterHE](INFO): Powering down
2025-04-16T02:18:44.393Z,1744769924.393 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-04-16T02:18:44.508Z,1744769924.508 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-04-16T02:18:52.111Z,1744769932.111 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:18:52.511Z,1744769932.511 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:18:52.915Z,1744769932.915 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:18:53.335Z,1744769933.335 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:18:53.751Z,1744769933.751 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:18:54.127Z,1744769934.127 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:18:54.511Z,1744769934.511 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-04-16T02:18:54.511Z,1744769934.511 [ThrusterHE](INFO): Powering down
2025-04-16T02:18:55.296Z,1744769935.296 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-04-16T02:18:55.416Z,1744769935.416 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-04-16T02:19:03.431Z,1744769943.431 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:19:03.819Z,1744769943.819 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:19:05.843Z,1744769945.843 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:19:06.212Z,1744769946.212 [ThrusterHE](FAULT): Lock Detect. Motor stopped spinning or could not start spinning. Consider trying best-effort mode.
2025-04-16T02:19:06.212Z,1744769946.212 [ThrusterHE] Hardware Fault, FailCount= 3
2025-04-16T02:19:06.212Z,1744769946.212 [ThrusterHE](ERROR): Hardware Fault
2025-04-16T02:19:06.251Z,1744769946.251 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:19:06.291Z,1744769946.291 [CBIT](ERROR): Hardware Fault in component: ThrusterHE
2025-04-16T02:19:06.632Z,1744769946.632 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-04-16T02:19:06.632Z,1744769946.632 [ThrusterHE](INFO): Powering down
2025-04-16T02:19:07.419Z,1744769947.419 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-04-16T02:19:07.532Z,1744769947.532 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-04-16T02:19:07.536Z,1744769947.536 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-04-16T02:19:07.536Z,1744769947.536 [ThrusterHE] No Fault, FailCount= 3
2025-04-16T02:19:13.131Z,1744769953.131 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:19:15.131Z,1744769955.131 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:19:15.595Z,1744769955.595 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:19:15.963Z,1744769955.963 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:19:16.339Z,1744769956.339 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:19:16.752Z,1744769956.752 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:19:17.121Z,1744769957.121 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-04-16T02:19:17.121Z,1744769957.121 [ThrusterHE](INFO): Powering down
2025-04-16T02:19:17.922Z,1744769957.922 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-04-16T02:19:18.041Z,1744769958.041 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-04-16T02:19:23.585Z,1744769963.585 [ThrusterHE](FAULT): Lock Detect. Motor stopped spinning or could not start spinning. Consider trying best-effort mode.
2025-04-16T02:19:23.586Z,1744769963.586 [ThrusterHE] Hardware Fault, FailCount= 4
2025-04-16T02:19:23.586Z,1744769963.586 [ThrusterHE](ERROR): Hardware Fault
2025-04-16T02:19:23.660Z,1744769963.660 [CBIT](ERROR): Hardware Fault in component: ThrusterHE
2025-04-16T02:19:24.010Z,1744769964.010 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-04-16T02:19:24.010Z,1744769964.010 [ThrusterHE](INFO): Powering down
2025-04-16T02:19:24.794Z,1744769964.794 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-04-16T02:19:24.909Z,1744769964.909 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-04-16T02:19:24.913Z,1744769964.913 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-04-16T02:19:24.913Z,1744769964.913 [ThrusterHE] No Fault, FailCount= 4
2025-04-16T02:19:30.954Z,1744769970.954 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:19:32.951Z,1744769972.951 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:19:33.347Z,1744769973.347 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:19:33.792Z,1744769973.792 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:19:34.135Z,1744769974.135 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:19:34.547Z,1744769974.547 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:19:34.921Z,1744769974.921 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-04-16T02:19:34.921Z,1744769974.921 [ThrusterHE](INFO): Powering down
2025-04-16T02:19:35.710Z,1744769975.710 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-04-16T02:19:35.824Z,1744769975.824 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-04-16T02:19:41.411Z,1744769981.411 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:19:43.415Z,1744769983.415 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:19:43.827Z,1744769983.827 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:19:44.235Z,1744769984.235 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:19:44.659Z,1744769984.659 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:19:45.031Z,1744769985.031 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:19:45.404Z,1744769985.404 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-04-16T02:19:45.404Z,1744769985.404 [ThrusterHE](INFO): Powering down
2025-04-16T02:19:46.228Z,1744769986.228 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-04-16T02:19:46.348Z,1744769986.348 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-04-16T02:19:53.939Z,1744769993.939 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:19:54.351Z,1744769994.351 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:19:54.759Z,1744769994.759 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:19:55.139Z,1744769995.139 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:19:55.551Z,1744769995.551 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:19:55.967Z,1744769995.967 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:19:56.309Z,1744769996.309 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-04-16T02:19:56.310Z,1744769996.310 [ThrusterHE](INFO): Powering down
2025-04-16T02:19:57.127Z,1744769997.127 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-04-16T02:19:57.244Z,1744769997.244 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-04-16T02:20:05.227Z,1744770005.227 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:20:05.643Z,1744770005.643 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:20:06.063Z,1744770006.063 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:20:06.471Z,1744770006.471 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:20:06.892Z,1744770006.892 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:20:07.263Z,1744770007.263 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:20:07.718Z,1744770007.718 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-04-16T02:20:07.718Z,1744770007.718 [ThrusterHE](INFO): Powering down
2025-04-16T02:20:08.447Z,1744770008.447 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-04-16T02:20:08.564Z,1744770008.564 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-04-16T02:20:15.771Z,1744770015.771 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:20:16.147Z,1744770016.147 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:20:16.555Z,1744770016.555 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:20:16.975Z,1744770016.975 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:20:17.355Z,1744770017.355 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:20:17.723Z,1744770017.723 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-04-16T02:20:17.724Z,1744770017.724 [ThrusterHE](INFO): Powering down
2025-04-16T02:20:18.540Z,1744770018.540 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-04-16T02:20:18.661Z,1744770018.661 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-04-16T02:20:24.223Z,1744770024.223 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:20:26.251Z,1744770026.251 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:20:26.659Z,1744770026.659 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:20:28.763Z,1744770028.763 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:20:29.111Z,1744770029.111 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:20:29.459Z,1744770029.459 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-04-16T02:20:29.459Z,1744770029.459 [ThrusterHE](INFO): Powering down
2025-04-16T02:20:30.366Z,1744770030.366 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-04-16T02:20:30.480Z,1744770030.480 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-04-16T02:20:36.322Z,1744770036.322 [ThrusterHE](FAULT): Lock Detect. Motor stopped spinning or could not start spinning. Consider trying best-effort mode.
2025-04-16T02:20:36.322Z,1744770036.322 [ThrusterHE] Hardware Fault, FailCount= 5
2025-04-16T02:20:36.322Z,1744770036.322 [ThrusterHE](ERROR): Hardware Fault
2025-04-16T02:20:36.362Z,1744770036.362 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T02:20:36.391Z,1744770036.391 [CBIT](ERROR): Hardware Fault in component: ThrusterHE
2025-04-16T02:20:36.391Z,1744770036.391 [CBIT](CRITICAL): Hardware Fault in component: ThrusterHE
2025-04-16T02:20:36.741Z,1744770036.741 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-04-16T02:20:36.742Z,1744770036.742 [ThrusterHE](INFO): Powering down
2025-04-16T02:20:36.743Z,1744770036.743 [CommandExec](FAULT): Scheduling is paused
2025-04-16T02:20:36.744Z,1744770036.744 [CBIT](INFO): Critical error at 20250416T022036
2025-04-16T02:20:36.744Z,1744770036.744 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2025-04-16T02:20:37.119Z,1744770037.119 [MissionManager](INFO): MissionManager is completed.
2025-04-16T02:20:37.119Z,1744770037.119 [MissionManager](INFO): Uninitializing Mission calibrate_sparton_compass
2025-04-16T02:20:37.120Z,1744770037.120 [calibrate_sparton_compass] Stopped
2025-04-16T02:20:37.120Z,1744770037.120 [calibrate_sparton_compass](DEBUG): Aggregate::uninitialize calibrate_sparton_compass
2025-04-16T02:20:37.120Z,1744770037.120 [calibrate_sparton_compass:Science] Stopped
2025-04-16T02:20:37.120Z,1744770037.120 [calibrate_sparton_compass:Science](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science
2025-04-16T02:20:37.120Z,1744770037.120 [calibrate_sparton_compass:Science:B] Stopped
2025-04-16T02:20:37.120Z,1744770037.120 [calibrate_sparton_compass:Science:C] Stopped
2025-04-16T02:20:37.120Z,1744770037.120 [calibrate_sparton_compass:Science:E] Stopped
2025-04-16T02:20:37.120Z,1744770037.120 [calibrate_sparton_compass:Science:OceanCurrent] Stopped
2025-04-16T02:20:37.120Z,1744770037.120 [calibrate_sparton_compass:Science:OceanCurrent](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:OceanCurrent
2025-04-16T02:20:37.120Z,1744770037.120 [calibrate_sparton_compass:Science:OceanCurrent:A.] Stopped
2025-04-16T02:20:37.120Z,1744770037.120 [calibrate_sparton_compass:StandardEnvelopes] Stopped
2025-04-16T02:20:37.120Z,1744770037.120 [calibrate_sparton_compass:StandardEnvelopes](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:StandardEnvelopes
2025-04-16T02:20:37.121Z,1744770037.121 [calibrate_sparton_compass:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-04-16T02:20:37.121Z,1744770037.121 [calibrate_sparton_compass:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-04-16T02:20:37.121Z,1744770037.121 [calibrate_sparton_compass:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-04-16T02:20:37.121Z,1744770037.121 [calibrate_sparton_compass:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-04-16T02:20:37.121Z,1744770037.121 [calibrate_sparton_compass:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-04-16T02:20:37.121Z,1744770037.121 [calibrate_sparton_compass:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-04-16T02:20:37.121Z,1744770037.121 [calibrate_sparton_compass:BackseatDriver] Stopped
2025-04-16T02:20:37.121Z,1744770037.121 [calibrate_sparton_compass:BackseatDriver](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:BackseatDriver
2025-04-16T02:20:37.121Z,1744770037.121 [calibrate_sparton_compass:BackseatDriver:A.BackseatDriver] Stopped
2025-04-16T02:20:37.121Z,1744770037.121 [calibrate_sparton_compass:PowerOnly] Stopped
2025-04-16T02:20:37.121Z,1744770037.121 [calibrate_sparton_compass:PowerOnly](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:PowerOnly
2025-04-16T02:20:37.121Z,1744770037.121 [calibrate_sparton_compass:PowerOnly:E.Wait] Stopped
2025-04-16T02:20:37.121Z,1744770037.121 [calibrate_sparton_compass:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-04-16T02:20:37.121Z,1744770037.121 [calibrate_sparton_compass:K.Pitch] Stopped
2025-04-16T02:20:37.122Z,1744770037.122 [calibrate_sparton_compass:L.Buoyancy] Stopped
2025-04-16T02:20:37.122Z,1744770037.122 [calibrate_sparton_compass:L.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-04-16T02:20:37.122Z,1744770037.122 [calibrate_sparton_compass:M.DepthEnvelope] Stopped
2025-04-16T02:20:37.122Z,1744770037.122 [calibrate_sparton_compass:M.DepthEnvelope](DEBUG): Uninitialize.
2025-04-16T02:20:37.122Z,1744770037.122 [calibrate_sparton_compass:N.AltitudeEnvelope] Stopped
2025-04-16T02:20:37.122Z,1744770037.122 [calibrate_sparton_compass:N.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-04-16T02:20:37.122Z,1744770037.122 [calibrate_sparton_compass:O.YoYo] Stopped
2025-04-16T02:20:37.122Z,1744770037.122 [calibrate_sparton_compass:O.YoYo](DEBUG): Uninitialize YoYoComponent.
2025-04-16T02:20:37.122Z,1744770037.122 [calibrate_sparton_compass:AdaptCal] Stopped
2025-04-16T02:20:37.122Z,1744770037.122 [calibrate_sparton_compass:AdaptCal](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:AdaptCal
2025-04-16T02:20:37.122Z,1744770037.122 [calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints] Stopped
2025-04-16T02:20:37.122Z,1744770037.122 [calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints
2025-04-16T02:20:37.122Z,1744770037.122 [calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints:A.Point] Stopped
2025-04-16T02:20:37.122Z,1744770037.122 [calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints:B.SetSpeed] Stopped
2025-04-16T02:20:37.123Z,1744770037.123 [calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints:B.SetSpeed](DEBUG): Uninitialize.
2025-04-16T02:20:37.123Z,1744770037.123 [calibrate_sparton_compass:AdaptCal:C.CalibrateAHRS_M2] Stopped
2025-04-16T02:20:37.123Z,1744770037.123 [calibrate_sparton_compass:AdaptCal:C.CalibrateAHRS_M2](INFO): Uninitialize CalibrateSpartonComponent.
2025-04-16T02:20:37.464Z,1744770037.464 [WetLabsBB2FL](INFO): Powering down
2025-04-16T02:20:37.545Z,1744770037.545 [AHRS_M2](IMPORTANT): Acquired 4 calibration points.
2025-04-16T02:20:37.572Z,1744770037.572 [MissionManager](IMPORTANT): Started mission Default
2025-04-16T02:20:37.572Z,1744770037.572 [Default] Running Loop=1
2025-04-16T02:20:37.572Z,1744770037.572 [Default](DEBUG): Aggregate::initialize Default
2025-04-16T02:20:37.572Z,1744770037.572 [Default:B.GoToSurface] Running Loop=1
2025-04-16T02:20:37.572Z,1744770037.572 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-04-16T02:20:37.572Z,1744770037.572 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-04-16T02:20:37.573Z,1744770037.573 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-04-16T02:20:37.573Z,1744770037.573 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-04-16T02:20:37.573Z,1744770037.573 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-04-16T02:20:37.573Z,1744770037.573 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-04-16T02:20:37.574Z,1744770037.574 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-04-16T02:20:37.574Z,1744770037.574 [Default:A.Wait] Running Loop=1
2025-04-16T02:20:37.574Z,1744770037.574 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-04-16T02:20:38.324Z,1744770038.324 [AHRS_M2](IMPORTANT): Magnetic calibration quality (0[best] to 10000) is 0.000002.
2025-04-16T02:20:50.846Z,1744770050.846 [Default:A.Wait](INFO): Done Waiting.
2025-04-16T02:20:50.846Z,1744770050.846 [Default:A.Wait] Stopped
2025-04-16T02:20:50.846Z,1744770050.846 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-04-16T02:20:51.299Z,1744770051.299 [Default:CheckIn] Running Loop=1
2025-04-16T02:20:51.299Z,1744770051.299 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-04-16T02:20:51.299Z,1744770051.299 [Default:CheckIn:Read_GPS] Running Loop=1
2025-04-16T02:20:53.262Z,1744770053.262 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,022054.00,A,3647.74154,N,12150.70601,W,0.505,297.76,160425,,,D*73
2025-04-16T02:20:53.275Z,1744770053.275 [NAL9602](INFO): GPS fix at 20250416T022054: (36.795692, -121.845100)
2025-04-16T02:20:53.286Z,1744770053.286 [Default:CheckIn:Read_GPS] Stopped
2025-04-16T02:20:53.286Z,1744770053.286 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-04-16T02:21:00.987Z,1744770060.987 [DataOverHttps](INFO): Sending 145 bytes from file Logs/20250416T014222/Courier0025.lzma
2025-04-16T02:21:01.990Z,1744770061.990 [DataOverHttps](INFO): Moved sent file to Logs/20250416T014222/Courier0025.lzma.bak
2025-04-16T02:21:01.991Z,1744770061.991 [DataOverHttps](INFO): SBD MOMSN=24670012
2025-04-16T02:21:07.002Z,1744770067.002 [NAL9602](INFO): SBD MO Status=0, MOMSN=19530, MT Status=0, MTMSN=0
2025-04-16T02:21:07.002Z,1744770067.002 [NAL9602](INFO): No messages in MT queue
2025-04-16T02:21:18.065Z,1744770078.065 [DataOverHttps](INFO): Sending 942 bytes from file Logs/20250416T014222/Express0026.lzma
2025-04-16T02:21:19.065Z,1744770079.065 [DataOverHttps](INFO): Moved sent file to Logs/20250416T014222/Express0026.lzma.bak
2025-04-16T02:21:19.065Z,1744770079.065 [DataOverHttps](INFO): SBD MOMSN=24670016
2025-04-16T02:21:20.346Z,1744770080.346 [Default:CheckIn:Read_Iridium] Stopped
2025-04-16T02:21:20.346Z,1744770080.346 [Default:CheckIn:C.Wait] Running Loop=1
2025-04-16T02:21:20.346Z,1744770080.346 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-04-16T02:21:21.621Z,1744770081.621 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-04-16T02:21:21.621Z,1744770081.621 [ThrusterHE] No Fault, FailCount= 5
2025-04-16T02:21:21.997Z,1744770081.997 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-04-16T02:21:22.004Z,1744770082.004 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-04-16T02:21:27.245Z,1744770087.245 [ThrusterHE](ERROR): Zero Speed Commanded.
2025-04-16T02:21:37.702Z,1744770097.702 [NAL9602](INFO): Not Powering down - fast GPS
2025-04-16T02:26:20.917Z,1744770380.917 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2025-04-16T02:26:20.917Z,1744770380.917 [Default:CheckIn:C.Wait] Stopped
2025-04-16T02:26:20.917Z,1744770380.917 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-04-16T02:26:20.917Z,1744770380.917 [Default:CheckIn:D] Running Loop=1
2025-04-16T02:26:21.321Z,1744770381.321 [Default:CheckIn:D] Stopped
2025-04-16T02:26:21.321Z,1744770381.321 [Default:CheckIn:E] Running Loop=1
2025-04-16T02:26:21.731Z,1744770381.731 [Default:CheckIn:E](IMPORTANT): Default mission has been running for  5.729146 min 
2025-04-16T02:26:21.731Z,1744770381.731 [Default:CheckIn:E] Stopped
2025-04-16T02:26:21.732Z,1744770381.732 [Default:CheckIn](INFO): Completed Default:CheckIn
2025-04-16T02:26:21.732Z,1744770381.732 [Default:CheckIn] Stopped
2025-04-16T02:26:21.732Z,1744770381.732 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-04-16T02:26:21.732Z,1744770381.732 [Default:CheckIn](INFO): Running loop #2
2025-04-16T02:26:21.732Z,1744770381.732 [Default:CheckIn] Running Loop=2
2025-04-16T02:26:21.732Z,1744770381.732 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-04-16T02:26:21.732Z,1744770381.732 [Default:CheckIn:Read_GPS] Running Loop=1
2025-04-16T02:26:23.751Z,1744770383.751 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,022624.00,A,3647.76983,N,12150.72138,W,0.467,22.28,160425,,,D*4F
2025-04-16T02:26:23.753Z,1744770383.753 [NAL9602](INFO): GPS fix at 20250416T022624: (36.796164, -121.845356)
2025-04-16T02:26:23.764Z,1744770383.764 [Default:CheckIn:Read_GPS] Stopped
2025-04-16T02:26:23.764Z,1744770383.764 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-04-16T02:26:31.743Z,1744770391.743 [DataOverHttps](INFO): Sending 75 bytes from file Logs/20250416T014222/Courier0028.lzma
2025-04-16T02:26:32.249Z,1744770392.249 [NAL9602](INFO): SBD MO Status=0, MOMSN=19531, MT Status=0, MTMSN=0
2025-04-16T02:26:32.249Z,1744770392.249 [NAL9602](INFO): No messages in MT queue
2025-04-16T02:26:32.745Z,1744770392.745 [DataOverHttps](INFO): Moved sent file to Logs/20250416T014222/Courier0028.lzma.bak
2025-04-16T02:26:32.745Z,1744770392.745 [DataOverHttps](INFO): SBD MOMSN=24670156
2025-04-16T02:26:49.039Z,1744770409.039 [DataOverHttps](INFO): Sending 176 bytes from file Logs/20250416T014222/Express0029.lzma
2025-04-16T02:26:50.042Z,1744770410.042 [DataOverHttps](INFO): Moved sent file to Logs/20250416T014222/Express0029.lzma.bak
2025-04-16T02:26:50.042Z,1744770410.042 [DataOverHttps](IMPORTANT): SBD MOMSN=24670160, MTMSN=20250416T022650
2025-04-16T02:26:51.629Z,1744770411.629 [Default:CheckIn:Read_Iridium] Stopped
2025-04-16T02:26:51.629Z,1744770411.629 [Default:CheckIn:C.Wait] Running Loop=1
2025-04-16T02:26:51.630Z,1744770411.630 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-04-16T02:26:57.595Z,1744770417.595 [DataOverHttps](INFO): Received command: load Engineering/sink.tl;set sink.SinkDuration 10 min;set sink.Depth 30 m;set sink.MaxDepth 40 m;run
2025-04-16T02:26:57.712Z,1744770417.712 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/sink.tl
2025-04-16T02:26:57.712Z,1744770417.712 [MissionManager](INFO): Loading Mission from file: ./Missions/Engineering/sink.tl
2025-04-16T02:26:57.713Z,1744770417.713 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Engineering/sink.tl
2025-04-16T02:26:57.720Z,1744770417.720 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Engineering/sink.tl
2025-04-16T02:27:02.272Z,1744770422.272 [MissionManager](DEBUG): TethyslAPI: ./Missions/Engineering/sink.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="sink">
    <DefineArg Name="SinkDuration">
        <Units:hour />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="WaitToFloat">
        <Units:minute />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="Depth">
        <Units:meter />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="DepthDeadband">
        <Units:meter />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="SurfaceThreshold">
        <Units:meter />
        <Value>2.5</Value>
    </DefineArg>
    <DefineArg Name="TargetDepthTimeout">
        <Units:minute />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="DoBallastAndTrim">
        <False />
    </DefineArg>
    <DefineArg Name="BTSettleTime">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="EstimationTimeout">
        <Units:minute />
        <Value>45</Value>
    </DefineArg>
    <DefineArg Name="MinEstimationTime">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="MassEstimationErrorBound">
        <Units:millimeter />
        <Value>0.5</Value>
    </DefineArg>
    <DefineArg Name="BuoyEstimationErrorBound">
        <Units:cubic_centimeter />
        <Value>25</Value>
    </DefineArg>
    <DefineArg Name="EstimationConfidence">
        <Units:percent />
        <Value>98</Value>
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="SkipComms">
        <False />
    </DefineArg>
    <DefineOutput Name="MissionTimeout">
        <Arg Name="SinkDuration" />
    </DefineOutput>
    <Timeout Duration="MissionTimeout" />
    <Assign>
        <Sequence />
        <Arg Name="MissionTimeout" />
        <Arg Name="SinkDuration" />
        <Add>
            <Arg Name="WaitToFloat" />
        </Add>
    </Assign>
    <Insert Filename="Insert/Science.tl" />
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="MissionTimeout" />
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Aggregate Id="startComms">
        <Sequence />
        <Break>
            <Arg Name="SkipComms" />
        </Break>
        <Call RefId="NeedComms" Id="StartingMission" />
    </Aggregate>
    <Aggregate Id="RunSink">
        <Sequence />
        <Timeout Duration="SinkDuration" />
        <Insert Filename="Insert/BallastAndTrim.tl">
            <RedefineArg Name="InsertDepthDeadband">
                <Arg Name="DepthDeadband" />
            </RedefineArg>
            <RedefineArg Name="InsertApproachDepthTimeout">
                <Arg Name="TargetDepthTimeout" />
            </RedefineArg>
            <RedefineArg Name="InsertSettleTime">
                <Arg Name="BTSettleTime" />
            </RedefineArg>
            <RedefineArg Name="EstTimeout">
                <Arg Name="EstimationTimeout" />
            </RedefineArg>
            <RedefineArg Name="MinEstTime">
                <Arg Name="MinEstimationTime" />
            </RedefineArg>
            <RedefineArg Name="MassEstErrorBound">
                <Arg Name="MassEstimationErrorBound" />
            </RedefineArg>
            <RedefineArg Name="BuoyEstErrorBound">
                <Arg Name="BuoyEstimationErrorBound" />
            </RedefineArg>
            <RedefineArg Name="EstConfidence">
                <Arg Name="EstimationConfidence" />
            </RedefineArg>
        </Insert>
        <Aggregate Id="RunBallastAndTrim">
            <Sequence />
            <Break>
                <IsNaN>
                    <Arg Name="Depth" />
                </IsNaN>
                <Or>
                    <Not>
                        <Arg Name="DoBallastAndTrim" />
                    </Not>
                </Or>
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="BallastAndTrim:InsertDepth" />
                <Arg Name="Depth" />
            </Assign>
            <Call RefId="BallastAndTrim" />
        </Aggregate>
        <Aggregate Id="JustSink">
            <Sequence />
            <Break>
                <IsNaN>
                    <Arg Name="Depth" />
                </IsNaN>
                <Or>
                    <Arg Name="DoBallastAndTrim" />
                </Or>
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="BallastAndTrim:InsertDepth" />
                <Arg Name="Depth" />
            </Assign>
            <Assign>
                <Sequence />
                <Arg Name="BTSettleTime" />
                <Arg Name="SinkDuration" />
            </Assign>
            <Call RefId="BallastAndTrim" />
        </Aggregate>
    </Aggregate>
    <Aggregate Id="FloatUp">
        <Sequence />
        <Break>
            <Universal:depth />
            <Lt>
                <Arg Name="SurfaceThreshold" />
            </Lt>
        </Break>
        <Guidance:Buoyancy>
            <Parallel />
            <Setting>
                <Guidance:Buoyancy.position />
                <Control:VerticalControl.buoyancyDefault />
            </Setting>
        </Guidance:Buoyancy>
        <Guidance:Wait>
            <Sequence />
            <Setting>
                <Guidance:Wait.duration />
                <Arg Name="WaitToFloat" />
            </Setting>
        </Guidance:Wait>
    </Aggregate>
    <Call RefId="NeedComms" Id="EndingMission" />
</Mission>

2025-04-16T02:27:02.279Z,1744770422.279 [MissionManager](INFO): DefineArg sink.SinkDuration = 2.000000 h
2025-04-16T02:27:02.282Z,1744770422.282 [MissionManager](INFO): DefineArg sink.WaitToFloat = 20.000000 min
2025-04-16T02:27:02.286Z,1744770422.286 [MissionManager](INFO): DefineArg sink.Depth = 20.000000 m
2025-04-16T02:27:02.289Z,1744770422.289 [MissionManager](INFO): DefineArg sink.DepthDeadband = 1.000000 m
2025-04-16T02:27:02.312Z,1744770422.312 [MissionManager](INFO): DefineArg sink.SurfaceThreshold = 2.500000 m
2025-04-16T02:27:02.315Z,1744770422.315 [MissionManager](INFO): DefineArg sink.TargetDepthTimeout = 20.000000 min
2025-04-16T02:27:02.322Z,1744770422.322 [MissionManager](INFO): DefineArg sink.DoBallastAndTrim = 0 bool
2025-04-16T02:27:02.326Z,1744770422.326 [MissionManager](INFO): DefineArg sink.BTSettleTime = 10.000000 min
2025-04-16T02:27:02.337Z,1744770422.337 [MissionManager](INFO): DefineArg sink.EstimationTimeout = 45.000000 min
2025-04-16T02:27:02.342Z,1744770422.342 [MissionManager](INFO): DefineArg sink.MinEstimationTime = 10.000000 min
2025-04-16T02:27:02.357Z,1744770422.357 [MissionManager](INFO): DefineArg sink.MassEstimationErrorBound = 0.500000 mm
2025-04-16T02:27:02.364Z,1744770422.364 [MissionManager](INFO): DefineArg sink.BuoyEstimationErrorBound = 25.000000 cc
2025-04-16T02:27:02.372Z,1744770422.372 [MissionManager](INFO): DefineArg sink.EstimationConfidence = 98.000000 %
2025-04-16T02:27:02.375Z,1744770422.375 [MissionManager](INFO): DefineArg sink.MinAltitude = 5.000000 m
2025-04-16T02:27:02.382Z,1744770422.382 [MissionManager](INFO): DefineArg sink.MaxDepth = 30.000000 m
2025-04-16T02:27:02.401Z,1744770422.401 [MissionManager](INFO): DefineArg sink.MinOffshore = 2.000000 km
2025-04-16T02:27:02.408Z,1744770422.408 [MissionManager](INFO): DefineArg sink.SkipComms = 0 bool
2025-04-16T02:27:02.415Z,1744770422.415 [MissionManager](INFO): DefineOutput sink.MissionTimeout = 2.000000 h
2025-04-16T02:27:02.418Z,1744770422.418 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-04-16T02:27:02.418Z,1744770422.418 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-04-16T02:27:02.427Z,1744770422.427 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-04-16T02:27:02.943Z,1744770422.943 [NAL9602](INFO): Not Powering down - fast GPS
2025-04-16T02:27:05.822Z,1744770425.822 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/Science.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="Science">
    <DefineArg Name="PeakDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="TimeWindowPeakReport">
        <Units:minute />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="HighestChlPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestSaltPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestOilPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="PatchTracking">
        <False />
    </DefineArg>
    <DefineArg Name="FilterWidthHorizontal">
        <Units:count />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesSlidingwindow">
        <Units:count />
        <Value>100</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionHorizontal">
        <Units:percent />
        <Value>80</Value>
    </DefineArg>
    <DefineArg Name="PeakDetectNO3Active">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectOilActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectFDOMActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectSalinityActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDinoflagellatesActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreDinoflagellatesActive">
        <False />
    </DefineArg>
    <DefineArg Name="UpwardDerivativeOfTemperatureActive">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledAanderaaO2">
        <Science:Aanderaa_O2.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledNeilBrown">
        <Science:CTD_NeilBrown.loadAtStartup />
    </DefineArg>
    <DefineArg Name="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>
    <DefineArg Name="PlanktivoreHMavgROIPeakThresh">
        <Units:count_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreDiatomsPeakThresh">
        <Units:count_per_milliliter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreDinoflagellatesPeakThresh">
        <Units:count_per_milliliter />
        <Value>0</Value>
    </DefineArg>
    <DefineOutput Name="GoDown">
        <True />
    </DefineOutput>
    <DefineOutput Name="PeakChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3">
        <Units:micromole_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Depth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOil">
        <Units:kilogram_per_cubic_meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOM">
        <Units:part_per_billion />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatoms">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatoms">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOil">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="TriggeredOnChl">
        <False />
    </DefineOutput>
    <DefineOutput Name="ChlTriggering">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledAanderaaO2" />
        </While>
        <Universal:mass_concentration_of_oxygen_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
        </While>
        <Universal:sea_water_temperature />
        <Universal:sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledSeabird" />
        </While>
        <Science:CTD_Seabird.sea_water_temperature />
        <Science:CTD_Seabird.sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
            <And>
                <Arg Name="UpwardDerivativeOfTemperatureActive" />
            </And>
        </While>
        <Universal:upward_derivative_of_sea_water_temperature />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsBB2FL" />
            <Or>
                <Arg Name="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="Info">
            GoDown, PlanktivoreLMavgROIPeakThresh, PeakPlanktivoreLMavgROI, PeakPlanktivoreLMavgROIDepth, EdgePlanktivoreLMavgROI, EdgePlanktivoreLMavgROIDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreHMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_HM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="EdgeDetectPlanktivoreHMavgROIActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_HM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFraction />
                <Arg Name="OffPeakFractionVertical" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreHMavgROIPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROI">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreHMavgROIPeakThresh, PeakPlanktivoreHMavgROI, PeakPlanktivoreHMavgROIDepth, EdgePlanktivoreHMavgROI, EdgePlanktivoreHMavgROIDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreHMavgROIPeakThresh" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreHMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="EdgePlanktivoreHMavgROIDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
            <Arg Name="EdgePlanktivoreHMavgROI" />
            <Arg Name="EdgePlanktivoreHMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="PeakDetectPlanktivoreDiatomsActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_diatoms</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="EdgeDetectPlanktivoreDiatomsActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_diatoms</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFraction />
                <Arg Name="OffPeakFractionVertical" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreDiatomsPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatoms">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreDiatomsPeakThresh, PeakPlanktivoreDiatoms, PeakPlanktivoreDiatomsDepth, EdgePlanktivoreDiatoms, EdgePlanktivoreDiatomsDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreDiatomsPeakThresh" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreDiatoms" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="EdgePlanktivoreDiatomsDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
            <Arg Name="EdgePlanktivoreDiatoms" />
            <Arg Name="EdgePlanktivoreDiatomsDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="PeakDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDinoflagellates">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="EdgeDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFraction />
                <Arg Name="OffPeakFractionVertical" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreDinoflagellatesPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellates">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellates">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreDinoflagellatesPeakThresh, PeakPlanktivoreDinoflagellates, PeakPlanktivoreDinoflagellatesDepth, EdgePlanktivoreDinoflagellates, EdgePlanktivoreDinoflagellatesDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreDinoflagellatesPeakThresh" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreDinoflagellates" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="EdgePlanktivoreDinoflagellatesDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
            <Arg Name="EdgePlanktivoreDinoflagellates" />
            <Arg Name="EdgePlanktivoreDinoflagellatesDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="ChlThreshTrigger">
        <While>
            <Arg Name="ChlThreshTriggerActive" />
        </While>
        <Trigger:ValueDetect>
            <Sequence />
            <Setting>
                <Trigger:ValueDetect.detect />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.lowerThreshold />
                <Arg Name="ChlLowerThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.upperThreshold />
                <Arg Name="ChlUpperThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.numProfilesThreshold />
                <Arg Name="NumProfilesThresh" />
            </Setting>
            <OutputArg Name="ChlTriggering">
                <Trigger:ValueDetect.outputValue />
            </OutputArg>
        </Trigger:ValueDetect>
        <Assign>
            <Sequence />
            <Arg Name="TriggeredOnChl" />
            <True />
        </Assign>
        <Syslog Severity="Important">
            Triggered. PeakChl values on 
            <Arg Name="NumProfilesThresh" />
            <Units:count />
             consecutive yo-yo profiles fall in [
            <Arg Name="ChlLowerThresh" />
            <Units:microgram_per_liter />
            <Arg Name="ChlUpperThresh" />
            <Units:microgram_per_liter />
            ] (NaN bound is ignored).
        </Syslog>
    </Aggregate>
</Aggregate>

2025-04-16T02:27:05.861Z,1744770425.861 [MissionManager](INFO): DefineArg sink:Science.PeakDetectChlActive = 0 bool
2025-04-16T02:27:05.864Z,1744770425.864 [MissionManager](INFO): DefineArg sink:Science.EdgeDetectChlActive = 0 bool
2025-04-16T02:27:05.867Z,1744770425.867 [MissionManager](INFO): DefineArg sink:Science.TimeWindowPeakReport = nan min
2025-04-16T02:27:05.870Z,1744770425.870 [MissionManager](INFO): DefineArg sink:Science.HighestChlPeakReportActive = 0 bool
2025-04-16T02:27:05.873Z,1744770425.873 [MissionManager](INFO): DefineArg sink:Science.HighestSaltPeakReportActive = 0 bool
2025-04-16T02:27:05.876Z,1744770425.876 [MissionManager](INFO): DefineArg sink:Science.HighestOilPeakReportActive = 0 bool
2025-04-16T02:27:05.878Z,1744770425.878 [MissionManager](INFO): DefineArg sink:Science.PatchTracking = 0 bool
2025-04-16T02:27:05.882Z,1744770425.882 [MissionManager](INFO): DefineArg sink:Science.FilterWidthHorizontal = 3.000000 count
2025-04-16T02:27:05.885Z,1744770425.885 [MissionManager](INFO): DefineArg sink:Science.NumProfilesSlidingwindow = 100.000000 count
2025-04-16T02:27:05.916Z,1744770425.916 [MissionManager](INFO): DefineArg sink:Science.OffPeakFractionHorizontal = 80.000000 %
2025-04-16T02:27:05.919Z,1744770425.919 [MissionManager](INFO): DefineArg sink:Science.PeakDetectNO3Active = 0 bool
2025-04-16T02:27:05.926Z,1744770425.926 [MissionManager](INFO): DefineArg sink:Science.PeakDetectOilActive = 0 bool
2025-04-16T02:27:05.933Z,1744770425.933 [MissionManager](INFO): DefineArg sink:Science.PeakDetectFDOMActive = 0 bool
2025-04-16T02:27:05.939Z,1744770425.939 [MissionManager](INFO): DefineArg sink:Science.PeakDetectSalinityActive = 0 bool
2025-04-16T02:27:05.942Z,1744770425.942 [MissionManager](INFO): DefineArg sink:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-04-16T02:27:05.947Z,1744770425.947 [MissionManager](INFO): DefineArg sink:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-04-16T02:27:05.958Z,1744770425.958 [MissionManager](INFO): DefineArg sink:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-04-16T02:27:05.962Z,1744770425.962 [MissionManager](INFO): DefineArg sink:Science.EdgeDetectPlanktivoreHMavgROIActive = 0 bool
2025-04-16T02:27:05.973Z,1744770425.973 [MissionManager](INFO): DefineArg sink:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-04-16T02:27:05.980Z,1744770425.980 [MissionManager](INFO): DefineArg sink:Science.EdgeDetectPlanktivoreDiatomsActive = 0 bool
2025-04-16T02:27:05.982Z,1744770425.982 [MissionManager](INFO): DefineArg sink:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-04-16T02:27:06.017Z,1744770426.017 [MissionManager](INFO): DefineArg sink:Science.EdgeDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-04-16T02:27:06.024Z,1744770426.024 [MissionManager](INFO): DefineArg sink:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-04-16T02:27:06.036Z,1744770426.036 [MissionManager](INFO): DefineArg sink:Science.EnabledAanderaaO2 = 0 bool
2025-04-16T02:27:06.048Z,1744770426.048 [MissionManager](INFO): DefineArg sink:Science.EnabledNeilBrown = 0 bool
2025-04-16T02:27:06.055Z,1744770426.055 [MissionManager](INFO): DefineArg sink:Science.EnabledSeabird = 1 bool
2025-04-16T02:27:06.059Z,1744770426.059 [MissionManager](INFO): DefineArg sink:Science.EnabledWetLabsBB2FL = 1 bool
2025-04-16T02:27:06.070Z,1744770426.070 [MissionManager](INFO): DefineArg sink:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-04-16T02:27:06.078Z,1744770426.078 [MissionManager](INFO): DefineArg sink:Science.EnabledWetLabsUBAT = 0 bool
2025-04-16T02:27:06.085Z,1744770426.085 [MissionManager](INFO): DefineArg sink:Science.LowPassWindowLength = 20.000000 count
2025-04-16T02:27:06.109Z,1744770426.109 [MissionManager](INFO): DefineArg sink:Science.MedianFilterLen = 5.000000 count
2025-04-16T02:27:06.116Z,1744770426.116 [MissionManager](INFO): DefineArg sink:Science.ShallowBound = nan m
2025-04-16T02:27:06.122Z,1744770426.122 [MissionManager](INFO): DefineArg sink:Science.DeepBound = nan m
2025-04-16T02:27:06.137Z,1744770426.137 [MissionManager](INFO): DefineArg sink:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-04-16T02:27:06.172Z,1744770426.172 [MissionManager](INFO): DefineArg sink:Science.OffPeakFractionVertical = nan %
2025-04-16T02:27:06.175Z,1744770426.175 [MissionManager](INFO): DefineArg sink:Science.ChlPeakThresh = 0.000000 ug/l
2025-04-16T02:27:06.204Z,1744770426.204 [MissionManager](INFO): DefineArg sink:Science.ChlThreshTriggerActive = 0 bool
2025-04-16T02:27:06.207Z,1744770426.207 [MissionManager](INFO): DefineArg sink:Science.ChlLowerThresh = nan ug/l
2025-04-16T02:27:06.222Z,1744770426.222 [MissionManager](INFO): DefineArg sink:Science.ChlUpperThresh = nan ug/l
2025-04-16T02:27:06.229Z,1744770426.229 [MissionManager](INFO): DefineArg sink:Science.NumProfilesThresh = 5.000000 count
2025-04-16T02:27:06.245Z,1744770426.245 [MissionManager](INFO): DefineArg sink:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-04-16T02:27:06.252Z,1744770426.252 [MissionManager](INFO): DefineArg sink:Science.PlanktivoreHMavgROIPeakThresh = 0.000000 count/s
2025-04-16T02:27:06.255Z,1744770426.255 [MissionManager](INFO): DefineArg sink:Science.PlanktivoreDiatomsPeakThresh = 0.000000 count/ml
2025-04-16T02:27:06.263Z,1744770426.263 [MissionManager](INFO): DefineArg sink:Science.PlanktivoreDinoflagellatesPeakThresh = 0.000000 count/ml
2025-04-16T02:27:06.270Z,1744770426.270 [MissionManager](INFO): DefineOutput sink:Science.GoDown = 1 bool
2025-04-16T02:27:06.274Z,1744770426.274 [MissionManager](INFO): DefineOutput sink:Science.PeakChl = nan ug/l
2025-04-16T02:27:06.285Z,1744770426.285 [MissionManager](INFO): DefineOutput sink:Science.PeakChlDepth = nan m
2025-04-16T02:27:06.289Z,1744770426.289 [MissionManager](INFO): DefineOutput sink:Science.PeakChlTemperature = nan degC
2025-04-16T02:27:06.304Z,1744770426.304 [MissionManager](INFO): DefineOutput sink:Science.PeakChlLatitude = nan arcdeg
2025-04-16T02:27:06.307Z,1744770426.307 [MissionManager](INFO): DefineOutput sink:Science.PeakChlLongitude = nan arcdeg
2025-04-16T02:27:06.314Z,1744770426.314 [MissionManager](INFO): DefineOutput sink:Science.EdgeChl = nan ug/l
2025-04-16T02:27:06.332Z,1744770426.332 [MissionManager](INFO): DefineOutput sink:Science.EdgeChlDepth = nan m
2025-04-16T02:27:06.339Z,1744770426.339 [MissionManager](INFO): DefineOutput sink:Science.EdgeChlTemperature = nan degC
2025-04-16T02:27:06.342Z,1744770426.342 [MissionManager](INFO): DefineOutput sink:Science.EdgeChlLatitude = nan arcdeg
2025-04-16T02:27:06.350Z,1744770426.350 [MissionManager](INFO): DefineOutput sink:Science.EdgeChlLongitude = nan arcdeg
2025-04-16T02:27:06.354Z,1744770426.354 [MissionManager](INFO): DefineOutput sink:Science.PeakNO3 = nan umol/l
2025-04-16T02:27:06.365Z,1744770426.365 [MissionManager](INFO): DefineOutput sink:Science.PeakNO3Depth = nan m
2025-04-16T02:27:06.369Z,1744770426.369 [MissionManager](INFO): DefineOutput sink:Science.PeakNO3Latitude = nan arcdeg
2025-04-16T02:27:06.384Z,1744770426.384 [MissionManager](INFO): DefineOutput sink:Science.PeakNO3Longitude = nan arcdeg
2025-04-16T02:27:06.397Z,1744770426.397 [MissionManager](INFO): DefineOutput sink:Science.PeakOil = nan kg/m3
2025-04-16T02:27:06.422Z,1744770426.422 [MissionManager](INFO): DefineOutput sink:Science.PeakOilDepth = nan m
2025-04-16T02:27:06.429Z,1744770426.429 [MissionManager](INFO): DefineOutput sink:Science.PeakOilLatitude = nan arcdeg
2025-04-16T02:27:06.440Z,1744770426.440 [MissionManager](INFO): DefineOutput sink:Science.PeakOilLongitude = nan arcdeg
2025-04-16T02:27:06.448Z,1744770426.448 [MissionManager](INFO): DefineOutput sink:Science.PeakFDOM = nan ppb
2025-04-16T02:27:06.451Z,1744770426.451 [MissionManager](INFO): DefineOutput sink:Science.PeakFDOMDepth = nan m
2025-04-16T02:27:06.462Z,1744770426.462 [MissionManager](INFO): DefineOutput sink:Science.PeakFDOMTemperature = nan degC
2025-04-16T02:27:06.470Z,1744770426.470 [MissionManager](INFO): DefineOutput sink:Science.PeakFDOMLatitude = nan arcdeg
2025-04-16T02:27:06.481Z,1744770426.481 [MissionManager](INFO): DefineOutput sink:Science.PeakFDOMLongitude = nan arcdeg
2025-04-16T02:27:06.484Z,1744770426.484 [MissionManager](INFO): DefineOutput sink:Science.PeakSalt = nan psu
2025-04-16T02:27:06.497Z,1744770426.497 [MissionManager](INFO): DefineOutput sink:Science.PeakSaltDepth = nan m
2025-04-16T02:27:06.505Z,1744770426.505 [MissionManager](INFO): DefineOutput sink:Science.PeakSaltTemperature = nan degC
2025-04-16T02:27:06.512Z,1744770426.512 [MissionManager](INFO): DefineOutput sink:Science.PeakSaltLatitude = nan arcdeg
2025-04-16T02:27:06.515Z,1744770426.515 [MissionManager](INFO): DefineOutput sink:Science.PeakSaltLongitude = nan arcdeg
2025-04-16T02:27:06.522Z,1744770426.522 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-04-16T02:27:06.537Z,1744770426.537 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-04-16T02:27:06.580Z,1744770426.580 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-04-16T02:27:06.591Z,1744770426.591 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-04-16T02:27:06.598Z,1744770426.598 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-04-16T02:27:06.606Z,1744770426.606 [MissionManager](INFO): DefineOutput sink:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-04-16T02:27:06.618Z,1744770426.618 [MissionManager](INFO): DefineOutput sink:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-04-16T02:27:06.636Z,1744770426.636 [MissionManager](INFO): DefineOutput sink:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-04-16T02:27:06.639Z,1744770426.639 [MissionManager](INFO): DefineOutput sink:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-04-16T02:27:06.646Z,1744770426.646 [MissionManager](INFO): DefineOutput sink:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-04-16T02:27:06.654Z,1744770426.654 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-04-16T02:27:06.665Z,1744770426.665 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-04-16T02:27:06.668Z,1744770426.668 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-04-16T02:27:06.671Z,1744770426.671 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-04-16T02:27:06.686Z,1744770426.686 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-04-16T02:27:06.689Z,1744770426.689 [MissionManager](INFO): DefineOutput sink:Science.EdgePlanktivoreHMavgROI = nan count/s
2025-04-16T02:27:06.692Z,1744770426.692 [MissionManager](INFO): DefineOutput sink:Science.EdgePlanktivoreHMavgROIDepth = nan m
2025-04-16T02:27:06.707Z,1744770426.707 [MissionManager](INFO): DefineOutput sink:Science.EdgePlanktivoreHMavgROITemperature = nan degC
2025-04-16T02:27:06.711Z,1744770426.711 [MissionManager](INFO): DefineOutput sink:Science.EdgePlanktivoreHMavgROILatitude = nan arcdeg
2025-04-16T02:27:06.718Z,1744770426.718 [MissionManager](INFO): DefineOutput sink:Science.EdgePlanktivoreHMavgROILongitude = nan arcdeg
2025-04-16T02:27:06.722Z,1744770426.722 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-04-16T02:27:06.733Z,1744770426.733 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-04-16T02:27:06.736Z,1744770426.736 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-04-16T02:27:06.748Z,1744770426.748 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-04-16T02:27:06.751Z,1744770426.751 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-04-16T02:27:06.759Z,1744770426.759 [MissionManager](INFO): DefineOutput sink:Science.EdgePlanktivoreDiatoms = nan count/ml
2025-04-16T02:27:06.766Z,1744770426.766 [MissionManager](INFO): DefineOutput sink:Science.EdgePlanktivoreDiatomsDepth = nan m
2025-04-16T02:27:06.770Z,1744770426.770 [MissionManager](INFO): DefineOutput sink:Science.EdgePlanktivoreDiatomsTemperature = nan degC
2025-04-16T02:27:06.785Z,1744770426.785 [MissionManager](INFO): DefineOutput sink:Science.EdgePlanktivoreDiatomsLatitude = nan arcdeg
2025-04-16T02:27:06.790Z,1744770426.790 [MissionManager](INFO): DefineOutput sink:Science.EdgePlanktivoreDiatomsLongitude = nan arcdeg
2025-04-16T02:27:06.801Z,1744770426.801 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-04-16T02:27:06.808Z,1744770426.808 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-04-16T02:27:06.816Z,1744770426.816 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-04-16T02:27:06.823Z,1744770426.823 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-04-16T02:27:06.826Z,1744770426.826 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-04-16T02:27:06.834Z,1744770426.834 [MissionManager](INFO): DefineOutput sink:Science.EdgePlanktivoreDinoflagellates = nan count/ml
2025-04-16T02:27:06.838Z,1744770426.838 [MissionManager](INFO): DefineOutput sink:Science.EdgePlanktivoreDinoflagellatesDepth = nan m
2025-04-16T02:27:06.854Z,1744770426.854 [MissionManager](INFO): DefineOutput sink:Science.EdgePlanktivoreDinoflagellatesTemperature = nan degC
2025-04-16T02:27:06.873Z,1744770426.873 [MissionManager](INFO): DefineOutput sink:Science.EdgePlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-04-16T02:27:06.876Z,1744770426.876 [MissionManager](INFO): DefineOutput sink:Science.EdgePlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-04-16T02:27:06.899Z,1744770426.899 [MissionManager](INFO): DefineOutput sink:Science.PatchChl = nan ug/l
2025-04-16T02:27:06.902Z,1744770426.902 [MissionManager](INFO): DefineOutput sink:Science.PatchChlDepth = nan m
2025-04-16T02:27:06.905Z,1744770426.905 [MissionManager](INFO): DefineOutput sink:Science.PatchChlLatitude = nan arcdeg
2025-04-16T02:27:06.913Z,1744770426.913 [MissionManager](INFO): DefineOutput sink:Science.PatchChlLongitude = nan arcdeg
2025-04-16T02:27:06.916Z,1744770426.916 [MissionManager](INFO): DefineOutput sink:Science.PatchChlDistance = nan m
2025-04-16T02:27:06.919Z,1744770426.919 [MissionManager](INFO): DefineOutput sink:Science.PatchSalt = nan psu
2025-04-16T02:27:06.922Z,1744770426.922 [MissionManager](INFO): DefineOutput sink:Science.PatchSaltDepth = nan m
2025-04-16T02:27:06.947Z,1744770426.947 [MissionManager](INFO): DefineOutput sink:Science.PatchSaltLatitude = nan arcdeg
2025-04-16T02:27:06.950Z,1744770426.950 [MissionManager](INFO): DefineOutput sink:Science.PatchSaltLongitude = nan arcdeg
2025-04-16T02:27:06.989Z,1744770426.989 [MissionManager](INFO): DefineOutput sink:Science.PatchSaltDistance = nan m
2025-04-16T02:27:06.998Z,1744770426.998 [MissionManager](INFO): DefineOutput sink:Science.PatchOil = nan psu
2025-04-16T02:27:07.018Z,1744770427.018 [MissionManager](INFO): DefineOutput sink:Science.PatchOilDepth = nan m
2025-04-16T02:27:07.025Z,1744770427.025 [MissionManager](INFO): DefineOutput sink:Science.PatchOilLatitude = nan arcdeg
2025-04-16T02:27:07.030Z,1744770427.030 [MissionManager](INFO): DefineOutput sink:Science.PatchOilLongitude = nan arcdeg
2025-04-16T02:27:07.042Z,1744770427.042 [MissionManager](INFO): DefineOutput sink:Science.PatchOilDistance = nan m
2025-04-16T02:27:07.049Z,1744770427.049 [MissionManager](INFO): DefineOutput sink:Science.TriggeredOnChl = 0 bool
2025-04-16T02:27:07.064Z,1744770427.064 [MissionManager](INFO): DefineOutput sink:Science.ChlTriggering = nan ug/l
2025-04-16T02:27:07.106Z,1744770427.106 [sink:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-04-16T02:27:07.131Z,1744770427.131 [sink:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-04-16T02:27:07.176Z,1744770427.176 [sink:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-04-16T02:27:07.214Z,1744770427.214 [sink:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-04-16T02:27:07.238Z,1744770427.238 [sink:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-04-16T02:27:07.262Z,1744770427.262 [sink:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-04-16T02:27:07.303Z,1744770427.303 [sink:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-04-16T02:27:07.329Z,1744770427.329 [sink:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-04-16T02:27:07.401Z,1744770427.401 [sink:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-04-16T02:27:07.441Z,1744770427.441 [sink:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-04-16T02:27:07.478Z,1744770427.478 [sink:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-04-16T02:27:07.529Z,1744770427.529 [sink:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-04-16T02:27:07.554Z,1744770427.554 [sink:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-04-16T02:27:07.599Z,1744770427.599 [sink:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-04-16T02:27:07.640Z,1744770427.640 [sink:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-04-16T02:27:07.682Z,1744770427.682 [sink:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-04-16T02:27:07.720Z,1744770427.720 [sink:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-04-16T02:27:07.793Z,1744770427.793 [sink:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-04-16T02:27:07.826Z,1744770427.826 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-04-16T02:27:07.826Z,1744770427.826 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-04-16T02:27:07.835Z,1744770427.835 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-04-16T02:27:08.310Z,1744770428.310 [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>

2025-04-16T02:27:08.335Z,1744770428.335 [MissionManager](INFO): DefineArg sink:NeedComms.DiveInterval = 1.000000 h
2025-04-16T02:27:08.347Z,1744770428.348 [MissionManager](INFO): DefineArg sink:NeedComms.WaitForPitchUp = 10.000000 min
2025-04-16T02:27:08.351Z,1744770428.351 [MissionManager](INFO): DefineArg sink:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-04-16T02:27:08.358Z,1744770428.358 [MissionManager](INFO): DefineArg sink:NeedComms.SurfaceDepthRate = nan m/s
2025-04-16T02:27:08.369Z,1744770428.369 [MissionManager](INFO): DefineArg sink:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-04-16T02:27:08.372Z,1744770428.372 [MissionManager](INFO): DefineArg sink:NeedComms.SurfacingTimeout = 1000.000000 s
2025-04-16T02:27:08.383Z,1744770428.383 [MissionManager](INFO): DefineArg sink:NeedComms.GPSTimeout = 7.000000 min
2025-04-16T02:27:08.387Z,1744770428.387 [MissionManager](INFO): DefineArg sink:NeedComms.CommsTimeout = 30.000000 min
2025-04-16T02:27:08.402Z,1744770428.402 [sink:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-04-16T02:27:08.474Z,1744770428.474 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-04-16T02:27:08.475Z,1744770428.475 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-04-16T02:27:08.484Z,1744770428.484 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-04-16T02:27:08.682Z,1744770428.682 [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>

2025-04-16T02:27:08.691Z,1744770428.691 [MissionManager](INFO): DefineArg sink:StandardEnvelopes.MinAltitude = 5.000000 m
2025-04-16T02:27:08.698Z,1744770428.698 [MissionManager](INFO): DefineArg sink:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-04-16T02:27:08.705Z,1744770428.705 [MissionManager](INFO): DefineArg sink:StandardEnvelopes.MaxDepth = 200.000000 m
2025-04-16T02:27:08.709Z,1744770428.709 [MissionManager](INFO): DefineArg sink:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-04-16T02:27:08.711Z,1744770428.711 [sink:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-04-16T02:27:08.736Z,1744770428.736 [sink:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-04-16T02:27:08.753Z,1744770428.753 [sink:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-04-16T02:27:08.777Z,1744770428.777 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-04-16T02:27:08.777Z,1744770428.777 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-04-16T02:27:08.778Z,1744770428.778 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-04-16T02:27:08.821Z,1744770428.821 [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>

2025-04-16T02:27:08.834Z,1744770428.834 [MissionManager](INFO): DefineArg sink:BackseatDriver.EnableBackseat = 0 bool
2025-04-16T02:27:08.836Z,1744770428.836 [sink:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-04-16T02:27:08.839Z,1744770428.839 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-04-16T02:27:08.843Z,1744770428.843 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-04-16T02:27:08.845Z,1744770428.845 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-04-16T02:27:09.096Z,1744770429.096 [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>

2025-04-16T02:27:09.101Z,1744770429.101 [MissionManager](INFO): DefineArg sink:PowerOnly.SampleAll = 0 bool
2025-04-16T02:27:09.112Z,1744770429.112 [MissionManager](INFO): DefineArg sink:PowerOnly.SampleLoad1 = 0 bool
2025-04-16T02:27:09.115Z,1744770429.115 [MissionManager](INFO): DefineArg sink:PowerOnly.SampleLoad2 = 0 bool
2025-04-16T02:27:09.122Z,1744770429.122 [MissionManager](INFO): DefineArg sink:PowerOnly.SampleLoad3 = 0 bool
2025-04-16T02:27:09.130Z,1744770429.130 [MissionManager](INFO): DefineArg sink:PowerOnly.EnabledPowerOnly = 1 bool
2025-04-16T02:27:09.146Z,1744770429.146 [sink:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-04-16T02:27:09.154Z,1744770429.154 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BallastAndTrim.tl
2025-04-16T02:27:09.154Z,1744770429.154 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BallastAndTrim.tl
2025-04-16T02:27:09.160Z,1744770429.160 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BallastAndTrim.tl
2025-04-16T02:27:10.133Z,1744770430.133 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BallastAndTrim.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="BallastAndTrim">
    <DefineArg Name="InsertDepth">
        <Units:meter />
        <Value>25</Value>
    </DefineArg>
    <DefineArg Name="InsertApproachSpeed">
        <Units:meter_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="InsertApproachDepthRate">
        <Units:meter_per_second />
        <Value>0.4</Value>
    </DefineArg>
    <DefineArg Name="InsertApproachPitchLimit">
        <Units:degree />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="InsertApproachSettleTimePreDive">
        <Units:minute />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="InsertApproachDepthTimeout">
        <Units:minute />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="InsertSettleTime">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="EstTimeout">
        <Units:minute />
        <Value>45</Value>
    </DefineArg>
    <DefineArg Name="MinEstTime">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="MassEstErrorBound">
        <Units:millimeter />
        <Value>0.25</Value>
    </DefineArg>
    <DefineArg Name="BuoyEstErrorBound">
        <Units:cubic_centimeter />
        <Value>15</Value>
    </DefineArg>
    <DefineArg Name="EstConfidence">
        <Units:percent />
        <Value>99.9</Value>
    </DefineArg>
    <DefineArg Name="InsertDepthDeadband">
        <Units:meter />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="InsertMassDeadband">
        <Units:millimeter />
        <Value>0.25</Value>
    </DefineArg>
    <When>
        <Called />
    </When>
    <Assign>
        <Parallel />
        <Control:VerticalControl.kpPitchMass />
        <Units:ratio />
        <Value>0.005</Value>
    </Assign>
    <Assign>
        <Parallel />
        <Control:VerticalControl.kiPitchMass />
        <Units:reciprocal_second />
        <Value>0.00075</Value>
    </Assign>
    <Assign>
        <Parallel />
        <Control:VerticalControl.kdPitchMass />
        <Units:second />
        <Value>0</Value>
    </Assign>
    <Assign>
        <Parallel />
        <Control:VerticalControl.massDeadband />
        <Arg Name="InsertMassDeadband" />
    </Assign>
    <Assign>
        <Parallel />
        <Control:VerticalControl.depthDeadband />
        <Arg Name="InsertDepthDeadband" />
    </Assign>
    <Syslog Severity="Info">
        Going to target depth. Speed set to 
        <Arg Name="InsertApproachSpeed" />
        <Units:meter_per_second />
    </Syslog>
    <Aggregate Id="GoToTargetDepth">
        <Sequence />
        <Assign>
            <Parallel />
            <Control:VerticalControl.pitchLimit />
            <Arg Name="InsertApproachPitchLimit" />
        </Assign>
        <Aggregate Id="ActuatorHold">
            <While>
                <Arg Name="InsertApproachSpeed" />
                <Gt>
                    <Units:meter_per_second />
                    <Value>0</Value>
                </Gt>
            </While>
            <Guidance:Point>
                <Parallel />
                <Setting>
                    <Guidance:Point.rudderAngle />
                    <Units:degree />
                    <Value>13</Value>
                </Setting>
            </Guidance:Point>
            <Guidance:Buoyancy>
                <Parallel />
                <Setting>
                    <Guidance:Buoyancy.position />
                    <Control:VerticalControl.buoyancyNeutral />
                </Setting>
            </Guidance:Buoyancy>
            <Guidance:Pitch>
                <Parallel />
                <Setting>
                    <Guidance:Pitch.massPosition />
                    <Control:VerticalControl.massDefault />
                </Setting>
            </Guidance:Pitch>
        </Aggregate>
        <Aggregate Id="WaitPreDive">
            <Sequence />
            <Break>
                <Arg Name="InsertApproachSettleTimePreDive" />
                <Le>
                    <Units:minute />
                    <Value>0</Value>
                </Le>
            </Break>
            <Syslog Severity="Info">
                Waiting for 
                <Arg Name="InsertApproachSettleTimePreDive" />
                <Units:minute />
                while pumping down to neutral.
            </Syslog>
            <Guidance:Wait>
                <Sequence />
                <Setting>
                    <Guidance:Wait.duration />
                    <Arg Name="InsertApproachSettleTimePreDive" />
                </Setting>
            </Guidance:Wait>
        </Aggregate>
        <Aggregate Id="ApproachDepth">
            <Sequence />
            <Syslog>
                Moving to 
                <Arg Name="InsertDepth" />
                <Units:meter />
            </Syslog>
            <Guidance:SetSpeed>
                <Parallel />
                <Setting>
                    <Guidance:SetSpeed.speed />
                    <Arg Name="InsertApproachSpeed" />
                </Setting>
            </Guidance:SetSpeed>
            <Guidance:Pitch>
                <Sequence />
                <Timeout Duration="InsertApproachDepthTimeout">
                    <Syslog Severity="Important">
                        Timed out trying to reach the target depth. Stopping mission at current depth of 
                        <Universal:depth />
                        <Units:meter />
                    </Syslog>
                    <Guidance:Execute>
                        <Sequence />
                        <Setting>
                            <Guidance:Execute.command />
                            <String>stop</String>
                        </Setting>
                    </Guidance:Execute>
                </Timeout>
                <Setting>
                    <Guidance:Pitch.depth />
                    <Arg Name="InsertDepth" />
                </Setting>
                <Setting>
                    <Guidance:Pitch.depthRate />
                    <Arg Name="InsertApproachDepthRate" />
                </Setting>
            </Guidance:Pitch>
        </Aggregate>
    </Aggregate>
    <Aggregate Id="BallastAndTrimAtTargetDepth">
        <Sequence />
        <Guidance:SetSpeed>
            <Parallel />
            <Setting>
                <Guidance:SetSpeed.speed />
                <Units:meter_per_second />
                <Value>0</Value>
            </Setting>
        </Guidance:SetSpeed>
        <Guidance:Pitch>
            <Parallel />
            <Setting>
                <Guidance:Pitch.depth />
                <Arg Name="InsertDepth" />
            </Setting>
        </Guidance:Pitch>
        <Syslog Severity="Info">
            Waiting for the vehicle to settle. Depth = 
            <Universal:depth />
            <Units:meter />
        </Syslog>
        <Guidance:Wait>
            <Sequence />
            <Setting>
                <Guidance:Wait.duration />
                <Arg Name="InsertSettleTime" />
            </Setting>
        </Guidance:Wait>
        <Guidance:Execute>
            <Sequence />
            <Setting>
                <Guidance:Execute.command />
                <String>gfscan</String>
            </Setting>
        </Guidance:Execute>
        <Syslog Severity="Info">
            Running ballast and trim. Depth = 
            <Universal:depth />
            <Units:meter />
        </Syslog>
        <Estimation:BallastAndTrim>
            <Sequence />
            <Setting>
                <Estimation:BallastAndTrim.estimationTimeout />
                <Arg Name="EstTimeout" />
            </Setting>
            <Setting>
                <Estimation:BallastAndTrim.minEstimationTime />
                <Arg Name="MinEstTime" />
            </Setting>
            <Setting>
                <Estimation:BallastAndTrim.massErrorBound />
                <Arg Name="MassEstErrorBound" />
            </Setting>
            <Setting>
                <Estimation:BallastAndTrim.buoyErrorBound />
                <Arg Name="BuoyEstErrorBound" />
            </Setting>
            <Setting>
                <Estimation:BallastAndTrim.confidenceLevel />
                <Arg Name="EstConfidence" />
            </Setting>
        </Estimation:BallastAndTrim>
    </Aggregate>
</Aggregate>

2025-04-16T02:27:10.145Z,1744770430.145 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertDepth = 25.000000 m
2025-04-16T02:27:10.156Z,1744770430.156 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertApproachSpeed = 0.000000 m/s
2025-04-16T02:27:10.163Z,1744770430.163 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertApproachDepthRate = 0.400000 m/s
2025-04-16T02:27:10.166Z,1744770430.166 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertApproachPitchLimit = 20.000000 arcdeg
2025-04-16T02:27:10.170Z,1744770430.170 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertApproachSettleTimePreDive = 0.000000 min
2025-04-16T02:27:10.181Z,1744770430.181 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertApproachDepthTimeout = 20.000000 min
2025-04-16T02:27:10.212Z,1744770430.212 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertSettleTime = 10.000000 min
2025-04-16T02:27:10.227Z,1744770430.227 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.EstTimeout = 45.000000 min
2025-04-16T02:27:10.231Z,1744770430.231 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.MinEstTime = 10.000000 min
2025-04-16T02:27:10.242Z,1744770430.242 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.MassEstErrorBound = 0.250000 mm
2025-04-16T02:27:10.249Z,1744770430.249 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.BuoyEstErrorBound = 15.000000 cc
2025-04-16T02:27:10.269Z,1744770430.269 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.EstConfidence = 99.900002 %
2025-04-16T02:27:10.272Z,1744770430.272 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertDepthDeadband = 1.000000 m
2025-04-16T02:27:10.279Z,1744770430.279 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertMassDeadband = 0.250000 mm
2025-04-16T02:27:10.303Z,1744770430.303 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point](DEBUG): Construct.
2025-04-16T02:27:10.319Z,1744770430.319 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy](DEBUG): Construct Buoyancy.
2025-04-16T02:27:10.331Z,1744770430.331 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch](DEBUG): Construct.
2025-04-16T02:27:10.357Z,1744770430.357 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait](DEBUG): Construct Wait.
2025-04-16T02:27:10.365Z,1744770430.365 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed](DEBUG): Construct.
2025-04-16T02:27:10.374Z,1744770430.374 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch](DEBUG): Construct.
2025-04-16T02:27:10.382Z,1744770430.382 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2025-04-16T02:27:10.397Z,1744770430.397 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed](DEBUG): Construct.
2025-04-16T02:27:10.400Z,1744770430.400 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch](DEBUG): Construct.
2025-04-16T02:27:10.424Z,1744770430.424 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait](DEBUG): Construct Wait.
2025-04-16T02:27:10.425Z,1744770430.425 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:E.Execute](DEBUG): Construct Execute.
2025-04-16T02:27:10.442Z,1744770430.442 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](DEBUG): Construct BallastAndTrim.
2025-04-16T02:27:10.498Z,1744770430.498 [MissionManager](INFO): RedefineArg sink:RunSink:BallastAndTrim.InsertDepthDeadband = reader:sink.DepthDeadband
2025-04-16T02:27:10.500Z,1744770430.500 [MissionManager](INFO): RedefineArg sink:RunSink:BallastAndTrim.InsertApproachDepthTimeout = reader:sink.TargetDepthTimeout
2025-04-16T02:27:10.501Z,1744770430.501 [MissionManager](INFO): RedefineArg sink:RunSink:BallastAndTrim.InsertSettleTime = reader:sink.BTSettleTime
2025-04-16T02:27:10.520Z,1744770430.520 [MissionManager](INFO): RedefineArg sink:RunSink:BallastAndTrim.EstTimeout = reader:sink.EstimationTimeout
2025-04-16T02:27:10.522Z,1744770430.522 [MissionManager](INFO): RedefineArg sink:RunSink:BallastAndTrim.MinEstTime = reader:sink.MinEstimationTime
2025-04-16T02:27:10.523Z,1744770430.523 [MissionManager](INFO): RedefineArg sink:RunSink:BallastAndTrim.MassEstErrorBound = reader:sink.MassEstimationErrorBound
2025-04-16T02:27:10.525Z,1744770430.525 [MissionManager](INFO): RedefineArg sink:RunSink:BallastAndTrim.BuoyEstErrorBound = reader:sink.BuoyEstimationErrorBound
2025-04-16T02:27:10.527Z,1744770430.527 [MissionManager](INFO): RedefineArg sink:RunSink:BallastAndTrim.EstConfidence = reader:sink.EstimationConfidence
2025-04-16T02:27:10.556Z,1744770430.556 [sink:FloatUp:A.Buoyancy](DEBUG): Construct Buoyancy.
2025-04-16T02:27:10.572Z,1744770430.572 [sink:FloatUp:B.Wait](DEBUG): Construct Wait.
2025-04-16T02:27:10.722Z,1744770430.722 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

  output {
    MissionTimeout = SinkDuration
  }

  timeout duration=MissionTimeout

  assign in sequence MissionTimeout = SinkDuration + WaitToFloat

  insert Insert/Science.tl

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

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

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

  aggregate startComms {
    run in sequence

    break if ( SkipComms )

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

  aggregate RunSink {
    run in sequence

    timeout duration=SinkDuration

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

    aggregate RunBallastAndTrim {
      run in sequence

      break if (
        isNaN ( Depth )
        or not DoBallastAndTrim
      )

      assign in sequence BallastAndTrim:InsertDepth = Depth

      call refId="BallastAndTrim"
    }

    aggregate JustSink {
      run in sequence

      break if (
        isNaN ( Depth )
        or DoBallastAndTrim
      )

      assign in sequence BallastAndTrim:InsertDepth = Depth

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

      call refId="BallastAndTrim"
    }
  }

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

    run in sequence

    break if ( Universal:depth < SurfaceThreshold )

    behavior Guidance:Buoyancy {
      run in parallel

      set position = Control:VerticalControl.buoyancyDefault
    }

    behavior Guidance:Wait {
      run in sequence

      set duration = WaitToFloat
    }
  }

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


2025-04-16T02:27:10.723Z,1744770430.723 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/sink.tl id=sink
2025-04-16T02:27:17.784Z,1744770437.784 [CommandExec](IMPORTANT): got command set sink.SinkDuration 10 minute
2025-04-16T02:27:17.785Z,1744770437.785 [CommandExec](IMPORTANT): got command set sink.Depth 30 meter
2025-04-16T02:27:17.786Z,1744770437.786 [CommandExec](IMPORTANT): got command set sink.MaxDepth 40 meter
2025-04-16T02:27:17.786Z,1744770437.786 [CommandExec](IMPORTANT): got command run
2025-04-16T02:27:17.802Z,1744770437.802 [CommandExec](IMPORTANT): Running 
2025-04-16T02:27:17.889Z,1744770437.889 [Default] Stopped
2025-04-16T02:27:17.889Z,1744770437.889 [Default](DEBUG): Aggregate::uninitialize Default
2025-04-16T02:27:17.889Z,1744770437.889 [Default:B.GoToSurface] Stopped
2025-04-16T02:27:17.889Z,1744770437.889 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-04-16T02:27:17.889Z,1744770437.889 [Default:CheckIn] Stopped
2025-04-16T02:27:17.889Z,1744770437.889 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-04-16T02:27:17.889Z,1744770437.889 [Default:CheckIn:C.Wait] Stopped
2025-04-16T02:27:17.889Z,1744770437.889 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-04-16T02:27:17.890Z,1744770437.890 [MissionManager](IMPORTANT): Started mission sink
2025-04-16T02:27:17.890Z,1744770437.890 [sink] Running Loop=1
2025-04-16T02:27:17.890Z,1744770437.890 [sink](DEBUG): Aggregate::initialize sink
2025-04-16T02:27:17.890Z,1744770437.890 [sink:Science] Running Loop=1
2025-04-16T02:27:17.890Z,1744770437.890 [sink:Science](DEBUG): Aggregate::initialize sink:Science
2025-04-16T02:27:17.890Z,1744770437.890 [sink:Science:A] Running Loop=1
2025-04-16T02:27:17.890Z,1744770437.890 [sink:Science:B] Running Loop=1
2025-04-16T02:27:17.890Z,1744770437.890 [sink:Science:C] Running Loop=1
2025-04-16T02:27:17.890Z,1744770437.890 [sink:Science:D] Running Loop=1
2025-04-16T02:27:17.890Z,1744770437.890 [sink:Science:E] Running Loop=1
2025-04-16T02:27:17.891Z,1744770437.891 [sink:Science:F] Running Loop=1
2025-04-16T02:27:17.891Z,1744770437.891 [sink:Science:Read_Oil] Running Loop=1
2025-04-16T02:27:17.891Z,1744770437.891 [sink:Science:PeakDetectChl] Running Loop=1
2025-04-16T02:27:17.891Z,1744770437.891 [sink:Science:PeakDetectChl](DEBUG): Aggregate::initialize sink:Science:PeakDetectChl
2025-04-16T02:27:17.891Z,1744770437.891 [sink:Science:PeakDetectChl:A] Running Loop=1
2025-04-16T02:27:17.891Z,1744770437.891 [sink:Science:EdgeDetectChl] Running Loop=1
2025-04-16T02:27:17.891Z,1744770437.891 [sink:Science:EdgeDetectChl](DEBUG): Aggregate::initialize sink:Science:EdgeDetectChl
2025-04-16T02:27:17.891Z,1744770437.891 [sink:Science:EdgeDetectChl:A] Running Loop=1
2025-04-16T02:27:17.892Z,1744770437.892 [sink:Science:HighestChlPeakReport] Running Loop=1
2025-04-16T02:27:17.892Z,1744770437.892 [sink:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize sink:Science:HighestChlPeakReport
2025-04-16T02:27:17.892Z,1744770437.892 [sink:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-04-16T02:27:17.892Z,1744770437.892 [sink:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-04-16T02:27:17.892Z,1744770437.892 [sink:Science:PeakDetectNO3] Running Loop=1
2025-04-16T02:27:17.892Z,1744770437.892 [sink:Science:PeakDetectNO3](DEBUG): Aggregate::initialize sink:Science:PeakDetectNO3
2025-04-16T02:27:17.893Z,1744770437.893 [sink:Science:PeakDetectNO3:A] Running Loop=1
2025-04-16T02:27:17.893Z,1744770437.893 [sink:Science:PeakDetectOil] Running Loop=1
2025-04-16T02:27:17.893Z,1744770437.893 [sink:Science:PeakDetectOil](DEBUG): Aggregate::initialize sink:Science:PeakDetectOil
2025-04-16T02:27:17.893Z,1744770437.893 [sink:Science:PeakDetectOil:A] Running Loop=1
2025-04-16T02:27:17.893Z,1744770437.893 [sink:Science:HighestOilPeakReport] Running Loop=1
2025-04-16T02:27:17.893Z,1744770437.893 [sink:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize sink:Science:HighestOilPeakReport
2025-04-16T02:27:17.893Z,1744770437.893 [sink:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-04-16T02:27:17.893Z,1744770437.893 [sink:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-04-16T02:27:17.894Z,1744770437.894 [sink:Science:PeakDetectFDOM] Running Loop=1
2025-04-16T02:27:17.894Z,1744770437.894 [sink:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize sink:Science:PeakDetectFDOM
2025-04-16T02:27:17.894Z,1744770437.894 [sink:Science:PeakDetectFDOM:A] Running Loop=1
2025-04-16T02:27:17.894Z,1744770437.894 [sink:Science:PeakDetectSalinity] Running Loop=1
2025-04-16T02:27:17.894Z,1744770437.894 [sink:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize sink:Science:PeakDetectSalinity
2025-04-16T02:27:17.894Z,1744770437.894 [sink:Science:PeakDetectSalinity:A] Running Loop=1
2025-04-16T02:27:17.894Z,1744770437.894 [sink:Science:HighestSaltPeakReport] Running Loop=1
2025-04-16T02:27:17.894Z,1744770437.894 [sink:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize sink:Science:HighestSaltPeakReport
2025-04-16T02:27:17.895Z,1744770437.895 [sink:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-04-16T02:27:17.895Z,1744770437.895 [sink:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-04-16T02:27:17.896Z,1744770437.896 [sink:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-04-16T02:27:17.896Z,1744770437.896 [sink:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize sink:Science:PeakDetectPlanktivoreLMavgROI
2025-04-16T02:27:17.896Z,1744770437.896 [sink:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-04-16T02:27:17.896Z,1744770437.896 [sink:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2025-04-16T02:27:17.896Z,1744770437.896 [sink:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize sink:Science:EdgeDetectPlanktivoreLMavgROI
2025-04-16T02:27:17.896Z,1744770437.896 [sink:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-04-16T02:27:17.896Z,1744770437.896 [sink:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-04-16T02:27:17.897Z,1744770437.897 [sink:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize sink:Science:PeakDetectPlanktivoreHMavgROI
2025-04-16T02:27:17.897Z,1744770437.897 [sink:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-04-16T02:27:17.897Z,1744770437.897 [sink:Science:EdgeDetectPlanktivoreHMavgROI] Running Loop=1
2025-04-16T02:27:17.897Z,1744770437.897 [sink:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize sink:Science:EdgeDetectPlanktivoreHMavgROI
2025-04-16T02:27:17.897Z,1744770437.897 [sink:Science:EdgeDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-04-16T02:27:17.897Z,1744770437.897 [sink:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-04-16T02:27:17.897Z,1744770437.897 [sink:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize sink:Science:PeakDetectPlanktivoreDiatoms
2025-04-16T02:27:17.897Z,1744770437.897 [sink:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2025-04-16T02:27:17.897Z,1744770437.897 [sink:Science:EdgeDetectPlanktivoreDiatoms] Running Loop=1
2025-04-16T02:27:17.897Z,1744770437.897 [sink:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize sink:Science:EdgeDetectPlanktivoreDiatoms
2025-04-16T02:27:17.898Z,1744770437.898 [sink:Science:EdgeDetectPlanktivoreDiatoms:A] Running Loop=1
2025-04-16T02:27:17.898Z,1744770437.898 [sink:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-04-16T02:27:17.898Z,1744770437.898 [sink:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize sink:Science:PeakDetectPlanktivoreDinoflagellates
2025-04-16T02:27:17.898Z,1744770437.898 [sink:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-04-16T02:27:17.898Z,1744770437.898 [sink:Science:EdgeDetectPlanktivoreDinoflagellates] Running Loop=1
2025-04-16T02:27:17.898Z,1744770437.898 [sink:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize sink:Science:EdgeDetectPlanktivoreDinoflagellates
2025-04-16T02:27:17.898Z,1744770437.898 [sink:Science:EdgeDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-04-16T02:27:17.898Z,1744770437.898 [sink:Science:ChlThreshTrigger] Running Loop=1
2025-04-16T02:27:17.898Z,1744770437.898 [sink:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize sink:Science:ChlThreshTrigger
2025-04-16T02:27:17.899Z,1744770437.899 [sink:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-04-16T02:27:17.899Z,1744770437.899 [sink:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-04-16T02:27:17.899Z,1744770437.899 [sink:Science:OceanCurrent] Running Loop=1
2025-04-16T02:27:17.899Z,1744770437.899 [sink:Science:OceanCurrent](DEBUG): Aggregate::initialize sink:Science:OceanCurrent
2025-04-16T02:27:17.899Z,1744770437.899 [sink:Science:OceanCurrent:A.] Running Loop=1
2025-04-16T02:27:17.899Z,1744770437.899 [sink:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-04-16T02:27:17.900Z,1744770437.900 [sink:StandardEnvelopes] Running Loop=1
2025-04-16T02:27:17.900Z,1744770437.900 [sink:StandardEnvelopes](DEBUG): Aggregate::initialize sink:StandardEnvelopes
2025-04-16T02:27:17.900Z,1744770437.900 [sink:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-04-16T02:27:17.900Z,1744770437.900 [sink:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-04-16T02:27:17.900Z,1744770437.900 [sink:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-04-16T02:27:17.900Z,1744770437.900 [sink:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-04-16T02:27:17.900Z,1744770437.900 [sink:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-04-16T02:27:17.900Z,1744770437.900 [sink:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-04-16T02:27:17.900Z,1744770437.900 [sink:BackseatDriver] Running Loop=1
2025-04-16T02:27:17.900Z,1744770437.900 [sink:BackseatDriver](DEBUG): Aggregate::initialize sink:BackseatDriver
2025-04-16T02:27:17.901Z,1744770437.901 [sink:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-04-16T02:27:17.901Z,1744770437.901 [sink:PowerOnly] Running Loop=1
2025-04-16T02:27:17.901Z,1744770437.901 [sink:PowerOnly](DEBUG): Aggregate::initialize sink:PowerOnly
2025-04-16T02:27:17.901Z,1744770437.901 [sink:PowerOnly:A] Running Loop=1
2025-04-16T02:27:17.901Z,1744770437.901 [sink:PowerOnly:B] Running Loop=1
2025-04-16T02:27:17.901Z,1744770437.901 [sink:PowerOnly:C] Running Loop=1
2025-04-16T02:27:17.901Z,1744770437.901 [sink:PowerOnly:D] Running Loop=1
2025-04-16T02:27:17.901Z,1744770437.901 [sink:PowerOnly:E.Wait] Running Loop=1
2025-04-16T02:27:17.901Z,1744770437.901 [sink:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-04-16T02:27:17.901Z,1744770437.901 [sink:A] Running Loop=1
2025-04-16T02:27:17.902Z,1744770437.902 [sink:PowerOnly] Running Loop=1
2025-04-16T02:27:17.902Z,1744770437.902 [sink:PowerOnly:D] Stopped
2025-04-16T02:27:17.902Z,1744770437.902 [sink:PowerOnly:C] Stopped
2025-04-16T02:27:17.903Z,1744770437.903 [sink:PowerOnly:B] Stopped
2025-04-16T02:27:17.903Z,1744770437.903 [sink:PowerOnly:A] Stopped
2025-04-16T02:27:17.903Z,1744770437.903 [sink:BackseatDriver] Running Loop=1
2025-04-16T02:27:17.903Z,1744770437.903 [sink:StandardEnvelopes] Running Loop=1
2025-04-16T02:27:17.903Z,1744770437.903 [sink:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-04-16T02:27:17.903Z,1744770437.903 [sink:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-04-16T02:27:17.904Z,1744770437.904 [sink:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-04-16T02:27:17.904Z,1744770437.904 [sink:Science] Running Loop=1
2025-04-16T02:27:17.906Z,1744770437.906 [sink:Science:ChlThreshTrigger] Stopped
2025-04-16T02:27:17.906Z,1744770437.906 [sink:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize sink:Science:ChlThreshTrigger
2025-04-16T02:27:17.906Z,1744770437.906 [sink:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-04-16T02:27:17.906Z,1744770437.906 [sink:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-04-16T02:27:17.906Z,1744770437.906 [sink:Science:EdgeDetectPlanktivoreDinoflagellates] Stopped
2025-04-16T02:27:17.906Z,1744770437.906 [sink:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize sink:Science:EdgeDetectPlanktivoreDinoflagellates
2025-04-16T02:27:17.906Z,1744770437.906 [sink:Science:EdgeDetectPlanktivoreDinoflagellates:A] Stopped
2025-04-16T02:27:17.906Z,1744770437.906 [sink:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-04-16T02:27:17.906Z,1744770437.906 [sink:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize sink:Science:PeakDetectPlanktivoreDinoflagellates
2025-04-16T02:27:17.906Z,1744770437.906 [sink:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2025-04-16T02:27:17.906Z,1744770437.906 [sink:Science:EdgeDetectPlanktivoreDiatoms] Stopped
2025-04-16T02:27:17.906Z,1744770437.906 [sink:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize sink:Science:EdgeDetectPlanktivoreDiatoms
2025-04-16T02:27:17.907Z,1744770437.907 [sink:Science:EdgeDetectPlanktivoreDiatoms:A] Stopped
2025-04-16T02:27:17.907Z,1744770437.907 [sink:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-04-16T02:27:17.907Z,1744770437.907 [sink:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize sink:Science:PeakDetectPlanktivoreDiatoms
2025-04-16T02:27:17.907Z,1744770437.907 [sink:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2025-04-16T02:27:17.907Z,1744770437.907 [sink:Science:EdgeDetectPlanktivoreHMavgROI] Stopped
2025-04-16T02:27:17.907Z,1744770437.907 [sink:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize sink:Science:EdgeDetectPlanktivoreHMavgROI
2025-04-16T02:27:17.908Z,1744770437.908 [sink:Science:EdgeDetectPlanktivoreHMavgROI:A] Stopped
2025-04-16T02:27:17.908Z,1744770437.908 [sink:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-04-16T02:27:17.908Z,1744770437.908 [sink:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize sink:Science:PeakDetectPlanktivoreHMavgROI
2025-04-16T02:27:17.908Z,1744770437.908 [sink:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2025-04-16T02:27:17.908Z,1744770437.908 [sink:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2025-04-16T02:27:17.908Z,1744770437.908 [sink:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize sink:Science:EdgeDetectPlanktivoreLMavgROI
2025-04-16T02:27:17.908Z,1744770437.908 [sink:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2025-04-16T02:27:17.908Z,1744770437.908 [sink:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-04-16T02:27:17.908Z,1744770437.908 [sink:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize sink:Science:PeakDetectPlanktivoreLMavgROI
2025-04-16T02:27:17.909Z,1744770437.909 [sink:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2025-04-16T02:27:17.909Z,1744770437.909 [sink:Science:HighestSaltPeakReport] Stopped
2025-04-16T02:27:17.909Z,1744770437.909 [sink:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize sink:Science:HighestSaltPeakReport
2025-04-16T02:27:17.909Z,1744770437.909 [sink:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-04-16T02:27:17.909Z,1744770437.909 [sink:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-04-16T02:27:17.909Z,1744770437.909 [sink:Science:PeakDetectSalinity] Stopped
2025-04-16T02:27:17.909Z,1744770437.909 [sink:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize sink:Science:PeakDetectSalinity
2025-04-16T02:27:17.909Z,1744770437.909 [sink:Science:PeakDetectSalinity:A] Stopped
2025-04-16T02:27:17.909Z,1744770437.909 [sink:Science:PeakDetectFDOM] Stopped
2025-04-16T02:27:17.909Z,1744770437.909 [sink:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize sink:Science:PeakDetectFDOM
2025-04-16T02:27:17.909Z,1744770437.909 [sink:Science:PeakDetectFDOM:A] Stopped
2025-04-16T02:27:17.909Z,1744770437.909 [sink:Science:HighestOilPeakReport] Stopped
2025-04-16T02:27:17.909Z,1744770437.909 [sink:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize sink:Science:HighestOilPeakReport
2025-04-16T02:27:17.909Z,1744770437.909 [sink:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-04-16T02:27:17.910Z,1744770437.910 [sink:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-04-16T02:27:17.910Z,1744770437.910 [sink:Science:PeakDetectOil] Stopped
2025-04-16T02:27:17.910Z,1744770437.910 [sink:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize sink:Science:PeakDetectOil
2025-04-16T02:27:17.910Z,1744770437.910 [sink:Science:PeakDetectOil:A] Stopped
2025-04-16T02:27:17.910Z,1744770437.910 [sink:Science:PeakDetectNO3] Stopped
2025-04-16T02:27:17.910Z,1744770437.910 [sink:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize sink:Science:PeakDetectNO3
2025-04-16T02:27:17.910Z,1744770437.910 [sink:Science:PeakDetectNO3:A] Stopped
2025-04-16T02:27:17.910Z,1744770437.910 [sink:Science:HighestChlPeakReport] Stopped
2025-04-16T02:27:17.910Z,1744770437.910 [sink:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize sink:Science:HighestChlPeakReport
2025-04-16T02:27:17.910Z,1744770437.910 [sink:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-04-16T02:27:17.910Z,1744770437.910 [sink:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-04-16T02:27:17.910Z,1744770437.910 [sink:Science:EdgeDetectChl] Stopped
2025-04-16T02:27:17.910Z,1744770437.910 [sink:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize sink:Science:EdgeDetectChl
2025-04-16T02:27:17.911Z,1744770437.911 [sink:Science:EdgeDetectChl:A] Stopped
2025-04-16T02:27:17.911Z,1744770437.911 [sink:Science:PeakDetectChl] Stopped
2025-04-16T02:27:17.911Z,1744770437.911 [sink:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize sink:Science:PeakDetectChl
2025-04-16T02:27:17.911Z,1744770437.911 [sink:Science:PeakDetectChl:A] Stopped
2025-04-16T02:27:17.911Z,1744770437.911 [sink:Science:OceanCurrent:A.] Running Loop=1
2025-04-16T02:27:17.911Z,1744770437.911 [sink:Science:Read_Oil] Stopped
2025-04-16T02:27:17.911Z,1744770437.911 [sink:Science:F] Stopped
2025-04-16T02:27:17.911Z,1744770437.911 [sink:Science:E] Running Loop=1
2025-04-16T02:27:17.912Z,1744770437.912 [sink:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2025-04-16T02:27:17.912Z,1744770437.912 [sink:Science:D] Stopped
2025-04-16T02:27:17.912Z,1744770437.912 [sink:Science:C] Running Loop=1
2025-04-16T02:27:17.913Z,1744770437.913 [sink:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2025-04-16T02:27:17.914Z,1744770437.914 [sink:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2025-04-16T02:27:17.914Z,1744770437.914 [sink:Science:B] Running Loop=1
2025-04-16T02:27:17.914Z,1744770437.914 [sink:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2025-04-16T02:27:17.915Z,1744770437.915 [sink:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2025-04-16T02:27:17.915Z,1744770437.915 [sink:Science:A] Stopped
2025-04-16T02:27:17.916Z,1744770437.916 [sink:A] Stopped
2025-04-16T02:27:17.916Z,1744770437.916 [sink:D] Running Loop=1
2025-04-16T02:27:18.201Z,1744770438.201 [WetLabsBB2FL](INFO): Powering up
2025-04-16T02:27:18.305Z,1744770438.305 [sink:D] Stopped
2025-04-16T02:27:18.305Z,1744770438.305 [sink:F] Running Loop=1
2025-04-16T02:27:18.699Z,1744770438.699 [sink:F] Stopped
2025-04-16T02:27:18.719Z,1744770438.719 [sink:G] Running Loop=1
2025-04-16T02:27:19.102Z,1744770439.102 [sink:G] Stopped
2025-04-16T02:27:19.102Z,1744770439.102 [sink:H] Running Loop=1
2025-04-16T02:27:19.514Z,1744770439.514 [sink:H] Stopped
2025-04-16T02:27:19.514Z,1744770439.514 [sink:startComms] Running Loop=1
2025-04-16T02:27:19.514Z,1744770439.514 [sink:startComms](DEBUG): Aggregate::initialize sink:startComms
2025-04-16T02:27:19.514Z,1744770439.514 [sink:startComms:StartingMission] Running Loop=1
2025-04-16T02:27:19.514Z,1744770439.514 [sink:startComms:StartingMission](DEBUG): Aggregate::initialize sink:startComms:StartingMission
2025-04-16T02:27:19.515Z,1744770439.515 [sink:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2025-04-16T02:27:19.919Z,1744770439.919 [sink:NeedComms] Running Loop=1
2025-04-16T02:27:19.919Z,1744770439.919 [sink:NeedComms](DEBUG): Aggregate::initialize sink:NeedComms
2025-04-16T02:27:19.919Z,1744770439.919 [sink:NeedComms:B.GoToSurface] Running Loop=1
2025-04-16T02:27:19.919Z,1744770439.919 [sink:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-04-16T02:27:19.920Z,1744770439.920 [sink:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-04-16T02:27:19.920Z,1744770439.920 [sink:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-04-16T02:27:19.920Z,1744770439.920 [sink:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-04-16T02:27:19.921Z,1744770439.921 [sink:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-04-16T02:27:19.921Z,1744770439.921 [sink:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-04-16T02:27:19.921Z,1744770439.921 [sink:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-04-16T02:27:19.922Z,1744770439.922 [sink:NeedComms:A] Running Loop=1
2025-04-16T02:27:19.923Z,1744770439.923 [sink:NeedComms:A](INFO): last time_fix was:  1744770384.000000 second since 1970/01/01T00:00:00Z 
2025-04-16T02:27:19.923Z,1744770439.923 [sink:NeedComms:A] Stopped
2025-04-16T02:27:20.340Z,1744770440.340 [sink:NeedComms:C] Running Loop=1
2025-04-16T02:27:20.724Z,1744770440.724 [sink:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-04-16T02:27:21.369Z,1744770441.369 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2025-04-16T02:27:22.334Z,1744770442.334 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,022723.00,A,3647.77530,N,12150.72397,W,0.719,335.50,160425,,,D*7B
2025-04-16T02:27:22.337Z,1744770442.337 [NAL9602](INFO): GPS fix at 20250416T022723: (36.796255, -121.845399)
2025-04-16T02:27:22.369Z,1744770442.369 [sink:NeedComms:C] Stopped
2025-04-16T02:27:22.369Z,1744770442.369 [sink:NeedComms:D] Running Loop=1
2025-04-16T02:27:22.764Z,1744770442.764 [sink:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-04-16T02:27:28.779Z,1744770448.779 [DataOverHttps](INFO): Sending 76 bytes from file Logs/20250416T014222/Courier0031.lzma
2025-04-16T02:27:29.781Z,1744770449.781 [DataOverHttps](INFO): Moved sent file to Logs/20250416T014222/Courier0031.lzma.bak
2025-04-16T02:27:29.781Z,1744770449.781 [DataOverHttps](INFO): SBD MOMSN=24670165
2025-04-16T02:27:47.005Z,1744770467.005 [DataOverHttps](INFO): Sending 315 bytes from file Logs/20250416T014222/Express0032.lzma
2025-04-16T02:27:48.005Z,1744770468.005 [DataOverHttps](INFO): Moved sent file to Logs/20250416T014222/Express0032.lzma.bak
2025-04-16T02:27:48.005Z,1744770468.005 [DataOverHttps](INFO): SBD MOMSN=24670168
2025-04-16T02:27:51.468Z,1744770471.468 [NAL9602](INFO): SBD MO Status=0, MOMSN=19532, MT Status=0, MTMSN=0
2025-04-16T02:27:51.468Z,1744770471.468 [NAL9602](INFO): No messages in MT queue
2025-04-16T02:28:04.499Z,1744770484.499 [DataOverHttps](INFO): Sending 62 bytes from file Logs/20250416T014222/Express0035.lzma
2025-04-16T02:28:05.501Z,1744770485.501 [DataOverHttps](INFO): Moved sent file to Logs/20250416T014222/Express0035.lzma.bak
2025-04-16T02:28:05.501Z,1744770485.501 [DataOverHttps](INFO): SBD MOMSN=24670179
2025-04-16T02:28:07.179Z,1744770487.179 [sink:NeedComms:D] Stopped
2025-04-16T02:28:07.196Z,1744770487.196 [sink:NeedComms:E] Running Loop=1
2025-04-16T02:28:07.591Z,1744770487.591 [sink:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-04-16T02:28:09.190Z,1744770489.190 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,022809.00,A,3647.77693,N,12150.72503,W,0.097,272.12,160425,,,D*78
2025-04-16T02:28:09.193Z,1744770489.193 [NAL9602](INFO): GPS fix at 20250416T022809: (36.796282, -121.845417)
2025-04-16T02:28:09.241Z,1744770489.241 [sink:NeedComms:E] Stopped
2025-04-16T02:28:09.242Z,1744770489.242 [sink:NeedComms](INFO): Completed sink:NeedComms
2025-04-16T02:28:09.242Z,1744770489.242 [sink:NeedComms] Stopped
2025-04-16T02:28:09.242Z,1744770489.242 [sink:NeedComms](DEBUG): Aggregate::uninitialize sink:NeedComms
2025-04-16T02:28:09.242Z,1744770489.242 [sink:NeedComms:B.GoToSurface] Stopped
2025-04-16T02:28:09.242Z,1744770489.242 [sink:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-04-16T02:28:09.661Z,1744770489.661 [sink:startComms:StartingMission](INFO): Completed sink:startComms:StartingMission
2025-04-16T02:28:09.662Z,1744770489.662 [sink:startComms:StartingMission] Stopped
2025-04-16T02:28:09.662Z,1744770489.662 [sink:startComms:StartingMission](DEBUG): Aggregate::uninitialize sink:startComms:StartingMission
2025-04-16T02:28:09.662Z,1744770489.662 [sink:startComms](INFO): Completed sink:startComms
2025-04-16T02:28:09.662Z,1744770489.662 [sink:startComms] Stopped
2025-04-16T02:28:09.662Z,1744770489.662 [sink:startComms](DEBUG): Aggregate::uninitialize sink:startComms
2025-04-16T02:28:09.662Z,1744770489.662 [sink:RunSink] Running Loop=1
2025-04-16T02:28:09.663Z,1744770489.663 [sink:RunSink](DEBUG): Aggregate::initialize sink:RunSink
2025-04-16T02:28:09.663Z,1744770489.663 [sink:RunSink:RunBallastAndTrim] Running Loop=1
2025-04-16T02:28:09.663Z,1744770489.663 [sink:RunSink:RunBallastAndTrim](DEBUG): Aggregate::initialize sink:RunSink:RunBallastAndTrim
2025-04-16T02:28:09.668Z,1744770489.668 [sink:RunSink:RunBallastAndTrim:A] Running Loop=1
2025-04-16T02:28:10.027Z,1744770490.027 [sink:RunSink:RunBallastAndTrim] Stopped
2025-04-16T02:28:10.027Z,1744770490.027 [sink:RunSink:RunBallastAndTrim](DEBUG): Aggregate::uninitialize sink:RunSink:RunBallastAndTrim
2025-04-16T02:28:10.027Z,1744770490.027 [sink:RunSink:RunBallastAndTrim:A] Stopped
2025-04-16T02:28:10.027Z,1744770490.027 [sink:RunSink:JustSink] Running Loop=1
2025-04-16T02:28:10.031Z,1744770490.031 [sink:RunSink:JustSink](DEBUG): Aggregate::initialize sink:RunSink:JustSink
2025-04-16T02:28:10.031Z,1744770490.031 [sink:RunSink:JustSink:A] Running Loop=1
2025-04-16T02:28:10.431Z,1744770490.431 [sink:RunSink:JustSink:A] Stopped
2025-04-16T02:28:10.435Z,1744770490.435 [sink:RunSink:JustSink:B] Running Loop=1
2025-04-16T02:28:10.824Z,1744770490.824 [sink:RunSink:JustSink:B] Stopped
2025-04-16T02:28:10.824Z,1744770490.824 [sink:RunSink:JustSink:C] Running Loop=1
2025-04-16T02:28:10.825Z,1744770490.825 [sink:RunSink:JustSink:C](DEBUG): Aggregate::initialize sink:RunSink:JustSink:C
2025-04-16T02:28:11.275Z,1744770491.275 [sink:RunSink:BallastAndTrim] Running Loop=1
2025-04-16T02:28:11.275Z,1744770491.275 [sink:RunSink:BallastAndTrim](DEBUG): Aggregate::initialize sink:RunSink:BallastAndTrim
2025-04-16T02:28:11.275Z,1744770491.275 [sink:RunSink:BallastAndTrim:A] Running Loop=1
2025-04-16T02:28:11.276Z,1744770491.276 [sink:RunSink:BallastAndTrim:B] Running Loop=1
2025-04-16T02:28:11.276Z,1744770491.276 [sink:RunSink:BallastAndTrim:C] Running Loop=1
2025-04-16T02:28:11.276Z,1744770491.276 [sink:RunSink:BallastAndTrim:D] Running Loop=1
2025-04-16T02:28:11.276Z,1744770491.276 [sink:RunSink:BallastAndTrim:E] Running Loop=1
2025-04-16T02:28:11.276Z,1744770491.276 [sink:RunSink:BallastAndTrim:F] Running Loop=1
2025-04-16T02:28:11.278Z,1744770491.278 [sink:RunSink:BallastAndTrim:F](INFO): Going to target depth. Speed set to  0.000000 m/s 
2025-04-16T02:28:11.278Z,1744770491.278 [sink:RunSink:BallastAndTrim:F] Stopped
2025-04-16T02:28:11.278Z,1744770491.278 [sink:RunSink:BallastAndTrim:GoToTargetDepth] Running Loop=1
2025-04-16T02:28:11.278Z,1744770491.278 [sink:RunSink:BallastAndTrim:GoToTargetDepth](DEBUG): Aggregate::initialize sink:RunSink:BallastAndTrim:GoToTargetDepth
2025-04-16T02:28:11.278Z,1744770491.278 [sink:RunSink:BallastAndTrim:GoToTargetDepth:A] Running Loop=1
2025-04-16T02:28:11.278Z,1744770491.278 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold] Running Loop=1
2025-04-16T02:28:11.279Z,1744770491.279 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold](DEBUG): Aggregate::initialize sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold
2025-04-16T02:28:11.279Z,1744770491.279 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point] Running Loop=1
2025-04-16T02:28:11.279Z,1744770491.279 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point](DEBUG): Initialize.
2025-04-16T02:28:11.279Z,1744770491.279 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy] Running Loop=1
2025-04-16T02:28:11.279Z,1744770491.279 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-04-16T02:28:11.279Z,1744770491.279 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch] Running Loop=1
2025-04-16T02:28:11.283Z,1744770491.283 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch](DEBUG): Initialize.
2025-04-16T02:28:11.284Z,1744770491.284 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive] Running Loop=1
2025-04-16T02:28:11.284Z,1744770491.284 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive](DEBUG): Aggregate::initialize sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive
2025-04-16T02:28:11.284Z,1744770491.284 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive:A] Running Loop=1
2025-04-16T02:28:11.284Z,1744770491.284 [sink:RunSink:BallastAndTrim:E] Running Loop=1
2025-04-16T02:28:11.284Z,1744770491.284 [sink:RunSink:BallastAndTrim:D] Running Loop=1
2025-04-16T02:28:11.284Z,1744770491.284 [sink:RunSink:BallastAndTrim:C] Running Loop=1
2025-04-16T02:28:11.285Z,1744770491.285 [sink:RunSink:BallastAndTrim:B] Running Loop=1
2025-04-16T02:28:11.285Z,1744770491.285 [sink:RunSink:BallastAndTrim:A] Running Loop=1
2025-04-16T02:28:11.645Z,1744770491.645 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive:A](INFO): Waiting for  0.000000 min while pumping down to neutral.
2025-04-16T02:28:11.645Z,1744770491.645 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive:A] Stopped
2025-04-16T02:28:11.647Z,1744770491.647 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait] Running Loop=1
2025-04-16T02:28:11.647Z,1744770491.647 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait](DEBUG): Initialize Wait Component.
2025-04-16T02:28:11.647Z,1744770491.647 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold] Stopped
2025-04-16T02:28:11.648Z,1744770491.648 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold](DEBUG): Aggregate::uninitialize sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold
2025-04-16T02:28:11.648Z,1744770491.648 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point] Stopped
2025-04-16T02:28:11.648Z,1744770491.648 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy] Stopped
2025-04-16T02:28:11.648Z,1744770491.648 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-04-16T02:28:11.648Z,1744770491.648 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch] Stopped
2025-04-16T02:28:11.648Z,1744770491.648 [sink:RunSink:BallastAndTrim:GoToTargetDepth:A] Running Loop=1
2025-04-16T02:28:12.053Z,1744770492.053 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait](INFO): Done Waiting.
2025-04-16T02:28:12.053Z,1744770492.053 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait] Stopped
2025-04-16T02:28:12.053Z,1744770492.053 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait](DEBUG): Uninitialize Wait Component.
2025-04-16T02:28:12.053Z,1744770492.053 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive](INFO): Completed sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive
2025-04-16T02:28:12.053Z,1744770492.053 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive] Stopped
2025-04-16T02:28:12.053Z,1744770492.053 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive](DEBUG): Aggregate::uninitialize sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive
2025-04-16T02:28:12.054Z,1744770492.054 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth] Running Loop=1
2025-04-16T02:28:12.054Z,1744770492.054 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth](DEBUG): Aggregate::initialize sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth
2025-04-16T02:28:12.054Z,1744770492.054 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed] Running Loop=1
2025-04-16T02:28:12.054Z,1744770492.054 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed](DEBUG): Initialize.
2025-04-16T02:28:12.054Z,1744770492.054 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:A] Running Loop=1
2025-04-16T02:28:12.468Z,1744770492.468 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed] Running Loop=1
2025-04-16T02:28:12.468Z,1744770492.468 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:A](INFO): Moving to  30.000000 m 
2025-04-16T02:28:12.469Z,1744770492.469 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:A] Stopped
2025-04-16T02:28:12.469Z,1744770492.469 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch] Running Loop=1
2025-04-16T02:28:12.469Z,1744770492.469 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch](DEBUG): Initialize.
2025-04-16T02:28:25.624Z,1744770505.624 [CTD_Seabird](ERROR): Failed to parse device response: .88
2025-04-16T02:28:41.924Z,1744770521.924 [NAL9602](INFO): Not Powering down - fast GPS
2025-04-16T02:34:54.268Z,1744770894.268 [CTD_Seabird](ERROR): Failed to parse device response: 0,3.91377,4702.17
2025-04-16T02:38:09.948Z,1744771089.948 [sink:RunSink](INFO): Timed out from 2025-04-16T02:28:09.7Z
2025-04-16T02:38:09.948Z,1744771089.948 [sink:RunSink] Stopped
2025-04-16T02:38:09.948Z,1744771089.948 [sink:RunSink](DEBUG): Aggregate::uninitialize sink:RunSink
2025-04-16T02:38:09.948Z,1744771089.948 [sink:RunSink:BallastAndTrim] Stopped
2025-04-16T02:38:09.948Z,1744771089.948 [sink:RunSink:BallastAndTrim](DEBUG): Aggregate::uninitialize sink:RunSink:BallastAndTrim
2025-04-16T02:38:09.948Z,1744771089.948 [sink:RunSink:BallastAndTrim:A] Stopped
2025-04-16T02:38:09.948Z,1744771089.948 [sink:RunSink:BallastAndTrim:B] Stopped
2025-04-16T02:38:09.948Z,1744771089.948 [sink:RunSink:BallastAndTrim:C] Stopped
2025-04-16T02:38:09.948Z,1744771089.948 [sink:RunSink:BallastAndTrim:D] Stopped
2025-04-16T02:38:09.948Z,1744771089.948 [sink:RunSink:BallastAndTrim:E] Stopped
2025-04-16T02:38:09.948Z,1744771089.948 [sink:RunSink:BallastAndTrim:GoToTargetDepth] Stopped
2025-04-16T02:38:09.948Z,1744771089.948 [sink:RunSink:BallastAndTrim:GoToTargetDepth](DEBUG): Aggregate::uninitialize sink:RunSink:BallastAndTrim:GoToTargetDepth
2025-04-16T02:38:09.948Z,1744771089.948 [sink:RunSink:BallastAndTrim:GoToTargetDepth:A] Stopped
2025-04-16T02:38:09.948Z,1744771089.948 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth] Stopped
2025-04-16T02:38:09.949Z,1744771089.949 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth](DEBUG): Aggregate::uninitialize sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth
2025-04-16T02:38:09.949Z,1744771089.949 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed] Stopped
2025-04-16T02:38:09.949Z,1744771089.949 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed](DEBUG): Uninitialize.
2025-04-16T02:38:09.949Z,1744771089.949 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch] Stopped
2025-04-16T02:38:09.949Z,1744771089.949 [sink:RunSink:JustSink] Stopped
2025-04-16T02:38:09.949Z,1744771089.949 [sink:RunSink:JustSink](DEBUG): Aggregate::uninitialize sink:RunSink:JustSink
2025-04-16T02:38:09.950Z,1744771089.950 [sink:RunSink:JustSink:C] Stopped
2025-04-16T02:38:09.950Z,1744771089.950 [sink:RunSink:JustSink:C](DEBUG): Aggregate::uninitialize sink:RunSink:JustSink:C
2025-04-16T02:38:09.952Z,1744771089.952 [sink:FloatUp] Running Loop=1
2025-04-16T02:38:09.952Z,1744771089.952 [sink:FloatUp](DEBUG): Aggregate::initialize sink:FloatUp
2025-04-16T02:38:09.953Z,1744771089.953 [sink:FloatUp:A.Buoyancy] Running Loop=1
2025-04-16T02:38:09.953Z,1744771089.953 [sink:FloatUp:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-04-16T02:38:09.954Z,1744771089.954 [sink:FloatUp:B.Wait] Running Loop=1
2025-04-16T02:38:09.954Z,1744771089.954 [sink:FloatUp:B.Wait](DEBUG): Initialize Wait Component.
2025-04-16T02:38:10.365Z,1744771090.365 [sink:FloatUp] Stopped
2025-04-16T02:38:10.365Z,1744771090.365 [sink:FloatUp](DEBUG): Aggregate::uninitialize sink:FloatUp
2025-04-16T02:38:10.365Z,1744771090.365 [sink:FloatUp:A.Buoyancy] Stopped
2025-04-16T02:38:10.365Z,1744771090.365 [sink:FloatUp:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-04-16T02:38:10.365Z,1744771090.365 [sink:FloatUp:B.Wait] Stopped
2025-04-16T02:38:10.365Z,1744771090.365 [sink:FloatUp:B.Wait](DEBUG): Uninitialize Wait Component.
2025-04-16T02:38:10.365Z,1744771090.365 [sink:EndingMission] Running Loop=1
2025-04-16T02:38:10.365Z,1744771090.365 [sink:EndingMission](DEBUG): Aggregate::initialize sink:EndingMission
2025-04-16T02:38:10.778Z,1744771090.778 [sink:NeedComms] Running Loop=1
2025-04-16T02:38:10.778Z,1744771090.778 [sink:NeedComms](DEBUG): Aggregate::initialize sink:NeedComms
2025-04-16T02:38:10.778Z,1744771090.778 [sink:NeedComms:B.GoToSurface] Running Loop=1
2025-04-16T02:38:10.778Z,1744771090.778 [sink:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-04-16T02:38:10.778Z,1744771090.778 [sink:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-04-16T02:38:10.779Z,1744771090.779 [sink:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-04-16T02:38:10.779Z,1744771090.779 [sink:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-04-16T02:38:10.780Z,1744771090.780 [sink:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-04-16T02:38:10.780Z,1744771090.780 [sink:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-04-16T02:38:10.780Z,1744771090.780 [sink:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-04-16T02:38:10.781Z,1744771090.781 [sink:NeedComms:A] Running Loop=1
2025-04-16T02:38:10.782Z,1744771090.782 [sink:NeedComms:A](INFO): last time_fix was:  1744770489.000000 second since 1970/01/01T00:00:00Z 
2025-04-16T02:38:10.782Z,1744771090.782 [sink:NeedComms:A] Stopped
2025-04-16T02:38:11.168Z,1744771091.168 [sink:NeedComms:C] Running Loop=1
2025-04-16T02:38:13.178Z,1744771093.178 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,023813.00,A,3647.81509,N,12150.73681,W,1.147,342.21,160425,,,A*79
2025-04-16T02:38:13.180Z,1744771093.180 [NAL9602](INFO): GPS fix at 20250416T023813: (36.796918, -121.845613)
2025-04-16T02:38:13.193Z,1744771093.193 [sink:NeedComms:C] Stopped
2025-04-16T02:38:13.193Z,1744771093.193 [sink:NeedComms:D] Running Loop=1
2025-04-16T02:38:23.023Z,1744771103.023 [DataOverHttps](INFO): Sending 76 bytes from file Logs/20250416T014222/Courier0037.lzma
2025-04-16T02:38:24.025Z,1744771104.025 [DataOverHttps](INFO): Moved sent file to Logs/20250416T014222/Courier0037.lzma.bak
2025-04-16T02:38:24.025Z,1744771104.025 [DataOverHttps](INFO): SBD MOMSN=24670202
2025-04-16T02:38:26.585Z,1744771106.585 [NAL9602](INFO): SBD MO Status=0, MOMSN=19533, MT Status=0, MTMSN=0
2025-04-16T02:38:26.585Z,1744771106.585 [NAL9602](INFO): No messages in MT queue
2025-04-16T02:38:41.581Z,1744771121.581 [DataOverHttps](INFO): Sending 155 bytes from file Logs/20250416T014222/Express0038.lzma
2025-04-16T02:38:42.581Z,1744771122.581 [DataOverHttps](INFO): Moved sent file to Logs/20250416T014222/Express0038.lzma.bak
2025-04-16T02:38:42.581Z,1744771122.581 [DataOverHttps](INFO): SBD MOMSN=24670205
2025-04-16T02:38:43.996Z,1744771123.996 [sink:NeedComms:D] Stopped
2025-04-16T02:38:43.997Z,1744771123.997 [sink:NeedComms:E] Running Loop=1
2025-04-16T02:38:46.001Z,1744771126.001 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,023846.00,A,3647.81720,N,12150.73733,W,0.117,12.32,160425,,,A*48
2025-04-16T02:38:46.007Z,1744771126.007 [NAL9602](INFO): GPS fix at 20250416T023846: (36.796953, -121.845622)
2025-04-16T02:38:46.049Z,1744771126.049 [sink:NeedComms:E] Stopped
2025-04-16T02:38:46.050Z,1744771126.050 [sink:NeedComms](INFO): Completed sink:NeedComms
2025-04-16T02:38:46.050Z,1744771126.050 [sink:NeedComms] Stopped
2025-04-16T02:38:46.050Z,1744771126.050 [sink:NeedComms](DEBUG): Aggregate::uninitialize sink:NeedComms
2025-04-16T02:38:46.050Z,1744771126.050 [sink:NeedComms:B.GoToSurface] Stopped
2025-04-16T02:38:46.050Z,1744771126.050 [sink:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-04-16T02:38:46.461Z,1744771126.461 [sink:EndingMission](INFO): Completed sink:EndingMission
2025-04-16T02:38:46.461Z,1744771126.461 [sink:EndingMission] Stopped
2025-04-16T02:38:46.462Z,1744771126.462 [sink:EndingMission](DEBUG): Aggregate::uninitialize sink:EndingMission
2025-04-16T02:38:46.469Z,1744771126.469 [sink](INFO): Completed sink
2025-04-16T02:38:46.469Z,1744771126.469 [MissionManager](INFO): sink is completed.
2025-04-16T02:38:46.469Z,1744771126.469 [MissionManager](INFO): Uninitializing Mission sink
2025-04-16T02:38:46.469Z,1744771126.469 [sink] Stopped
2025-04-16T02:38:46.469Z,1744771126.469 [sink](DEBUG): Aggregate::uninitialize sink
2025-04-16T02:38:46.469Z,1744771126.469 [sink:Science] Stopped
2025-04-16T02:38:46.470Z,1744771126.470 [sink:Science](DEBUG): Aggregate::uninitialize sink:Science
2025-04-16T02:38:46.470Z,1744771126.470 [sink:Science:B] Stopped
2025-04-16T02:38:46.470Z,1744771126.470 [sink:Science:C] Stopped
2025-04-16T02:38:46.470Z,1744771126.470 [sink:Science:E] Stopped
2025-04-16T02:38:46.470Z,1744771126.470 [sink:Science:OceanCurrent] Stopped
2025-04-16T02:38:46.470Z,1744771126.470 [sink:Science:OceanCurrent](DEBUG): Aggregate::uninitialize sink:Science:OceanCurrent
2025-04-16T02:38:46.470Z,1744771126.470 [sink:Science:OceanCurrent:A.] Stopped
2025-04-16T02:38:46.470Z,1744771126.470 [sink:StandardEnvelopes] Stopped
2025-04-16T02:38:46.470Z,1744771126.470 [sink:StandardEnvelopes](DEBUG): Aggregate::uninitialize sink:StandardEnvelopes
2025-04-16T02:38:46.470Z,1744771126.470 [sink:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-04-16T02:38:46.470Z,1744771126.470 [sink:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-04-16T02:38:46.470Z,1744771126.470 [sink:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-04-16T02:38:46.470Z,1744771126.470 [sink:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-04-16T02:38:46.471Z,1744771126.471 [sink:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-04-16T02:38:46.471Z,1744771126.471 [sink:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-04-16T02:38:46.471Z,1744771126.471 [sink:BackseatDriver] Stopped
2025-04-16T02:38:46.471Z,1744771126.471 [sink:BackseatDriver](DEBUG): Aggregate::uninitialize sink:BackseatDriver
2025-04-16T02:38:46.471Z,1744771126.471 [sink:BackseatDriver:A.BackseatDriver] Stopped
2025-04-16T02:38:46.471Z,1744771126.471 [sink:PowerOnly] Stopped
2025-04-16T02:38:46.475Z,1744771126.475 [sink:PowerOnly](DEBUG): Aggregate::uninitialize sink:PowerOnly
2025-04-16T02:38:46.475Z,1744771126.475 [sink:PowerOnly:E.Wait] Stopped
2025-04-16T02:38:46.475Z,1744771126.475 [sink:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-04-16T02:38:46.691Z,1744771126.691 [WetLabsBB2FL](INFO): Powering down
2025-04-16T02:38:46.998Z,1744771126.998 [MissionManager](IMPORTANT): Started mission Default
2025-04-16T02:38:47.001Z,1744771127.001 [Default] Running Loop=1
2025-04-16T02:38:47.001Z,1744771127.001 [Default](DEBUG): Aggregate::initialize Default
2025-04-16T02:38:47.001Z,1744771127.001 [Default:B.GoToSurface] Running Loop=1
2025-04-16T02:38:47.002Z,1744771127.002 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-04-16T02:38:47.006Z,1744771127.006 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-04-16T02:38:47.006Z,1744771127.006 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-04-16T02:38:47.006Z,1744771127.006 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-04-16T02:38:47.007Z,1744771127.007 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-04-16T02:38:47.015Z,1744771127.015 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-04-16T02:38:47.016Z,1744771127.016 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-04-16T02:38:47.016Z,1744771127.016 [Default:A.Wait] Running Loop=1
2025-04-16T02:38:47.016Z,1744771127.016 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-04-16T02:39:00.277Z,1744771140.277 [Default:A.Wait](INFO): Done Waiting.
2025-04-16T02:39:00.277Z,1744771140.277 [Default:A.Wait] Stopped
2025-04-16T02:39:00.277Z,1744771140.277 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-04-16T02:39:00.673Z,1744771140.673 [Default:CheckIn] Running Loop=1
2025-04-16T02:39:00.674Z,1744771140.674 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-04-16T02:39:00.674Z,1744771140.674 [Default:CheckIn:Read_GPS] Running Loop=1
2025-04-16T02:39:02.685Z,1744771142.685 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,023903.00,A,3647.81902,N,12150.73715,W,0.389,319.19,160425,,,A*76
2025-04-16T02:39:02.688Z,1744771142.688 [NAL9602](INFO): GPS fix at 20250416T023903: (36.796984, -121.845619)
2025-04-16T02:39:02.699Z,1744771142.699 [Default:CheckIn:Read_GPS] Stopped
2025-04-16T02:39:02.699Z,1744771142.699 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-04-16T02:39:10.475Z,1744771150.475 [DataOverHttps](INFO): Sending 76 bytes from file Logs/20250416T014222/Courier0040.lzma
2025-04-16T02:39:11.477Z,1744771151.477 [DataOverHttps](INFO): Moved sent file to Logs/20250416T014222/Courier0040.lzma.bak
2025-04-16T02:39:11.477Z,1744771151.477 [DataOverHttps](INFO): SBD MOMSN=24670209
2025-04-16T02:39:27.831Z,1744771167.831 [DataOverHttps](INFO): Sending 177 bytes from file Logs/20250416T014222/Express0041.lzma
2025-04-16T02:39:28.833Z,1744771168.833 [DataOverHttps](INFO): Moved sent file to Logs/20250416T014222/Express0041.lzma.bak
2025-04-16T02:39:28.833Z,1744771168.833 [DataOverHttps](INFO): SBD MOMSN=24670213
2025-04-16T02:39:30.177Z,1744771170.177 [Default:CheckIn:Read_Iridium] Stopped
2025-04-16T02:39:30.178Z,1744771170.178 [Default:CheckIn:C.Wait] Running Loop=1
2025-04-16T02:39:30.178Z,1744771170.178 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-04-16T02:39:35.012Z,1744771175.012 [NAL9602](INFO): Not Powering down - fast GPS
2025-04-16T02:41:39.645Z,1744771299.645 [DataOverHttps](IMPORTANT): SBD MTMSN=20250416T024140
2025-04-16T02:41:47.111Z,1744771307.111 [DataOverHttps](INFO): Received command: load Engineering/sink.tl;set sink.SinkDuration 25 min;set sink.WaitToFloat 25 min;set sink.Depth 30 m;set sink.MaxDepth 40 m;run
2025-04-16T02:41:47.196Z,1744771307.196 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/sink.tl
2025-04-16T02:41:47.197Z,1744771307.197 [MissionManager](INFO): Loading Mission from file: ./Missions/Engineering/sink.tl
2025-04-16T02:41:47.197Z,1744771307.197 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Engineering/sink.tl
2025-04-16T02:41:47.204Z,1744771307.204 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Engineering/sink.tl
2025-04-16T02:41:51.799Z,1744771311.799 [MissionManager](DEBUG): TethyslAPI: ./Missions/Engineering/sink.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="sink">
    <DefineArg Name="SinkDuration">
        <Units:hour />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="WaitToFloat">
        <Units:minute />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="Depth">
        <Units:meter />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="DepthDeadband">
        <Units:meter />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="SurfaceThreshold">
        <Units:meter />
        <Value>2.5</Value>
    </DefineArg>
    <DefineArg Name="TargetDepthTimeout">
        <Units:minute />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="DoBallastAndTrim">
        <False />
    </DefineArg>
    <DefineArg Name="BTSettleTime">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="EstimationTimeout">
        <Units:minute />
        <Value>45</Value>
    </DefineArg>
    <DefineArg Name="MinEstimationTime">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="MassEstimationErrorBound">
        <Units:millimeter />
        <Value>0.5</Value>
    </DefineArg>
    <DefineArg Name="BuoyEstimationErrorBound">
        <Units:cubic_centimeter />
        <Value>25</Value>
    </DefineArg>
    <DefineArg Name="EstimationConfidence">
        <Units:percent />
        <Value>98</Value>
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="SkipComms">
        <False />
    </DefineArg>
    <DefineOutput Name="MissionTimeout">
        <Arg Name="SinkDuration" />
    </DefineOutput>
    <Timeout Duration="MissionTimeout" />
    <Assign>
        <Sequence />
        <Arg Name="MissionTimeout" />
        <Arg Name="SinkDuration" />
        <Add>
            <Arg Name="WaitToFloat" />
        </Add>
    </Assign>
    <Insert Filename="Insert/Science.tl" />
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="MissionTimeout" />
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Aggregate Id="startComms">
        <Sequence />
        <Break>
            <Arg Name="SkipComms" />
        </Break>
        <Call RefId="NeedComms" Id="StartingMission" />
    </Aggregate>
    <Aggregate Id="RunSink">
        <Sequence />
        <Timeout Duration="SinkDuration" />
        <Insert Filename="Insert/BallastAndTrim.tl">
            <RedefineArg Name="InsertDepthDeadband">
                <Arg Name="DepthDeadband" />
            </RedefineArg>
            <RedefineArg Name="InsertApproachDepthTimeout">
                <Arg Name="TargetDepthTimeout" />
            </RedefineArg>
            <RedefineArg Name="InsertSettleTime">
                <Arg Name="BTSettleTime" />
            </RedefineArg>
            <RedefineArg Name="EstTimeout">
                <Arg Name="EstimationTimeout" />
            </RedefineArg>
            <RedefineArg Name="MinEstTime">
                <Arg Name="MinEstimationTime" />
            </RedefineArg>
            <RedefineArg Name="MassEstErrorBound">
                <Arg Name="MassEstimationErrorBound" />
            </RedefineArg>
            <RedefineArg Name="BuoyEstErrorBound">
                <Arg Name="BuoyEstimationErrorBound" />
            </RedefineArg>
            <RedefineArg Name="EstConfidence">
                <Arg Name="EstimationConfidence" />
            </RedefineArg>
        </Insert>
        <Aggregate Id="RunBallastAndTrim">
            <Sequence />
            <Break>
                <IsNaN>
                    <Arg Name="Depth" />
                </IsNaN>
                <Or>
                    <Not>
                        <Arg Name="DoBallastAndTrim" />
                    </Not>
                </Or>
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="BallastAndTrim:InsertDepth" />
                <Arg Name="Depth" />
            </Assign>
            <Call RefId="BallastAndTrim" />
        </Aggregate>
        <Aggregate Id="JustSink">
            <Sequence />
            <Break>
                <IsNaN>
                    <Arg Name="Depth" />
                </IsNaN>
                <Or>
                    <Arg Name="DoBallastAndTrim" />
                </Or>
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="BallastAndTrim:InsertDepth" />
                <Arg Name="Depth" />
            </Assign>
            <Assign>
                <Sequence />
                <Arg Name="BTSettleTime" />
                <Arg Name="SinkDuration" />
            </Assign>
            <Call RefId="BallastAndTrim" />
        </Aggregate>
    </Aggregate>
    <Aggregate Id="FloatUp">
        <Sequence />
        <Break>
            <Universal:depth />
            <Lt>
                <Arg Name="SurfaceThreshold" />
            </Lt>
        </Break>
        <Guidance:Buoyancy>
            <Parallel />
            <Setting>
                <Guidance:Buoyancy.position />
                <Control:VerticalControl.buoyancyDefault />
            </Setting>
        </Guidance:Buoyancy>
        <Guidance:Wait>
            <Sequence />
            <Setting>
                <Guidance:Wait.duration />
                <Arg Name="WaitToFloat" />
            </Setting>
        </Guidance:Wait>
    </Aggregate>
    <Call RefId="NeedComms" Id="EndingMission" />
</Mission>

2025-04-16T02:41:51.805Z,1744771311.805 [MissionManager](INFO): DefineArg sink.SinkDuration = 2.000000 h
2025-04-16T02:41:51.807Z,1744771311.807 [MissionManager](INFO): DefineArg sink.WaitToFloat = 20.000000 min
2025-04-16T02:41:51.823Z,1744771311.823 [MissionManager](INFO): DefineArg sink.Depth = 20.000000 m
2025-04-16T02:41:51.825Z,1744771311.825 [MissionManager](INFO): DefineArg sink.DepthDeadband = 1.000000 m
2025-04-16T02:41:51.828Z,1744771311.828 [MissionManager](INFO): DefineArg sink.SurfaceThreshold = 2.500000 m
2025-04-16T02:41:51.830Z,1744771311.830 [MissionManager](INFO): DefineArg sink.TargetDepthTimeout = 20.000000 min
2025-04-16T02:41:51.832Z,1744771311.832 [MissionManager](INFO): DefineArg sink.DoBallastAndTrim = 0 bool
2025-04-16T02:41:51.834Z,1744771311.834 [MissionManager](INFO): DefineArg sink.BTSettleTime = 10.000000 min
2025-04-16T02:41:51.836Z,1744771311.836 [MissionManager](INFO): DefineArg sink.EstimationTimeout = 45.000000 min
2025-04-16T02:41:51.839Z,1744771311.839 [MissionManager](INFO): DefineArg sink.MinEstimationTime = 10.000000 min
2025-04-16T02:41:51.841Z,1744771311.841 [MissionManager](INFO): DefineArg sink.MassEstimationErrorBound = 0.500000 mm
2025-04-16T02:41:51.843Z,1744771311.843 [MissionManager](INFO): DefineArg sink.BuoyEstimationErrorBound = 25.000000 cc
2025-04-16T02:41:51.846Z,1744771311.846 [MissionManager](INFO): DefineArg sink.EstimationConfidence = 98.000000 %
2025-04-16T02:41:51.848Z,1744771311.848 [MissionManager](INFO): DefineArg sink.MinAltitude = 5.000000 m
2025-04-16T02:41:51.850Z,1744771311.850 [MissionManager](INFO): DefineArg sink.MaxDepth = 30.000000 m
2025-04-16T02:41:51.853Z,1744771311.853 [MissionManager](INFO): DefineArg sink.MinOffshore = 2.000000 km
2025-04-16T02:41:51.854Z,1744771311.854 [MissionManager](INFO): DefineArg sink.SkipComms = 0 bool
2025-04-16T02:41:51.857Z,1744771311.857 [MissionManager](INFO): DefineOutput sink.MissionTimeout = 2.000000 h
2025-04-16T02:41:51.859Z,1744771311.859 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-04-16T02:41:51.880Z,1744771311.880 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-04-16T02:41:51.890Z,1744771311.890 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-04-16T02:41:55.253Z,1744771315.253 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/Science.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="Science">
    <DefineArg Name="PeakDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="TimeWindowPeakReport">
        <Units:minute />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="HighestChlPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestSaltPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestOilPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="PatchTracking">
        <False />
    </DefineArg>
    <DefineArg Name="FilterWidthHorizontal">
        <Units:count />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesSlidingwindow">
        <Units:count />
        <Value>100</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionHorizontal">
        <Units:percent />
        <Value>80</Value>
    </DefineArg>
    <DefineArg Name="PeakDetectNO3Active">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectOilActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectFDOMActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectSalinityActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDinoflagellatesActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreDinoflagellatesActive">
        <False />
    </DefineArg>
    <DefineArg Name="UpwardDerivativeOfTemperatureActive">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledAanderaaO2">
        <Science:Aanderaa_O2.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledNeilBrown">
        <Science:CTD_NeilBrown.loadAtStartup />
    </DefineArg>
    <DefineArg Name="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>
    <DefineArg Name="PlanktivoreHMavgROIPeakThresh">
        <Units:count_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreDiatomsPeakThresh">
        <Units:count_per_milliliter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreDinoflagellatesPeakThresh">
        <Units:count_per_milliliter />
        <Value>0</Value>
    </DefineArg>
    <DefineOutput Name="GoDown">
        <True />
    </DefineOutput>
    <DefineOutput Name="PeakChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3">
        <Units:micromole_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Depth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOil">
        <Units:kilogram_per_cubic_meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOM">
        <Units:part_per_billion />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatoms">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatoms">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOil">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="TriggeredOnChl">
        <False />
    </DefineOutput>
    <DefineOutput Name="ChlTriggering">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledAanderaaO2" />
        </While>
        <Universal:mass_concentration_of_oxygen_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
        </While>
        <Universal:sea_water_temperature />
        <Universal:sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledSeabird" />
        </While>
        <Science:CTD_Seabird.sea_water_temperature />
        <Science:CTD_Seabird.sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
            <And>
                <Arg Name="UpwardDerivativeOfTemperatureActive" />
            </And>
        </While>
        <Universal:upward_derivative_of_sea_water_temperature />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsBB2FL" />
            <Or>
                <Arg Name="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="Info">
            GoDown, PlanktivoreLMavgROIPeakThresh, PeakPlanktivoreLMavgROI, PeakPlanktivoreLMavgROIDepth, EdgePlanktivoreLMavgROI, EdgePlanktivoreLMavgROIDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreHMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_HM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="EdgeDetectPlanktivoreHMavgROIActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_HM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFraction />
                <Arg Name="OffPeakFractionVertical" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreHMavgROIPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROI">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreHMavgROIPeakThresh, PeakPlanktivoreHMavgROI, PeakPlanktivoreHMavgROIDepth, EdgePlanktivoreHMavgROI, EdgePlanktivoreHMavgROIDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreHMavgROIPeakThresh" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreHMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="EdgePlanktivoreHMavgROIDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
            <Arg Name="EdgePlanktivoreHMavgROI" />
            <Arg Name="EdgePlanktivoreHMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="PeakDetectPlanktivoreDiatomsActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_diatoms</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="EdgeDetectPlanktivoreDiatomsActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_diatoms</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFraction />
                <Arg Name="OffPeakFractionVertical" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreDiatomsPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatoms">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreDiatomsPeakThresh, PeakPlanktivoreDiatoms, PeakPlanktivoreDiatomsDepth, EdgePlanktivoreDiatoms, EdgePlanktivoreDiatomsDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreDiatomsPeakThresh" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreDiatoms" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="EdgePlanktivoreDiatomsDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
            <Arg Name="EdgePlanktivoreDiatoms" />
            <Arg Name="EdgePlanktivoreDiatomsDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="PeakDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDinoflagellates">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="EdgeDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFraction />
                <Arg Name="OffPeakFractionVertical" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreDinoflagellatesPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellates">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellates">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreDinoflagellatesPeakThresh, PeakPlanktivoreDinoflagellates, PeakPlanktivoreDinoflagellatesDepth, EdgePlanktivoreDinoflagellates, EdgePlanktivoreDinoflagellatesDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreDinoflagellatesPeakThresh" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreDinoflagellates" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="EdgePlanktivoreDinoflagellatesDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
            <Arg Name="EdgePlanktivoreDinoflagellates" />
            <Arg Name="EdgePlanktivoreDinoflagellatesDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="ChlThreshTrigger">
        <While>
            <Arg Name="ChlThreshTriggerActive" />
        </While>
        <Trigger:ValueDetect>
            <Sequence />
            <Setting>
                <Trigger:ValueDetect.detect />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.lowerThreshold />
                <Arg Name="ChlLowerThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.upperThreshold />
                <Arg Name="ChlUpperThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.numProfilesThreshold />
                <Arg Name="NumProfilesThresh" />
            </Setting>
            <OutputArg Name="ChlTriggering">
                <Trigger:ValueDetect.outputValue />
            </OutputArg>
        </Trigger:ValueDetect>
        <Assign>
            <Sequence />
            <Arg Name="TriggeredOnChl" />
            <True />
        </Assign>
        <Syslog Severity="Important">
            Triggered. PeakChl values on 
            <Arg Name="NumProfilesThresh" />
            <Units:count />
             consecutive yo-yo profiles fall in [
            <Arg Name="ChlLowerThresh" />
            <Units:microgram_per_liter />
            <Arg Name="ChlUpperThresh" />
            <Units:microgram_per_liter />
            ] (NaN bound is ignored).
        </Syslog>
    </Aggregate>
</Aggregate>

2025-04-16T02:41:55.301Z,1744771315.301 [MissionManager](INFO): DefineArg sink:Science.PeakDetectChlActive = 0 bool
2025-04-16T02:41:55.304Z,1744771315.304 [MissionManager](INFO): DefineArg sink:Science.EdgeDetectChlActive = 0 bool
2025-04-16T02:41:55.306Z,1744771315.306 [MissionManager](INFO): DefineArg sink:Science.TimeWindowPeakReport = nan min
2025-04-16T02:41:55.308Z,1744771315.308 [MissionManager](INFO): DefineArg sink:Science.HighestChlPeakReportActive = 0 bool
2025-04-16T02:41:55.310Z,1744771315.310 [MissionManager](INFO): DefineArg sink:Science.HighestSaltPeakReportActive = 0 bool
2025-04-16T02:41:55.312Z,1744771315.312 [MissionManager](INFO): DefineArg sink:Science.HighestOilPeakReportActive = 0 bool
2025-04-16T02:41:55.314Z,1744771315.314 [MissionManager](INFO): DefineArg sink:Science.PatchTracking = 0 bool
2025-04-16T02:41:55.348Z,1744771315.348 [MissionManager](INFO): DefineArg sink:Science.FilterWidthHorizontal = 3.000000 count
2025-04-16T02:41:55.350Z,1744771315.350 [MissionManager](INFO): DefineArg sink:Science.NumProfilesSlidingwindow = 100.000000 count
2025-04-16T02:41:55.358Z,1744771315.358 [MissionManager](INFO): DefineArg sink:Science.OffPeakFractionHorizontal = 80.000000 %
2025-04-16T02:41:55.362Z,1744771315.362 [MissionManager](INFO): DefineArg sink:Science.PeakDetectNO3Active = 0 bool
2025-04-16T02:41:55.376Z,1744771315.376 [MissionManager](INFO): DefineArg sink:Science.PeakDetectOilActive = 0 bool
2025-04-16T02:41:55.378Z,1744771315.378 [MissionManager](INFO): DefineArg sink:Science.PeakDetectFDOMActive = 0 bool
2025-04-16T02:41:55.387Z,1744771315.387 [MissionManager](INFO): DefineArg sink:Science.PeakDetectSalinityActive = 0 bool
2025-04-16T02:41:55.407Z,1744771315.407 [MissionManager](INFO): DefineArg sink:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-04-16T02:41:55.409Z,1744771315.409 [MissionManager](INFO): DefineArg sink:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-04-16T02:41:55.412Z,1744771315.412 [MissionManager](INFO): DefineArg sink:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-04-16T02:41:55.414Z,1744771315.414 [MissionManager](INFO): DefineArg sink:Science.EdgeDetectPlanktivoreHMavgROIActive = 0 bool
2025-04-16T02:41:55.416Z,1744771315.416 [MissionManager](INFO): DefineArg sink:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-04-16T02:41:55.417Z,1744771315.417 [MissionManager](INFO): DefineArg sink:Science.EdgeDetectPlanktivoreDiatomsActive = 0 bool
2025-04-16T02:41:55.420Z,1744771315.420 [MissionManager](INFO): DefineArg sink:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-04-16T02:41:55.421Z,1744771315.421 [MissionManager](INFO): DefineArg sink:Science.EdgeDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-04-16T02:41:55.440Z,1744771315.440 [MissionManager](INFO): DefineArg sink:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-04-16T02:41:55.442Z,1744771315.442 [MissionManager](INFO): DefineArg sink:Science.EnabledAanderaaO2 = 0 bool
2025-04-16T02:41:55.453Z,1744771315.453 [MissionManager](INFO): DefineArg sink:Science.EnabledNeilBrown = 0 bool
2025-04-16T02:41:55.460Z,1744771315.460 [MissionManager](INFO): DefineArg sink:Science.EnabledSeabird = 1 bool
2025-04-16T02:41:55.462Z,1744771315.462 [MissionManager](INFO): DefineArg sink:Science.EnabledWetLabsBB2FL = 1 bool
2025-04-16T02:41:55.465Z,1744771315.465 [MissionManager](INFO): DefineArg sink:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-04-16T02:41:55.480Z,1744771315.480 [MissionManager](INFO): DefineArg sink:Science.EnabledWetLabsUBAT = 0 bool
2025-04-16T02:41:55.482Z,1744771315.482 [MissionManager](INFO): DefineArg sink:Science.LowPassWindowLength = 20.000000 count
2025-04-16T02:41:55.499Z,1744771315.499 [MissionManager](INFO): DefineArg sink:Science.MedianFilterLen = 5.000000 count
2025-04-16T02:41:55.502Z,1744771315.502 [MissionManager](INFO): DefineArg sink:Science.ShallowBound = nan m
2025-04-16T02:41:55.508Z,1744771315.508 [MissionManager](INFO): DefineArg sink:Science.DeepBound = nan m
2025-04-16T02:41:55.510Z,1744771315.510 [MissionManager](INFO): DefineArg sink:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-04-16T02:41:55.517Z,1744771315.517 [MissionManager](INFO): DefineArg sink:Science.OffPeakFractionVertical = nan %
2025-04-16T02:41:55.519Z,1744771315.519 [MissionManager](INFO): DefineArg sink:Science.ChlPeakThresh = 0.000000 ug/l
2025-04-16T02:41:55.525Z,1744771315.525 [MissionManager](INFO): DefineArg sink:Science.ChlThreshTriggerActive = 0 bool
2025-04-16T02:41:55.531Z,1744771315.531 [MissionManager](INFO): DefineArg sink:Science.ChlLowerThresh = nan ug/l
2025-04-16T02:41:55.534Z,1744771315.534 [MissionManager](INFO): DefineArg sink:Science.ChlUpperThresh = nan ug/l
2025-04-16T02:41:55.540Z,1744771315.540 [MissionManager](INFO): DefineArg sink:Science.NumProfilesThresh = 5.000000 count
2025-04-16T02:41:55.542Z,1744771315.542 [MissionManager](INFO): DefineArg sink:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-04-16T02:41:55.549Z,1744771315.549 [MissionManager](INFO): DefineArg sink:Science.PlanktivoreHMavgROIPeakThresh = 0.000000 count/s
2025-04-16T02:41:55.551Z,1744771315.551 [MissionManager](INFO): DefineArg sink:Science.PlanktivoreDiatomsPeakThresh = 0.000000 count/ml
2025-04-16T02:41:55.557Z,1744771315.557 [MissionManager](INFO): DefineArg sink:Science.PlanktivoreDinoflagellatesPeakThresh = 0.000000 count/ml
2025-04-16T02:41:55.568Z,1744771315.568 [MissionManager](INFO): DefineOutput sink:Science.GoDown = 1 bool
2025-04-16T02:41:55.570Z,1744771315.570 [MissionManager](INFO): DefineOutput sink:Science.PeakChl = nan ug/l
2025-04-16T02:41:55.619Z,1744771315.619 [MissionManager](INFO): DefineOutput sink:Science.PeakChlDepth = nan m
2025-04-16T02:41:55.622Z,1744771315.622 [MissionManager](INFO): DefineOutput sink:Science.PeakChlTemperature = nan degC
2025-04-16T02:41:55.632Z,1744771315.632 [MissionManager](INFO): DefineOutput sink:Science.PeakChlLatitude = nan arcdeg
2025-04-16T02:41:55.635Z,1744771315.635 [MissionManager](INFO): DefineOutput sink:Science.PeakChlLongitude = nan arcdeg
2025-04-16T02:41:55.645Z,1744771315.645 [MissionManager](INFO): DefineOutput sink:Science.EdgeChl = nan ug/l
2025-04-16T02:41:55.654Z,1744771315.654 [MissionManager](INFO): DefineOutput sink:Science.EdgeChlDepth = nan m
2025-04-16T02:41:55.665Z,1744771315.665 [MissionManager](INFO): DefineOutput sink:Science.EdgeChlTemperature = nan degC
2025-04-16T02:41:55.669Z,1744771315.669 [MissionManager](INFO): DefineOutput sink:Science.EdgeChlLatitude = nan arcdeg
2025-04-16T02:41:55.684Z,1744771315.684 [MissionManager](INFO): DefineOutput sink:Science.EdgeChlLongitude = nan arcdeg
2025-04-16T02:41:55.686Z,1744771315.686 [MissionManager](INFO): DefineOutput sink:Science.PeakNO3 = nan umol/l
2025-04-16T02:41:55.693Z,1744771315.693 [MissionManager](INFO): DefineOutput sink:Science.PeakNO3Depth = nan m
2025-04-16T02:41:55.698Z,1744771315.698 [MissionManager](INFO): DefineOutput sink:Science.PeakNO3Latitude = nan arcdeg
2025-04-16T02:41:55.717Z,1744771315.717 [MissionManager](INFO): DefineOutput sink:Science.PeakNO3Longitude = nan arcdeg
2025-04-16T02:41:55.732Z,1744771315.732 [MissionManager](INFO): DefineOutput sink:Science.PeakOil = nan kg/m3
2025-04-16T02:41:55.734Z,1744771315.734 [MissionManager](INFO): DefineOutput sink:Science.PeakOilDepth = nan m
2025-04-16T02:41:55.737Z,1744771315.737 [MissionManager](INFO): DefineOutput sink:Science.PeakOilLatitude = nan arcdeg
2025-04-16T02:41:55.747Z,1744771315.747 [MissionManager](INFO): DefineOutput sink:Science.PeakOilLongitude = nan arcdeg
2025-04-16T02:41:55.749Z,1744771315.749 [MissionManager](INFO): DefineOutput sink:Science.PeakFDOM = nan ppb
2025-04-16T02:41:55.752Z,1744771315.752 [MissionManager](INFO): DefineOutput sink:Science.PeakFDOMDepth = nan m
2025-04-16T02:41:55.754Z,1744771315.754 [MissionManager](INFO): DefineOutput sink:Science.PeakFDOMTemperature = nan degC
2025-04-16T02:41:55.769Z,1744771315.769 [MissionManager](INFO): DefineOutput sink:Science.PeakFDOMLatitude = nan arcdeg
2025-04-16T02:41:55.776Z,1744771315.776 [MissionManager](INFO): DefineOutput sink:Science.PeakFDOMLongitude = nan arcdeg
2025-04-16T02:41:55.778Z,1744771315.778 [MissionManager](INFO): DefineOutput sink:Science.PeakSalt = nan psu
2025-04-16T02:41:55.781Z,1744771315.781 [MissionManager](INFO): DefineOutput sink:Science.PeakSaltDepth = nan m
2025-04-16T02:41:55.796Z,1744771315.796 [MissionManager](INFO): DefineOutput sink:Science.PeakSaltTemperature = nan degC
2025-04-16T02:41:55.798Z,1744771315.798 [MissionManager](INFO): DefineOutput sink:Science.PeakSaltLatitude = nan arcdeg
2025-04-16T02:41:55.813Z,1744771315.813 [MissionManager](INFO): DefineOutput sink:Science.PeakSaltLongitude = nan arcdeg
2025-04-16T02:41:55.820Z,1744771315.820 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-04-16T02:41:55.822Z,1744771315.822 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-04-16T02:41:55.832Z,1744771315.832 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-04-16T02:41:55.835Z,1744771315.835 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-04-16T02:41:55.841Z,1744771315.841 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-04-16T02:41:55.848Z,1744771315.848 [MissionManager](INFO): DefineOutput sink:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-04-16T02:41:55.850Z,1744771315.850 [MissionManager](INFO): DefineOutput sink:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-04-16T02:41:55.857Z,1744771315.857 [MissionManager](INFO): DefineOutput sink:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-04-16T02:41:55.859Z,1744771315.859 [MissionManager](INFO): DefineOutput sink:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-04-16T02:41:55.874Z,1744771315.874 [MissionManager](INFO): DefineOutput sink:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-04-16T02:41:55.884Z,1744771315.884 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-04-16T02:41:55.904Z,1744771315.904 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-04-16T02:41:55.906Z,1744771315.906 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-04-16T02:41:55.911Z,1744771315.911 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-04-16T02:41:55.922Z,1744771315.922 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-04-16T02:41:55.926Z,1744771315.926 [MissionManager](INFO): DefineOutput sink:Science.EdgePlanktivoreHMavgROI = nan count/s
2025-04-16T02:41:55.944Z,1744771315.944 [MissionManager](INFO): DefineOutput sink:Science.EdgePlanktivoreHMavgROIDepth = nan m
2025-04-16T02:41:55.947Z,1744771315.947 [MissionManager](INFO): DefineOutput sink:Science.EdgePlanktivoreHMavgROITemperature = nan degC
2025-04-16T02:41:55.957Z,1744771315.957 [MissionManager](INFO): DefineOutput sink:Science.EdgePlanktivoreHMavgROILatitude = nan arcdeg
2025-04-16T02:41:55.964Z,1744771315.964 [MissionManager](INFO): DefineOutput sink:Science.EdgePlanktivoreHMavgROILongitude = nan arcdeg
2025-04-16T02:41:55.966Z,1744771315.966 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-04-16T02:41:55.977Z,1744771315.977 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-04-16T02:41:56.012Z,1744771316.012 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-04-16T02:41:56.014Z,1744771316.014 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-04-16T02:41:56.029Z,1744771316.029 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-04-16T02:41:56.031Z,1744771316.031 [MissionManager](INFO): DefineOutput sink:Science.EdgePlanktivoreDiatoms = nan count/ml
2025-04-16T02:41:56.042Z,1744771316.042 [MissionManager](INFO): DefineOutput sink:Science.EdgePlanktivoreDiatomsDepth = nan m
2025-04-16T02:41:56.048Z,1744771316.048 [MissionManager](INFO): DefineOutput sink:Science.EdgePlanktivoreDiatomsTemperature = nan degC
2025-04-16T02:41:56.050Z,1744771316.050 [MissionManager](INFO): DefineOutput sink:Science.EdgePlanktivoreDiatomsLatitude = nan arcdeg
2025-04-16T02:41:56.073Z,1744771316.073 [MissionManager](INFO): DefineOutput sink:Science.EdgePlanktivoreDiatomsLongitude = nan arcdeg
2025-04-16T02:41:56.092Z,1744771316.092 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-04-16T02:41:56.094Z,1744771316.094 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-04-16T02:41:56.109Z,1744771316.109 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-04-16T02:41:56.116Z,1744771316.116 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-04-16T02:41:56.118Z,1744771316.118 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-04-16T02:41:56.125Z,1744771316.125 [MissionManager](INFO): DefineOutput sink:Science.EdgePlanktivoreDinoflagellates = nan count/ml
2025-04-16T02:41:56.135Z,1744771316.135 [MissionManager](INFO): DefineOutput sink:Science.EdgePlanktivoreDinoflagellatesDepth = nan m
2025-04-16T02:41:56.138Z,1744771316.138 [MissionManager](INFO): DefineOutput sink:Science.EdgePlanktivoreDinoflagellatesTemperature = nan degC
2025-04-16T02:41:56.145Z,1744771316.145 [MissionManager](INFO): DefineOutput sink:Science.EdgePlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-04-16T02:41:56.152Z,1744771316.152 [MissionManager](INFO): DefineOutput sink:Science.EdgePlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-04-16T02:41:56.154Z,1744771316.154 [MissionManager](INFO): DefineOutput sink:Science.PatchChl = nan ug/l
2025-04-16T02:41:56.169Z,1744771316.169 [MissionManager](INFO): DefineOutput sink:Science.PatchChlDepth = nan m
2025-04-16T02:41:56.171Z,1744771316.171 [MissionManager](INFO): DefineOutput sink:Science.PatchChlLatitude = nan arcdeg
2025-04-16T02:41:56.178Z,1744771316.178 [MissionManager](INFO): DefineOutput sink:Science.PatchChlLongitude = nan arcdeg
2025-04-16T02:41:56.192Z,1744771316.192 [MissionManager](INFO): DefineOutput sink:Science.PatchChlDistance = nan m
2025-04-16T02:41:56.194Z,1744771316.194 [MissionManager](INFO): DefineOutput sink:Science.PatchSalt = nan psu
2025-04-16T02:41:56.202Z,1744771316.202 [MissionManager](INFO): DefineOutput sink:Science.PatchSaltDepth = nan m
2025-04-16T02:41:56.205Z,1744771316.205 [MissionManager](INFO): DefineOutput sink:Science.PatchSaltLatitude = nan arcdeg
2025-04-16T02:41:56.207Z,1744771316.207 [MissionManager](INFO): DefineOutput sink:Science.PatchSaltLongitude = nan arcdeg
2025-04-16T02:41:56.226Z,1744771316.226 [MissionManager](INFO): DefineOutput sink:Science.PatchSaltDistance = nan m
2025-04-16T02:41:56.232Z,1744771316.232 [MissionManager](INFO): DefineOutput sink:Science.PatchOil = nan psu
2025-04-16T02:41:56.235Z,1744771316.235 [MissionManager](INFO): DefineOutput sink:Science.PatchOilDepth = nan m
2025-04-16T02:41:56.245Z,1744771316.245 [MissionManager](INFO): DefineOutput sink:Science.PatchOilLatitude = nan arcdeg
2025-04-16T02:41:56.250Z,1744771316.250 [MissionManager](INFO): DefineOutput sink:Science.PatchOilLongitude = nan arcdeg
2025-04-16T02:41:56.260Z,1744771316.260 [MissionManager](INFO): DefineOutput sink:Science.PatchOilDistance = nan m
2025-04-16T02:41:56.263Z,1744771316.263 [MissionManager](INFO): DefineOutput sink:Science.TriggeredOnChl = 0 bool
2025-04-16T02:41:56.269Z,1744771316.269 [MissionManager](INFO): DefineOutput sink:Science.ChlTriggering = nan ug/l
2025-04-16T02:41:56.313Z,1744771316.313 [sink:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-04-16T02:41:56.335Z,1744771316.335 [sink:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-04-16T02:41:56.382Z,1744771316.382 [sink:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-04-16T02:41:56.471Z,1744771316.471 [sink:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-04-16T02:41:56.494Z,1744771316.494 [sink:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-04-16T02:41:56.517Z,1744771316.517 [sink:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-04-16T02:41:56.561Z,1744771316.561 [sink:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-04-16T02:41:56.603Z,1744771316.603 [sink:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-04-16T02:41:56.634Z,1744771316.634 [sink:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-04-16T02:41:56.664Z,1744771316.664 [sink:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-04-16T02:41:56.682Z,1744771316.682 [sink:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-04-16T02:41:56.720Z,1744771316.720 [sink:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-04-16T02:41:56.732Z,1744771316.732 [sink:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-04-16T02:41:56.756Z,1744771316.756 [sink:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-04-16T02:41:56.768Z,1744771316.768 [sink:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-04-16T02:41:56.789Z,1744771316.789 [sink:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-04-16T02:41:56.856Z,1744771316.856 [sink:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-04-16T02:41:56.891Z,1744771316.891 [sink:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-04-16T02:41:56.918Z,1744771316.918 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-04-16T02:41:56.918Z,1744771316.918 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-04-16T02:41:56.920Z,1744771316.920 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-04-16T02:41:57.099Z,1744771317.099 [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>

2025-04-16T02:41:57.107Z,1744771317.107 [MissionManager](INFO): DefineArg sink:NeedComms.DiveInterval = 1.000000 h
2025-04-16T02:41:57.109Z,1744771317.109 [MissionManager](INFO): DefineArg sink:NeedComms.WaitForPitchUp = 10.000000 min
2025-04-16T02:41:57.112Z,1744771317.112 [MissionManager](INFO): DefineArg sink:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-04-16T02:41:57.114Z,1744771317.114 [MissionManager](INFO): DefineArg sink:NeedComms.SurfaceDepthRate = nan m/s
2025-04-16T02:41:57.116Z,1744771317.116 [MissionManager](INFO): DefineArg sink:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-04-16T02:41:57.118Z,1744771317.118 [MissionManager](INFO): DefineArg sink:NeedComms.SurfacingTimeout = 1000.000000 s
2025-04-16T02:41:57.121Z,1744771317.121 [MissionManager](INFO): DefineArg sink:NeedComms.GPSTimeout = 7.000000 min
2025-04-16T02:41:57.123Z,1744771317.123 [MissionManager](INFO): DefineArg sink:NeedComms.CommsTimeout = 30.000000 min
2025-04-16T02:41:57.129Z,1744771317.129 [sink:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-04-16T02:41:57.234Z,1744771317.234 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-04-16T02:41:57.235Z,1744771317.235 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-04-16T02:41:57.252Z,1744771317.252 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-04-16T02:41:57.364Z,1744771317.364 [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>

2025-04-16T02:41:57.368Z,1744771317.368 [MissionManager](INFO): DefineArg sink:StandardEnvelopes.MinAltitude = 5.000000 m
2025-04-16T02:41:57.370Z,1744771317.370 [MissionManager](INFO): DefineArg sink:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-04-16T02:41:57.372Z,1744771317.372 [MissionManager](INFO): DefineArg sink:StandardEnvelopes.MaxDepth = 200.000000 m
2025-04-16T02:41:57.375Z,1744771317.375 [MissionManager](INFO): DefineArg sink:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-04-16T02:41:57.376Z,1744771317.376 [sink:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-04-16T02:41:57.381Z,1744771317.381 [sink:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-04-16T02:41:57.413Z,1744771317.413 [sink:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-04-16T02:41:57.428Z,1744771317.428 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-04-16T02:41:57.429Z,1744771317.429 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-04-16T02:41:57.430Z,1744771317.430 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-04-16T02:41:57.454Z,1744771317.454 [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>

2025-04-16T02:41:57.457Z,1744771317.457 [MissionManager](INFO): DefineArg sink:BackseatDriver.EnableBackseat = 0 bool
2025-04-16T02:41:57.460Z,1744771317.460 [sink:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-04-16T02:41:57.463Z,1744771317.463 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-04-16T02:41:57.463Z,1744771317.463 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-04-16T02:41:57.464Z,1744771317.464 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-04-16T02:41:57.573Z,1744771317.573 [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>

2025-04-16T02:41:57.577Z,1744771317.577 [MissionManager](INFO): DefineArg sink:PowerOnly.SampleAll = 0 bool
2025-04-16T02:41:57.578Z,1744771317.578 [MissionManager](INFO): DefineArg sink:PowerOnly.SampleLoad1 = 0 bool
2025-04-16T02:41:57.580Z,1744771317.580 [MissionManager](INFO): DefineArg sink:PowerOnly.SampleLoad2 = 0 bool
2025-04-16T02:41:57.582Z,1744771317.582 [MissionManager](INFO): DefineArg sink:PowerOnly.SampleLoad3 = 0 bool
2025-04-16T02:41:57.585Z,1744771317.585 [MissionManager](INFO): DefineArg sink:PowerOnly.EnabledPowerOnly = 1 bool
2025-04-16T02:41:57.591Z,1744771317.591 [sink:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-04-16T02:41:57.638Z,1744771317.638 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BallastAndTrim.tl
2025-04-16T02:41:57.639Z,1744771317.639 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BallastAndTrim.tl
2025-04-16T02:41:57.648Z,1744771317.648 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BallastAndTrim.tl
2025-04-16T02:41:58.175Z,1744771318.175 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BallastAndTrim.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="BallastAndTrim">
    <DefineArg Name="InsertDepth">
        <Units:meter />
        <Value>25</Value>
    </DefineArg>
    <DefineArg Name="InsertApproachSpeed">
        <Units:meter_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="InsertApproachDepthRate">
        <Units:meter_per_second />
        <Value>0.4</Value>
    </DefineArg>
    <DefineArg Name="InsertApproachPitchLimit">
        <Units:degree />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="InsertApproachSettleTimePreDive">
        <Units:minute />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="InsertApproachDepthTimeout">
        <Units:minute />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="InsertSettleTime">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="EstTimeout">
        <Units:minute />
        <Value>45</Value>
    </DefineArg>
    <DefineArg Name="MinEstTime">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="MassEstErrorBound">
        <Units:millimeter />
        <Value>0.25</Value>
    </DefineArg>
    <DefineArg Name="BuoyEstErrorBound">
        <Units:cubic_centimeter />
        <Value>15</Value>
    </DefineArg>
    <DefineArg Name="EstConfidence">
        <Units:percent />
        <Value>99.9</Value>
    </DefineArg>
    <DefineArg Name="InsertDepthDeadband">
        <Units:meter />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="InsertMassDeadband">
        <Units:millimeter />
        <Value>0.25</Value>
    </DefineArg>
    <When>
        <Called />
    </When>
    <Assign>
        <Parallel />
        <Control:VerticalControl.kpPitchMass />
        <Units:ratio />
        <Value>0.005</Value>
    </Assign>
    <Assign>
        <Parallel />
        <Control:VerticalControl.kiPitchMass />
        <Units:reciprocal_second />
        <Value>0.00075</Value>
    </Assign>
    <Assign>
        <Parallel />
        <Control:VerticalControl.kdPitchMass />
        <Units:second />
        <Value>0</Value>
    </Assign>
    <Assign>
        <Parallel />
        <Control:VerticalControl.massDeadband />
        <Arg Name="InsertMassDeadband" />
    </Assign>
    <Assign>
        <Parallel />
        <Control:VerticalControl.depthDeadband />
        <Arg Name="InsertDepthDeadband" />
    </Assign>
    <Syslog Severity="Info">
        Going to target depth. Speed set to 
        <Arg Name="InsertApproachSpeed" />
        <Units:meter_per_second />
    </Syslog>
    <Aggregate Id="GoToTargetDepth">
        <Sequence />
        <Assign>
            <Parallel />
            <Control:VerticalControl.pitchLimit />
            <Arg Name="InsertApproachPitchLimit" />
        </Assign>
        <Aggregate Id="ActuatorHold">
            <While>
                <Arg Name="InsertApproachSpeed" />
                <Gt>
                    <Units:meter_per_second />
                    <Value>0</Value>
                </Gt>
            </While>
            <Guidance:Point>
                <Parallel />
                <Setting>
                    <Guidance:Point.rudderAngle />
                    <Units:degree />
                    <Value>13</Value>
                </Setting>
            </Guidance:Point>
            <Guidance:Buoyancy>
                <Parallel />
                <Setting>
                    <Guidance:Buoyancy.position />
                    <Control:VerticalControl.buoyancyNeutral />
                </Setting>
            </Guidance:Buoyancy>
            <Guidance:Pitch>
                <Parallel />
                <Setting>
                    <Guidance:Pitch.massPosition />
                    <Control:VerticalControl.massDefault />
                </Setting>
            </Guidance:Pitch>
        </Aggregate>
        <Aggregate Id="WaitPreDive">
            <Sequence />
            <Break>
                <Arg Name="InsertApproachSettleTimePreDive" />
                <Le>
                    <Units:minute />
                    <Value>0</Value>
                </Le>
            </Break>
            <Syslog Severity="Info">
                Waiting for 
                <Arg Name="InsertApproachSettleTimePreDive" />
                <Units:minute />
                while pumping down to neutral.
            </Syslog>
            <Guidance:Wait>
                <Sequence />
                <Setting>
                    <Guidance:Wait.duration />
                    <Arg Name="InsertApproachSettleTimePreDive" />
                </Setting>
            </Guidance:Wait>
        </Aggregate>
        <Aggregate Id="ApproachDepth">
            <Sequence />
            <Syslog>
                Moving to 
                <Arg Name="InsertDepth" />
                <Units:meter />
            </Syslog>
            <Guidance:SetSpeed>
                <Parallel />
                <Setting>
                    <Guidance:SetSpeed.speed />
                    <Arg Name="InsertApproachSpeed" />
                </Setting>
            </Guidance:SetSpeed>
            <Guidance:Pitch>
                <Sequence />
                <Timeout Duration="InsertApproachDepthTimeout">
                    <Syslog Severity="Important">
                        Timed out trying to reach the target depth. Stopping mission at current depth of 
                        <Universal:depth />
                        <Units:meter />
                    </Syslog>
                    <Guidance:Execute>
                        <Sequence />
                        <Setting>
                            <Guidance:Execute.command />
                            <String>stop</String>
                        </Setting>
                    </Guidance:Execute>
                </Timeout>
                <Setting>
                    <Guidance:Pitch.depth />
                    <Arg Name="InsertDepth" />
                </Setting>
                <Setting>
                    <Guidance:Pitch.depthRate />
                    <Arg Name="InsertApproachDepthRate" />
                </Setting>
            </Guidance:Pitch>
        </Aggregate>
    </Aggregate>
    <Aggregate Id="BallastAndTrimAtTargetDepth">
        <Sequence />
        <Guidance:SetSpeed>
            <Parallel />
            <Setting>
                <Guidance:SetSpeed.speed />
                <Units:meter_per_second />
                <Value>0</Value>
            </Setting>
        </Guidance:SetSpeed>
        <Guidance:Pitch>
            <Parallel />
            <Setting>
                <Guidance:Pitch.depth />
                <Arg Name="InsertDepth" />
            </Setting>
        </Guidance:Pitch>
        <Syslog Severity="Info">
            Waiting for the vehicle to settle. Depth = 
            <Universal:depth />
            <Units:meter />
        </Syslog>
        <Guidance:Wait>
            <Sequence />
            <Setting>
                <Guidance:Wait.duration />
                <Arg Name="InsertSettleTime" />
            </Setting>
        </Guidance:Wait>
        <Guidance:Execute>
            <Sequence />
            <Setting>
                <Guidance:Execute.command />
                <String>gfscan</String>
            </Setting>
        </Guidance:Execute>
        <Syslog Severity="Info">
            Running ballast and trim. Depth = 
            <Universal:depth />
            <Units:meter />
        </Syslog>
        <Estimation:BallastAndTrim>
            <Sequence />
            <Setting>
                <Estimation:BallastAndTrim.estimationTimeout />
                <Arg Name="EstTimeout" />
            </Setting>
            <Setting>
                <Estimation:BallastAndTrim.minEstimationTime />
                <Arg Name="MinEstTime" />
            </Setting>
            <Setting>
                <Estimation:BallastAndTrim.massErrorBound />
                <Arg Name="MassEstErrorBound" />
            </Setting>
            <Setting>
                <Estimation:BallastAndTrim.buoyErrorBound />
                <Arg Name="BuoyEstErrorBound" />
            </Setting>
            <Setting>
                <Estimation:BallastAndTrim.confidenceLevel />
                <Arg Name="EstConfidence" />
            </Setting>
        </Estimation:BallastAndTrim>
    </Aggregate>
</Aggregate>

2025-04-16T02:41:58.181Z,1744771318.181 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertDepth = 25.000000 m
2025-04-16T02:41:58.184Z,1744771318.184 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertApproachSpeed = 0.000000 m/s
2025-04-16T02:41:58.186Z,1744771318.186 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertApproachDepthRate = 0.400000 m/s
2025-04-16T02:41:58.188Z,1744771318.188 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertApproachPitchLimit = 20.000000 arcdeg
2025-04-16T02:41:58.195Z,1744771318.195 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertApproachSettleTimePreDive = 0.000000 min
2025-04-16T02:41:58.197Z,1744771318.197 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertApproachDepthTimeout = 20.000000 min
2025-04-16T02:41:58.199Z,1744771318.199 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertSettleTime = 10.000000 min
2025-04-16T02:41:58.202Z,1744771318.202 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.EstTimeout = 45.000000 min
2025-04-16T02:41:58.204Z,1744771318.204 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.MinEstTime = 10.000000 min
2025-04-16T02:41:58.206Z,1744771318.206 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.MassEstErrorBound = 0.250000 mm
2025-04-16T02:41:58.208Z,1744771318.208 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.BuoyEstErrorBound = 15.000000 cc
2025-04-16T02:41:58.211Z,1744771318.211 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.EstConfidence = 99.900002 %
2025-04-16T02:41:58.213Z,1744771318.213 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertDepthDeadband = 1.000000 m
2025-04-16T02:41:58.217Z,1744771318.217 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertMassDeadband = 0.250000 mm
2025-04-16T02:41:58.250Z,1744771318.250 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point](DEBUG): Construct.
2025-04-16T02:41:58.269Z,1744771318.269 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy](DEBUG): Construct Buoyancy.
2025-04-16T02:41:58.275Z,1744771318.275 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch](DEBUG): Construct.
2025-04-16T02:41:58.287Z,1744771318.287 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait](DEBUG): Construct Wait.
2025-04-16T02:41:58.294Z,1744771318.294 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed](DEBUG): Construct.
2025-04-16T02:41:58.297Z,1744771318.297 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch](DEBUG): Construct.
2025-04-16T02:41:58.319Z,1744771318.319 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2025-04-16T02:41:58.323Z,1744771318.323 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed](DEBUG): Construct.
2025-04-16T02:41:58.341Z,1744771318.341 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch](DEBUG): Construct.
2025-04-16T02:41:58.355Z,1744771318.355 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait](DEBUG): Construct Wait.
2025-04-16T02:41:58.357Z,1744771318.357 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:E.Execute](DEBUG): Construct Execute.
2025-04-16T02:41:58.360Z,1744771318.360 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](DEBUG): Construct BallastAndTrim.
2025-04-16T02:41:58.366Z,1744771318.366 [MissionManager](INFO): RedefineArg sink:RunSink:BallastAndTrim.InsertDepthDeadband = reader:sink.DepthDeadband
2025-04-16T02:41:58.368Z,1744771318.368 [MissionManager](INFO): RedefineArg sink:RunSink:BallastAndTrim.InsertApproachDepthTimeout = reader:sink.TargetDepthTimeout
2025-04-16T02:41:58.369Z,1744771318.369 [MissionManager](INFO): RedefineArg sink:RunSink:BallastAndTrim.InsertSettleTime = reader:sink.BTSettleTime
2025-04-16T02:41:58.371Z,1744771318.371 [MissionManager](INFO): RedefineArg sink:RunSink:BallastAndTrim.EstTimeout = reader:sink.EstimationTimeout
2025-04-16T02:41:58.372Z,1744771318.372 [MissionManager](INFO): RedefineArg sink:RunSink:BallastAndTrim.MinEstTime = reader:sink.MinEstimationTime
2025-04-16T02:41:58.374Z,1744771318.374 [MissionManager](INFO): RedefineArg sink:RunSink:BallastAndTrim.MassEstErrorBound = reader:sink.MassEstimationErrorBound
2025-04-16T02:41:58.375Z,1744771318.375 [MissionManager](INFO): RedefineArg sink:RunSink:BallastAndTrim.BuoyEstErrorBound = reader:sink.BuoyEstimationErrorBound
2025-04-16T02:41:58.377Z,1744771318.377 [MissionManager](INFO): RedefineArg sink:RunSink:BallastAndTrim.EstConfidence = reader:sink.EstimationConfidence
2025-04-16T02:41:58.440Z,1744771318.440 [sink:FloatUp:A.Buoyancy](DEBUG): Construct Buoyancy.
2025-04-16T02:41:58.442Z,1744771318.442 [sink:FloatUp:B.Wait](DEBUG): Construct Wait.
2025-04-16T02:41:58.570Z,1744771318.570 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

  output {
    MissionTimeout = SinkDuration
  }

  timeout duration=MissionTimeout

  assign in sequence MissionTimeout = SinkDuration + WaitToFloat

  insert Insert/Science.tl

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

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

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

  aggregate startComms {
    run in sequence

    break if ( SkipComms )

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

  aggregate RunSink {
    run in sequence

    timeout duration=SinkDuration

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

    aggregate RunBallastAndTrim {
      run in sequence

      break if (
        isNaN ( Depth )
        or not DoBallastAndTrim
      )

      assign in sequence BallastAndTrim:InsertDepth = Depth

      call refId="BallastAndTrim"
    }

    aggregate JustSink {
      run in sequence

      break if (
        isNaN ( Depth )
        or DoBallastAndTrim
      )

      assign in sequence BallastAndTrim:InsertDepth = Depth

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

      call refId="BallastAndTrim"
    }
  }

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

    run in sequence

    break if ( Universal:depth < SurfaceThreshold )

    behavior Guidance:Buoyancy {
      run in parallel

      set position = Control:VerticalControl.buoyancyDefault
    }

    behavior Guidance:Wait {
      run in sequence

      set duration = WaitToFloat
    }
  }

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


2025-04-16T02:41:58.571Z,1744771318.571 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/sink.tl id=sink
2025-04-16T02:42:08.304Z,1744771328.304 [CommandExec](IMPORTANT): got command set sink.SinkDuration 25 minute
2025-04-16T02:42:08.305Z,1744771328.305 [CommandExec](IMPORTANT): got command set sink.WaitToFloat 25 minute
2025-04-16T02:42:08.306Z,1744771328.306 [CommandExec](IMPORTANT): got command set sink.Depth 30 meter
2025-04-16T02:42:08.306Z,1744771328.306 [CommandExec](IMPORTANT): got command set sink.MaxDepth 40 meter
2025-04-16T02:42:08.307Z,1744771328.307 [CommandExec](IMPORTANT): got command run
2025-04-16T02:42:08.309Z,1744771328.309 [CommandExec](IMPORTANT): Running 
2025-04-16T02:42:08.546Z,1744771328.546 [Default] Stopped
2025-04-16T02:42:08.546Z,1744771328.546 [Default](DEBUG): Aggregate::uninitialize Default
2025-04-16T02:42:08.546Z,1744771328.546 [Default:B.GoToSurface] Stopped
2025-04-16T02:42:08.546Z,1744771328.546 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-04-16T02:42:08.546Z,1744771328.546 [Default:CheckIn] Stopped
2025-04-16T02:42:08.546Z,1744771328.546 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-04-16T02:42:08.546Z,1744771328.546 [Default:CheckIn:C.Wait] Stopped
2025-04-16T02:42:08.547Z,1744771328.547 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-04-16T02:42:08.547Z,1744771328.547 [MissionManager](IMPORTANT): Started mission sink
2025-04-16T02:42:08.547Z,1744771328.547 [sink] Running Loop=1
2025-04-16T02:42:08.549Z,1744771328.549 [sink](DEBUG): Aggregate::initialize sink
2025-04-16T02:42:08.549Z,1744771328.549 [sink:Science] Running Loop=1
2025-04-16T02:42:08.549Z,1744771328.549 [sink:Science](DEBUG): Aggregate::initialize sink:Science
2025-04-16T02:42:08.549Z,1744771328.549 [sink:Science:A] Running Loop=1
2025-04-16T02:42:08.549Z,1744771328.549 [sink:Science:B] Running Loop=1
2025-04-16T02:42:08.549Z,1744771328.549 [sink:Science:C] Running Loop=1
2025-04-16T02:42:08.549Z,1744771328.549 [sink:Science:D] Running Loop=1
2025-04-16T02:42:08.549Z,1744771328.549 [sink:Science:E] Running Loop=1
2025-04-16T02:42:08.549Z,1744771328.549 [sink:Science:F] Running Loop=1
2025-04-16T02:42:08.549Z,1744771328.549 [sink:Science:Read_Oil] Running Loop=1
2025-04-16T02:42:08.549Z,1744771328.549 [sink:Science:PeakDetectChl] Running Loop=1
2025-04-16T02:42:08.549Z,1744771328.549 [sink:Science:PeakDetectChl](DEBUG): Aggregate::initialize sink:Science:PeakDetectChl
2025-04-16T02:42:08.550Z,1744771328.550 [sink:Science:PeakDetectChl:A] Running Loop=1
2025-04-16T02:42:08.550Z,1744771328.550 [sink:Science:EdgeDetectChl] Running Loop=1
2025-04-16T02:42:08.550Z,1744771328.550 [sink:Science:EdgeDetectChl](DEBUG): Aggregate::initialize sink:Science:EdgeDetectChl
2025-04-16T02:42:08.550Z,1744771328.550 [sink:Science:EdgeDetectChl:A] Running Loop=1
2025-04-16T02:42:08.550Z,1744771328.550 [sink:Science:HighestChlPeakReport] Running Loop=1
2025-04-16T02:42:08.550Z,1744771328.550 [sink:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize sink:Science:HighestChlPeakReport
2025-04-16T02:42:08.550Z,1744771328.550 [sink:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-04-16T02:42:08.550Z,1744771328.550 [sink:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-04-16T02:42:08.551Z,1744771328.551 [sink:Science:PeakDetectNO3] Running Loop=1
2025-04-16T02:42:08.551Z,1744771328.551 [sink:Science:PeakDetectNO3](DEBUG): Aggregate::initialize sink:Science:PeakDetectNO3
2025-04-16T02:42:08.551Z,1744771328.551 [sink:Science:PeakDetectNO3:A] Running Loop=1
2025-04-16T02:42:08.551Z,1744771328.551 [sink:Science:PeakDetectOil] Running Loop=1
2025-04-16T02:42:08.551Z,1744771328.551 [sink:Science:PeakDetectOil](DEBUG): Aggregate::initialize sink:Science:PeakDetectOil
2025-04-16T02:42:08.551Z,1744771328.551 [sink:Science:PeakDetectOil:A] Running Loop=1
2025-04-16T02:42:08.552Z,1744771328.552 [sink:Science:HighestOilPeakReport] Running Loop=1
2025-04-16T02:42:08.552Z,1744771328.552 [sink:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize sink:Science:HighestOilPeakReport
2025-04-16T02:42:08.552Z,1744771328.552 [sink:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-04-16T02:42:08.552Z,1744771328.552 [sink:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-04-16T02:42:08.552Z,1744771328.552 [sink:Science:PeakDetectFDOM] Running Loop=1
2025-04-16T02:42:08.552Z,1744771328.552 [sink:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize sink:Science:PeakDetectFDOM
2025-04-16T02:42:08.553Z,1744771328.553 [sink:Science:PeakDetectFDOM:A] Running Loop=1
2025-04-16T02:42:08.553Z,1744771328.553 [sink:Science:PeakDetectSalinity] Running Loop=1
2025-04-16T02:42:08.553Z,1744771328.553 [sink:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize sink:Science:PeakDetectSalinity
2025-04-16T02:42:08.553Z,1744771328.553 [sink:Science:PeakDetectSalinity:A] Running Loop=1
2025-04-16T02:42:08.553Z,1744771328.553 [sink:Science:HighestSaltPeakReport] Running Loop=1
2025-04-16T02:42:08.553Z,1744771328.553 [sink:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize sink:Science:HighestSaltPeakReport
2025-04-16T02:42:08.553Z,1744771328.553 [sink:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-04-16T02:42:08.553Z,1744771328.553 [sink:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-04-16T02:42:08.554Z,1744771328.554 [sink:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-04-16T02:42:08.554Z,1744771328.554 [sink:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize sink:Science:PeakDetectPlanktivoreLMavgROI
2025-04-16T02:42:08.554Z,1744771328.554 [sink:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-04-16T02:42:08.554Z,1744771328.554 [sink:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2025-04-16T02:42:08.554Z,1744771328.554 [sink:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize sink:Science:EdgeDetectPlanktivoreLMavgROI
2025-04-16T02:42:08.554Z,1744771328.554 [sink:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-04-16T02:42:08.554Z,1744771328.554 [sink:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-04-16T02:42:08.554Z,1744771328.554 [sink:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize sink:Science:PeakDetectPlanktivoreHMavgROI
2025-04-16T02:42:08.554Z,1744771328.554 [sink:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-04-16T02:42:08.555Z,1744771328.555 [sink:Science:EdgeDetectPlanktivoreHMavgROI] Running Loop=1
2025-04-16T02:42:08.555Z,1744771328.555 [sink:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize sink:Science:EdgeDetectPlanktivoreHMavgROI
2025-04-16T02:42:08.555Z,1744771328.555 [sink:Science:EdgeDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-04-16T02:42:08.555Z,1744771328.555 [sink:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-04-16T02:42:08.555Z,1744771328.555 [sink:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize sink:Science:PeakDetectPlanktivoreDiatoms
2025-04-16T02:42:08.571Z,1744771328.571 [sink:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2025-04-16T02:42:08.571Z,1744771328.571 [sink:Science:EdgeDetectPlanktivoreDiatoms] Running Loop=1
2025-04-16T02:42:08.571Z,1744771328.571 [sink:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize sink:Science:EdgeDetectPlanktivoreDiatoms
2025-04-16T02:42:08.572Z,1744771328.572 [sink:Science:EdgeDetectPlanktivoreDiatoms:A] Running Loop=1
2025-04-16T02:42:08.572Z,1744771328.572 [sink:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-04-16T02:42:08.572Z,1744771328.572 [sink:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize sink:Science:PeakDetectPlanktivoreDinoflagellates
2025-04-16T02:42:08.572Z,1744771328.572 [sink:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-04-16T02:42:08.572Z,1744771328.572 [sink:Science:EdgeDetectPlanktivoreDinoflagellates] Running Loop=1
2025-04-16T02:42:08.572Z,1744771328.572 [sink:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize sink:Science:EdgeDetectPlanktivoreDinoflagellates
2025-04-16T02:42:08.573Z,1744771328.573 [sink:Science:EdgeDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-04-16T02:42:08.573Z,1744771328.573 [sink:Science:ChlThreshTrigger] Running Loop=1
2025-04-16T02:42:08.573Z,1744771328.573 [sink:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize sink:Science:ChlThreshTrigger
2025-04-16T02:42:08.573Z,1744771328.573 [sink:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-04-16T02:42:08.573Z,1744771328.573 [sink:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-04-16T02:42:08.573Z,1744771328.573 [sink:Science:OceanCurrent] Running Loop=1
2025-04-16T02:42:08.573Z,1744771328.573 [sink:Science:OceanCurrent](DEBUG): Aggregate::initialize sink:Science:OceanCurrent
2025-04-16T02:42:08.574Z,1744771328.574 [sink:Science:OceanCurrent:A.] Running Loop=1
2025-04-16T02:42:08.574Z,1744771328.574 [sink:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-04-16T02:42:08.574Z,1744771328.574 [sink:StandardEnvelopes] Running Loop=1
2025-04-16T02:42:08.574Z,1744771328.574 [sink:StandardEnvelopes](DEBUG): Aggregate::initialize sink:StandardEnvelopes
2025-04-16T02:42:08.574Z,1744771328.574 [sink:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-04-16T02:42:08.574Z,1744771328.574 [sink:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-04-16T02:42:08.574Z,1744771328.574 [sink:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-04-16T02:42:08.574Z,1744771328.574 [sink:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-04-16T02:42:08.574Z,1744771328.574 [sink:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-04-16T02:42:08.574Z,1744771328.574 [sink:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-04-16T02:42:08.575Z,1744771328.575 [sink:BackseatDriver] Running Loop=1
2025-04-16T02:42:08.575Z,1744771328.575 [sink:BackseatDriver](DEBUG): Aggregate::initialize sink:BackseatDriver
2025-04-16T02:42:08.575Z,1744771328.575 [sink:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-04-16T02:42:08.575Z,1744771328.575 [sink:PowerOnly] Running Loop=1
2025-04-16T02:42:08.575Z,1744771328.575 [sink:PowerOnly](DEBUG): Aggregate::initialize sink:PowerOnly
2025-04-16T02:42:08.579Z,1744771328.579 [sink:PowerOnly:A] Running Loop=1
2025-04-16T02:42:08.579Z,1744771328.579 [sink:PowerOnly:B] Running Loop=1
2025-04-16T02:42:08.579Z,1744771328.579 [sink:PowerOnly:C] Running Loop=1
2025-04-16T02:42:08.580Z,1744771328.580 [sink:PowerOnly:D] Running Loop=1
2025-04-16T02:42:08.580Z,1744771328.580 [sink:PowerOnly:E.Wait] Running Loop=1
2025-04-16T02:42:08.580Z,1744771328.580 [sink:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-04-16T02:42:08.580Z,1744771328.580 [sink:A] Running Loop=1
2025-04-16T02:42:08.581Z,1744771328.581 [sink:PowerOnly] Running Loop=1
2025-04-16T02:42:08.581Z,1744771328.581 [sink:PowerOnly:D] Stopped
2025-04-16T02:42:08.581Z,1744771328.581 [sink:PowerOnly:C] Stopped
2025-04-16T02:42:08.581Z,1744771328.581 [sink:PowerOnly:B] Stopped
2025-04-16T02:42:08.581Z,1744771328.581 [sink:PowerOnly:A] Stopped
2025-04-16T02:42:08.581Z,1744771328.581 [sink:BackseatDriver] Running Loop=1
2025-04-16T02:42:08.581Z,1744771328.581 [sink:StandardEnvelopes] Running Loop=1
2025-04-16T02:42:08.582Z,1744771328.582 [sink:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-04-16T02:42:08.582Z,1744771328.582 [sink:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-04-16T02:42:08.582Z,1744771328.582 [sink:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-04-16T02:42:08.582Z,1744771328.582 [sink:Science] Running Loop=1
2025-04-16T02:42:08.588Z,1744771328.588 [sink:Science:ChlThreshTrigger] Stopped
2025-04-16T02:42:08.588Z,1744771328.588 [sink:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize sink:Science:ChlThreshTrigger
2025-04-16T02:42:08.589Z,1744771328.589 [sink:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-04-16T02:42:08.589Z,1744771328.589 [sink:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-04-16T02:42:08.589Z,1744771328.589 [sink:Science:EdgeDetectPlanktivoreDinoflagellates] Stopped
2025-04-16T02:42:08.589Z,1744771328.589 [sink:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize sink:Science:EdgeDetectPlanktivoreDinoflagellates
2025-04-16T02:42:08.589Z,1744771328.589 [sink:Science:EdgeDetectPlanktivoreDinoflagellates:A] Stopped
2025-04-16T02:42:08.589Z,1744771328.589 [sink:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-04-16T02:42:08.589Z,1744771328.589 [sink:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize sink:Science:PeakDetectPlanktivoreDinoflagellates
2025-04-16T02:42:08.589Z,1744771328.589 [sink:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2025-04-16T02:42:08.589Z,1744771328.589 [sink:Science:EdgeDetectPlanktivoreDiatoms] Stopped
2025-04-16T02:42:08.589Z,1744771328.589 [sink:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize sink:Science:EdgeDetectPlanktivoreDiatoms
2025-04-16T02:42:08.589Z,1744771328.589 [sink:Science:EdgeDetectPlanktivoreDiatoms:A] Stopped
2025-04-16T02:42:08.589Z,1744771328.589 [sink:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-04-16T02:42:08.589Z,1744771328.589 [sink:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize sink:Science:PeakDetectPlanktivoreDiatoms
2025-04-16T02:42:08.590Z,1744771328.590 [sink:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2025-04-16T02:42:08.590Z,1744771328.590 [sink:Science:EdgeDetectPlanktivoreHMavgROI] Stopped
2025-04-16T02:42:08.590Z,1744771328.590 [sink:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize sink:Science:EdgeDetectPlanktivoreHMavgROI
2025-04-16T02:42:08.590Z,1744771328.590 [sink:Science:EdgeDetectPlanktivoreHMavgROI:A] Stopped
2025-04-16T02:42:08.590Z,1744771328.590 [sink:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-04-16T02:42:08.590Z,1744771328.590 [sink:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize sink:Science:PeakDetectPlanktivoreHMavgROI
2025-04-16T02:42:08.590Z,1744771328.590 [sink:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2025-04-16T02:42:08.590Z,1744771328.590 [sink:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2025-04-16T02:42:08.590Z,1744771328.590 [sink:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize sink:Science:EdgeDetectPlanktivoreLMavgROI
2025-04-16T02:42:08.590Z,1744771328.590 [sink:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2025-04-16T02:42:08.590Z,1744771328.590 [sink:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-04-16T02:42:08.590Z,1744771328.590 [sink:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize sink:Science:PeakDetectPlanktivoreLMavgROI
2025-04-16T02:42:08.590Z,1744771328.590 [sink:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2025-04-16T02:42:08.590Z,1744771328.590 [sink:Science:HighestSaltPeakReport] Stopped
2025-04-16T02:42:08.591Z,1744771328.591 [sink:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize sink:Science:HighestSaltPeakReport
2025-04-16T02:42:08.591Z,1744771328.591 [sink:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-04-16T02:42:08.591Z,1744771328.591 [sink:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-04-16T02:42:08.591Z,1744771328.591 [sink:Science:PeakDetectSalinity] Stopped
2025-04-16T02:42:08.591Z,1744771328.591 [sink:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize sink:Science:PeakDetectSalinity
2025-04-16T02:42:08.591Z,1744771328.591 [sink:Science:PeakDetectSalinity:A] Stopped
2025-04-16T02:42:08.594Z,1744771328.594 [sink:Science:PeakDetectFDOM] Stopped
2025-04-16T02:42:08.594Z,1744771328.594 [sink:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize sink:Science:PeakDetectFDOM
2025-04-16T02:42:08.594Z,1744771328.594 [sink:Science:PeakDetectFDOM:A] Stopped
2025-04-16T02:42:08.594Z,1744771328.594 [sink:Science:HighestOilPeakReport] Stopped
2025-04-16T02:42:08.594Z,1744771328.594 [sink:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize sink:Science:HighestOilPeakReport
2025-04-16T02:42:08.594Z,1744771328.594 [sink:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-04-16T02:42:08.594Z,1744771328.594 [sink:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-04-16T02:42:08.594Z,1744771328.594 [sink:Science:PeakDetectOil] Stopped
2025-04-16T02:42:08.594Z,1744771328.594 [sink:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize sink:Science:PeakDetectOil
2025-04-16T02:42:08.594Z,1744771328.594 [sink:Science:PeakDetectOil:A] Stopped
2025-04-16T02:42:08.594Z,1744771328.594 [sink:Science:PeakDetectNO3] Stopped
2025-04-16T02:42:08.594Z,1744771328.594 [sink:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize sink:Science:PeakDetectNO3
2025-04-16T02:42:08.595Z,1744771328.595 [sink:Science:PeakDetectNO3:A] Stopped
2025-04-16T02:42:08.595Z,1744771328.595 [sink:Science:HighestChlPeakReport] Stopped
2025-04-16T02:42:08.595Z,1744771328.595 [sink:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize sink:Science:HighestChlPeakReport
2025-04-16T02:42:08.595Z,1744771328.595 [sink:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-04-16T02:42:08.595Z,1744771328.595 [sink:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-04-16T02:42:08.595Z,1744771328.595 [sink:Science:EdgeDetectChl] Stopped
2025-04-16T02:42:08.595Z,1744771328.595 [sink:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize sink:Science:EdgeDetectChl
2025-04-16T02:42:08.603Z,1744771328.603 [sink:Science:EdgeDetectChl:A] Stopped
2025-04-16T02:42:08.603Z,1744771328.603 [sink:Science:PeakDetectChl] Stopped
2025-04-16T02:42:08.604Z,1744771328.604 [sink:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize sink:Science:PeakDetectChl
2025-04-16T02:42:08.604Z,1744771328.604 [sink:Science:PeakDetectChl:A] Stopped
2025-04-16T02:42:08.604Z,1744771328.604 [sink:Science:OceanCurrent:A.] Running Loop=1
2025-04-16T02:42:08.604Z,1744771328.604 [sink:Science:Read_Oil] Stopped
2025-04-16T02:42:08.604Z,1744771328.604 [sink:Science:F] Stopped
2025-04-16T02:42:08.604Z,1744771328.604 [sink:Science:E] Running Loop=1
2025-04-16T02:42:08.604Z,1744771328.604 [sink:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2025-04-16T02:42:08.605Z,1744771328.605 [sink:Science:D] Stopped
2025-04-16T02:42:08.605Z,1744771328.605 [sink:Science:C] Running Loop=1
2025-04-16T02:42:08.605Z,1744771328.605 [sink:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2025-04-16T02:42:08.606Z,1744771328.606 [sink:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2025-04-16T02:42:08.606Z,1744771328.606 [sink:Science:B] Running Loop=1
2025-04-16T02:42:08.606Z,1744771328.606 [sink:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2025-04-16T02:42:08.607Z,1744771328.607 [sink:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2025-04-16T02:42:08.607Z,1744771328.607 [sink:Science:A] Stopped
2025-04-16T02:42:08.610Z,1744771328.610 [sink:A] Stopped
2025-04-16T02:42:08.610Z,1744771328.610 [sink:D] Running Loop=1
2025-04-16T02:42:08.741Z,1744771328.741 [WetLabsBB2FL](INFO): Powering up
2025-04-16T02:42:08.956Z,1744771328.956 [sink:D] Stopped
2025-04-16T02:42:08.956Z,1744771328.956 [sink:F] Running Loop=1
2025-04-16T02:42:09.357Z,1744771329.357 [sink:F] Stopped
2025-04-16T02:42:09.357Z,1744771329.357 [sink:G] Running Loop=1
2025-04-16T02:42:09.755Z,1744771329.755 [sink:G] Stopped
2025-04-16T02:42:09.755Z,1744771329.755 [sink:H] Running Loop=1
2025-04-16T02:42:10.162Z,1744771330.162 [sink:H] Stopped
2025-04-16T02:42:10.162Z,1744771330.162 [sink:startComms] Running Loop=1
2025-04-16T02:42:10.162Z,1744771330.162 [sink:startComms](DEBUG): Aggregate::initialize sink:startComms
2025-04-16T02:42:10.162Z,1744771330.162 [sink:startComms:StartingMission] Running Loop=1
2025-04-16T02:42:10.162Z,1744771330.162 [sink:startComms:StartingMission](DEBUG): Aggregate::initialize sink:startComms:StartingMission
2025-04-16T02:42:10.163Z,1744771330.163 [sink:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2025-04-16T02:42:10.569Z,1744771330.569 [sink:NeedComms] Running Loop=1
2025-04-16T02:42:10.569Z,1744771330.569 [sink:NeedComms](DEBUG): Aggregate::initialize sink:NeedComms
2025-04-16T02:42:10.569Z,1744771330.569 [sink:NeedComms:B.GoToSurface] Running Loop=1
2025-04-16T02:42:10.569Z,1744771330.569 [sink:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-04-16T02:42:10.570Z,1744771330.570 [sink:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-04-16T02:42:10.570Z,1744771330.570 [sink:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-04-16T02:42:10.570Z,1744771330.570 [sink:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-04-16T02:42:10.571Z,1744771330.571 [sink:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-04-16T02:42:10.571Z,1744771330.571 [sink:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-04-16T02:42:10.572Z,1744771330.572 [sink:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-04-16T02:42:10.572Z,1744771330.572 [sink:NeedComms:A] Running Loop=1
2025-04-16T02:42:10.573Z,1744771330.573 [sink:NeedComms:A](INFO): last time_fix was:  1744771143.000000 second since 1970/01/01T00:00:00Z 
2025-04-16T02:42:10.573Z,1744771330.573 [sink:NeedComms:A] Stopped
2025-04-16T02:42:10.980Z,1744771330.980 [sink:NeedComms:C] Running Loop=1
2025-04-16T02:42:11.374Z,1744771331.374 [sink:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-04-16T02:42:12.197Z,1744771332.197 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2025-04-16T02:42:12.981Z,1744771332.981 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,024213.00,A,3647.83989,N,12150.73344,W,0.583,314.76,160425,,,D*77
2025-04-16T02:42:12.983Z,1744771332.983 [NAL9602](INFO): GPS fix at 20250416T024213: (36.797331, -121.845557)
2025-04-16T02:42:13.016Z,1744771333.016 [sink:NeedComms:C] Stopped
2025-04-16T02:42:13.016Z,1744771333.016 [sink:NeedComms:D] Running Loop=1
2025-04-16T02:42:13.440Z,1744771333.440 [sink:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-04-16T02:42:17.604Z,1744771337.604 [DataOverHttps](INFO): Sending 76 bytes from file Logs/20250416T014222/Courier0043.lzma
2025-04-16T02:42:18.201Z,1744771338.201 [DataOverHttps](INFO): Moved sent file to Logs/20250416T014222/Courier0043.lzma.bak
2025-04-16T02:42:18.201Z,1744771338.201 [DataOverHttps](INFO): SBD MOMSN=24670233
2025-04-16T02:42:30.964Z,1744771350.964 [NAL9602](INFO): SBD MO Status=0, MOMSN=19534, MT Status=0, MTMSN=0
2025-04-16T02:42:30.965Z,1744771350.965 [NAL9602](INFO): No messages in MT queue
2025-04-16T02:42:37.196Z,1744771357.196 [DataOverHttps](INFO): Sending 333 bytes from file Logs/20250416T014222/Express0044.lzma
2025-04-16T02:42:38.197Z,1744771358.197 [DataOverHttps](INFO): Moved sent file to Logs/20250416T014222/Express0044.lzma.bak
2025-04-16T02:42:38.198Z,1744771358.198 [DataOverHttps](INFO): SBD MOMSN=24670236
2025-04-16T02:42:54.491Z,1744771374.491 [DataOverHttps](INFO): Sending 79 bytes from file Logs/20250416T014222/Express0047.lzma
2025-04-16T02:42:55.493Z,1744771375.493 [DataOverHttps](INFO): Moved sent file to Logs/20250416T014222/Express0047.lzma.bak
2025-04-16T02:42:55.493Z,1744771375.493 [DataOverHttps](INFO): SBD MOMSN=24670248
2025-04-16T02:42:56.796Z,1744771376.796 [sink:NeedComms:D] Stopped
2025-04-16T02:42:56.796Z,1744771376.796 [sink:NeedComms:E] Running Loop=1
2025-04-16T02:42:57.245Z,1744771377.245 [sink:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-04-16T02:42:58.806Z,1744771378.806 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,024259.00,A,3647.84549,N,12150.73317,W,0.778,41.95,160425,,,D*40
2025-04-16T02:42:58.813Z,1744771378.813 [NAL9602](INFO): GPS fix at 20250416T024259: (36.797425, -121.845553)
2025-04-16T02:42:58.862Z,1744771378.862 [sink:NeedComms:E] Stopped
2025-04-16T02:42:58.863Z,1744771378.863 [sink:NeedComms](INFO): Completed sink:NeedComms
2025-04-16T02:42:58.863Z,1744771378.863 [sink:NeedComms] Stopped
2025-04-16T02:42:58.867Z,1744771378.867 [sink:NeedComms](DEBUG): Aggregate::uninitialize sink:NeedComms
2025-04-16T02:42:58.867Z,1744771378.867 [sink:NeedComms:B.GoToSurface] Stopped
2025-04-16T02:42:58.867Z,1744771378.867 [sink:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-04-16T02:42:59.248Z,1744771379.248 [sink:startComms:StartingMission](INFO): Completed sink:startComms:StartingMission
2025-04-16T02:42:59.249Z,1744771379.249 [sink:startComms:StartingMission] Stopped
2025-04-16T02:42:59.249Z,1744771379.249 [sink:startComms:StartingMission](DEBUG): Aggregate::uninitialize sink:startComms:StartingMission
2025-04-16T02:42:59.249Z,1744771379.249 [sink:startComms](INFO): Completed sink:startComms
2025-04-16T02:42:59.249Z,1744771379.249 [sink:startComms] Stopped
2025-04-16T02:42:59.249Z,1744771379.249 [sink:startComms](DEBUG): Aggregate::uninitialize sink:startComms
2025-04-16T02:42:59.249Z,1744771379.249 [sink:RunSink] Running Loop=1
2025-04-16T02:42:59.249Z,1744771379.249 [sink:RunSink](DEBUG): Aggregate::initialize sink:RunSink
2025-04-16T02:42:59.249Z,1744771379.249 [sink:RunSink:RunBallastAndTrim] Running Loop=1
2025-04-16T02:42:59.249Z,1744771379.249 [sink:RunSink:RunBallastAndTrim](DEBUG): Aggregate::initialize sink:RunSink:RunBallastAndTrim
2025-04-16T02:42:59.250Z,1744771379.250 [sink:RunSink:RunBallastAndTrim:A] Running Loop=1
2025-04-16T02:42:59.645Z,1744771379.645 [sink:RunSink:RunBallastAndTrim] Stopped
2025-04-16T02:42:59.645Z,1744771379.645 [sink:RunSink:RunBallastAndTrim](DEBUG): Aggregate::uninitialize sink:RunSink:RunBallastAndTrim
2025-04-16T02:42:59.645Z,1744771379.645 [sink:RunSink:RunBallastAndTrim:A] Stopped
2025-04-16T02:42:59.645Z,1744771379.645 [sink:RunSink:JustSink] Running Loop=1
2025-04-16T02:42:59.646Z,1744771379.646 [sink:RunSink:JustSink](DEBUG): Aggregate::initialize sink:RunSink:JustSink
2025-04-16T02:42:59.646Z,1744771379.646 [sink:RunSink:JustSink:A] Running Loop=1
2025-04-16T02:43:00.060Z,1744771380.060 [sink:RunSink:JustSink:A] Stopped
2025-04-16T02:43:00.060Z,1744771380.060 [sink:RunSink:JustSink:B] Running Loop=1
2025-04-16T02:43:00.486Z,1744771380.486 [sink:RunSink:JustSink:B] Stopped
2025-04-16T02:43:00.486Z,1744771380.486 [sink:RunSink:JustSink:C] Running Loop=1
2025-04-16T02:43:00.486Z,1744771380.486 [sink:RunSink:JustSink:C](DEBUG): Aggregate::initialize sink:RunSink:JustSink:C
2025-04-16T02:43:00.851Z,1744771380.851 [sink:RunSink:BallastAndTrim] Running Loop=1
2025-04-16T02:43:00.851Z,1744771380.851 [sink:RunSink:BallastAndTrim](DEBUG): Aggregate::initialize sink:RunSink:BallastAndTrim
2025-04-16T02:43:00.852Z,1744771380.852 [sink:RunSink:BallastAndTrim:A] Running Loop=1
2025-04-16T02:43:00.852Z,1744771380.852 [sink:RunSink:BallastAndTrim:B] Running Loop=1
2025-04-16T02:43:00.852Z,1744771380.852 [sink:RunSink:BallastAndTrim:C] Running Loop=1
2025-04-16T02:43:00.852Z,1744771380.852 [sink:RunSink:BallastAndTrim:D] Running Loop=1
2025-04-16T02:43:00.852Z,1744771380.852 [sink:RunSink:BallastAndTrim:E] Running Loop=1
2025-04-16T02:43:00.852Z,1744771380.852 [sink:RunSink:BallastAndTrim:F] Running Loop=1
2025-04-16T02:43:00.854Z,1744771380.854 [sink:RunSink:BallastAndTrim:F](INFO): Going to target depth. Speed set to  0.000000 m/s 
2025-04-16T02:43:00.854Z,1744771380.854 [sink:RunSink:BallastAndTrim:F] Stopped
2025-04-16T02:43:00.854Z,1744771380.854 [sink:RunSink:BallastAndTrim:GoToTargetDepth] Running Loop=1
2025-04-16T02:43:00.854Z,1744771380.854 [sink:RunSink:BallastAndTrim:GoToTargetDepth](DEBUG): Aggregate::initialize sink:RunSink:BallastAndTrim:GoToTargetDepth
2025-04-16T02:43:00.854Z,1744771380.854 [sink:RunSink:BallastAndTrim:GoToTargetDepth:A] Running Loop=1
2025-04-16T02:43:00.855Z,1744771380.855 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold] Running Loop=1
2025-04-16T02:43:00.855Z,1744771380.855 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold](DEBUG): Aggregate::initialize sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold
2025-04-16T02:43:00.855Z,1744771380.855 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point] Running Loop=1
2025-04-16T02:43:00.855Z,1744771380.855 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point](DEBUG): Initialize.
2025-04-16T02:43:00.855Z,1744771380.855 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy] Running Loop=1
2025-04-16T02:43:00.859Z,1744771380.859 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-04-16T02:43:00.859Z,1744771380.859 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch] Running Loop=1
2025-04-16T02:43:00.859Z,1744771380.859 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch](DEBUG): Initialize.
2025-04-16T02:43:00.860Z,1744771380.860 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive] Running Loop=1
2025-04-16T02:43:00.860Z,1744771380.860 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive](DEBUG): Aggregate::initialize sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive
2025-04-16T02:43:00.860Z,1744771380.860 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive:A] Running Loop=1
2025-04-16T02:43:00.860Z,1744771380.860 [sink:RunSink:BallastAndTrim:E] Running Loop=1
2025-04-16T02:43:00.860Z,1744771380.860 [sink:RunSink:BallastAndTrim:D] Running Loop=1
2025-04-16T02:43:00.860Z,1744771380.860 [sink:RunSink:BallastAndTrim:C] Running Loop=1
2025-04-16T02:43:00.861Z,1744771380.861 [sink:RunSink:BallastAndTrim:B] Running Loop=1
2025-04-16T02:43:00.861Z,1744771380.861 [sink:RunSink:BallastAndTrim:A] Running Loop=1
2025-04-16T02:43:01.245Z,1744771381.245 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive:A](INFO): Waiting for  0.000000 min while pumping down to neutral.
2025-04-16T02:43:01.245Z,1744771381.245 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive:A] Stopped
2025-04-16T02:43:01.245Z,1744771381.245 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait] Running Loop=1
2025-04-16T02:43:01.246Z,1744771381.246 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait](DEBUG): Initialize Wait Component.
2025-04-16T02:43:01.246Z,1744771381.246 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold] Stopped
2025-04-16T02:43:01.246Z,1744771381.246 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold](DEBUG): Aggregate::uninitialize sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold
2025-04-16T02:43:01.246Z,1744771381.246 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point] Stopped
2025-04-16T02:43:01.246Z,1744771381.246 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy] Stopped
2025-04-16T02:43:01.246Z,1744771381.246 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-04-16T02:43:01.246Z,1744771381.246 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch] Stopped
2025-04-16T02:43:01.246Z,1744771381.246 [sink:RunSink:BallastAndTrim:GoToTargetDepth:A] Running Loop=1
2025-04-16T02:43:01.696Z,1744771381.696 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait](INFO): Done Waiting.
2025-04-16T02:43:01.696Z,1744771381.696 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait] Stopped
2025-04-16T02:43:01.696Z,1744771381.696 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait](DEBUG): Uninitialize Wait Component.
2025-04-16T02:43:01.696Z,1744771381.696 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive](INFO): Completed sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive
2025-04-16T02:43:01.696Z,1744771381.696 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive] Stopped
2025-04-16T02:43:01.696Z,1744771381.696 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive](DEBUG): Aggregate::uninitialize sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive
2025-04-16T02:43:01.696Z,1744771381.696 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth] Running Loop=1
2025-04-16T02:43:01.697Z,1744771381.697 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth](DEBUG): Aggregate::initialize sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth
2025-04-16T02:43:01.697Z,1744771381.697 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed] Running Loop=1
2025-04-16T02:43:01.697Z,1744771381.697 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed](DEBUG): Initialize.
2025-04-16T02:43:01.697Z,1744771381.697 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:A] Running Loop=1
2025-04-16T02:43:02.058Z,1744771382.058 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed] Running Loop=1
2025-04-16T02:43:02.058Z,1744771382.058 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:A](INFO): Moving to  30.000000 m 
2025-04-16T02:43:02.058Z,1744771382.058 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:A] Stopped
2025-04-16T02:43:02.059Z,1744771382.059 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch] Running Loop=1
2025-04-16T02:43:02.059Z,1744771382.059 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch](DEBUG): Initialize.
2025-04-16T02:43:31.141Z,1744771411.141 [NAL9602](INFO): Not Powering down - fast GPS
2025-04-16T02:46:00.216Z,1744771560.216 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-16T02:46:31.340Z,1744771591.340 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-16T02:47:02.472Z,1744771622.472 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-16T02:47:08.867Z,1744771628.867 [Radio_Surface](INFO): Powering down
2025-04-16T02:47:33.596Z,1744771653.596 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-16T02:47:34.600Z,1744771654.600 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-04-16T02:48:07.733Z,1744771687.733 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.740219
2025-04-16T02:55:33.539Z,1744772133.539 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch] Stopped
2025-04-16T02:55:33.540Z,1744772133.540 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth](INFO): Completed sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth
2025-04-16T02:55:33.540Z,1744772133.540 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth] Stopped
2025-04-16T02:55:33.540Z,1744772133.540 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth](DEBUG): Aggregate::uninitialize sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth
2025-04-16T02:55:33.540Z,1744772133.540 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed] Stopped
2025-04-16T02:55:33.540Z,1744772133.540 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed](DEBUG): Uninitialize.
2025-04-16T02:55:33.541Z,1744772133.541 [sink:RunSink:BallastAndTrim:GoToTargetDepth](INFO): Completed sink:RunSink:BallastAndTrim:GoToTargetDepth
2025-04-16T02:55:33.541Z,1744772133.541 [sink:RunSink:BallastAndTrim:GoToTargetDepth] Stopped
2025-04-16T02:55:33.541Z,1744772133.541 [sink:RunSink:BallastAndTrim:GoToTargetDepth](DEBUG): Aggregate::uninitialize sink:RunSink:BallastAndTrim:GoToTargetDepth
2025-04-16T02:55:33.541Z,1744772133.541 [sink:RunSink:BallastAndTrim:GoToTargetDepth:A] Stopped
2025-04-16T02:55:33.541Z,1744772133.541 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth] Running Loop=1
2025-04-16T02:55:33.541Z,1744772133.541 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth](DEBUG): Aggregate::initialize sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth
2025-04-16T02:55:33.541Z,1744772133.541 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed] Running Loop=1
2025-04-16T02:55:33.541Z,1744772133.541 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed](DEBUG): Initialize.
2025-04-16T02:55:33.541Z,1744772133.541 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch] Running Loop=1
2025-04-16T02:55:33.541Z,1744772133.541 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch](DEBUG): Initialize.
2025-04-16T02:55:33.542Z,1744772133.542 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:C] Running Loop=1
2025-04-16T02:55:33.941Z,1744772133.941 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:C](INFO): Waiting for the vehicle to settle. Depth =  30.027578 m 
2025-04-16T02:55:33.941Z,1744772133.941 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:C] Stopped
2025-04-16T02:55:33.941Z,1744772133.941 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait] Running Loop=1
2025-04-16T02:55:33.941Z,1744772133.941 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait](DEBUG): Initialize Wait Component.
2025-04-16T02:55:33.941Z,1744772133.941 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch] Running Loop=1
2025-04-16T02:55:33.941Z,1744772133.941 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed] Running Loop=1
2025-04-16T02:57:48.040Z,1744772268.040 [BPC1](ERROR): Battery stick #2 (s/n: 0124) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-04-16T02:57:48.041Z,1744772268.041 [BPC1](INFO): Calculating totals. Valid battery stick count: 54. Valid reserve battery stick count: 6.
2025-04-16T02:57:48.044Z,1744772268.044 [BPC1](INFO): Received data from all battery sticks.
2025-04-16T03:07:59.311Z,1744772879.311 [sink:RunSink](INFO): Timed out from 2025-04-16T02:42:59.2Z
2025-04-16T03:07:59.311Z,1744772879.311 [sink:RunSink] Stopped
2025-04-16T03:07:59.311Z,1744772879.311 [sink:RunSink](DEBUG): Aggregate::uninitialize sink:RunSink
2025-04-16T03:07:59.311Z,1744772879.311 [sink:RunSink:BallastAndTrim] Stopped
2025-04-16T03:07:59.312Z,1744772879.312 [sink:RunSink:BallastAndTrim](DEBUG): Aggregate::uninitialize sink:RunSink:BallastAndTrim
2025-04-16T03:07:59.312Z,1744772879.312 [sink:RunSink:BallastAndTrim:A] Stopped
2025-04-16T03:07:59.312Z,1744772879.312 [sink:RunSink:BallastAndTrim:B] Stopped
2025-04-16T03:07:59.312Z,1744772879.312 [sink:RunSink:BallastAndTrim:C] Stopped
2025-04-16T03:07:59.312Z,1744772879.312 [sink:RunSink:BallastAndTrim:D] Stopped
2025-04-16T03:07:59.312Z,1744772879.312 [sink:RunSink:BallastAndTrim:E] Stopped
2025-04-16T03:07:59.312Z,1744772879.312 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth] Stopped
2025-04-16T03:07:59.312Z,1744772879.312 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth](DEBUG): Aggregate::uninitialize sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth
2025-04-16T03:07:59.312Z,1744772879.312 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed] Stopped
2025-04-16T03:07:59.312Z,1744772879.312 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed](DEBUG): Uninitialize.
2025-04-16T03:07:59.312Z,1744772879.312 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch] Stopped
2025-04-16T03:07:59.312Z,1744772879.312 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait] Stopped
2025-04-16T03:07:59.312Z,1744772879.312 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait](DEBUG): Uninitialize Wait Component.
2025-04-16T03:07:59.312Z,1744772879.312 [sink:RunSink:JustSink] Stopped
2025-04-16T03:07:59.313Z,1744772879.313 [sink:RunSink:JustSink](DEBUG): Aggregate::uninitialize sink:RunSink:JustSink
2025-04-16T03:07:59.313Z,1744772879.313 [sink:RunSink:JustSink:C] Stopped
2025-04-16T03:07:59.313Z,1744772879.313 [sink:RunSink:JustSink:C](DEBUG): Aggregate::uninitialize sink:RunSink:JustSink:C
2025-04-16T03:07:59.313Z,1744772879.313 [sink:FloatUp] Running Loop=1
2025-04-16T03:07:59.313Z,1744772879.313 [sink:FloatUp](DEBUG): Aggregate::initialize sink:FloatUp
2025-04-16T03:07:59.313Z,1744772879.313 [sink:FloatUp:A.Buoyancy] Running Loop=1
2025-04-16T03:07:59.313Z,1744772879.313 [sink:FloatUp:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-04-16T03:07:59.313Z,1744772879.313 [sink:FloatUp:B.Wait] Running Loop=1
2025-04-16T03:07:59.313Z,1744772879.313 [sink:FloatUp:B.Wait](DEBUG): Initialize Wait Component.
2025-04-16T03:07:59.718Z,1744772879.718 [sink:FloatUp:A.Buoyancy] Running Loop=1
2025-04-16T03:13:31.010Z,1744773211.010 [sink:FloatUp] Stopped
2025-04-16T03:13:31.010Z,1744773211.010 [sink:FloatUp](DEBUG): Aggregate::uninitialize sink:FloatUp
2025-04-16T03:13:31.010Z,1744773211.010 [sink:FloatUp:A.Buoyancy] Stopped
2025-04-16T03:13:31.010Z,1744773211.010 [sink:FloatUp:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-04-16T03:13:31.010Z,1744773211.010 [sink:FloatUp:B.Wait] Stopped
2025-04-16T03:13:31.010Z,1744773211.010 [sink:FloatUp:B.Wait](DEBUG): Uninitialize Wait Component.
2025-04-16T03:13:31.010Z,1744773211.010 [sink:EndingMission] Running Loop=1
2025-04-16T03:13:31.010Z,1744773211.010 [sink:EndingMission](DEBUG): Aggregate::initialize sink:EndingMission
2025-04-16T03:13:31.409Z,1744773211.409 [sink:NeedComms] Running Loop=1
2025-04-16T03:13:31.409Z,1744773211.409 [sink:NeedComms](DEBUG): Aggregate::initialize sink:NeedComms
2025-04-16T03:13:31.409Z,1744773211.409 [sink:NeedComms:B.GoToSurface] Running Loop=1
2025-04-16T03:13:31.409Z,1744773211.409 [sink:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-04-16T03:13:31.410Z,1744773211.410 [sink:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-04-16T03:13:31.410Z,1744773211.410 [sink:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-04-16T03:13:31.410Z,1744773211.410 [sink:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-04-16T03:13:31.411Z,1744773211.411 [sink:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-04-16T03:13:31.411Z,1744773211.411 [sink:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-04-16T03:13:31.412Z,1744773211.412 [sink:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-04-16T03:13:31.412Z,1744773211.412 [sink:NeedComms:A] Running Loop=1
2025-04-16T03:13:31.414Z,1744773211.414 [sink:NeedComms:A](INFO): last time_fix was:  1744771379.000000 second since 1970/01/01T00:00:00Z 
2025-04-16T03:13:31.414Z,1744773211.414 [sink:NeedComms:A] Stopped
2025-04-16T03:13:36.187Z,1744773216.187 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T03:13:36.447Z,1744773216.447 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T03:13:36.859Z,1744773216.859 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T03:13:37.280Z,1744773217.280 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T03:13:37.679Z,1744773217.679 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T03:13:38.075Z,1744773218.075 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T03:13:38.444Z,1744773218.444 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-04-16T03:13:38.444Z,1744773218.444 [ThrusterHE](INFO): Powering down
2025-04-16T03:13:39.252Z,1744773219.252 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-04-16T03:13:39.372Z,1744773219.372 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-04-16T03:13:42.861Z,1744773222.861 [sink:NeedComms:C] Running Loop=1
2025-04-16T03:13:43.499Z,1744773223.499 [Radio_Surface](INFO): Powering up
2025-04-16T03:13:45.127Z,1744773225.127 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T03:13:49.092Z,1744773229.092 [DataOverHttps](INFO): Radio surface powered ON.
2025-04-16T03:14:14.345Z,1744773254.345 [NAL9602](INFO): SBD MO Status=0, MOMSN=19535, MT Status=0, MTMSN=0
2025-04-16T03:14:14.346Z,1744773254.346 [NAL9602](INFO): No messages in MT queue
2025-04-16T03:14:15.567Z,1744773255.567 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,031416.00,A,3647.97810,N,12150.75575,W,0.117,328.25,160425,,,A*73
2025-04-16T03:14:15.582Z,1744773255.582 [NAL9602](INFO): GPS fix at 20250416T031416: (36.799635, -121.845929)
2025-04-16T03:14:15.595Z,1744773255.595 [sink:NeedComms:C] Stopped
2025-04-16T03:14:15.595Z,1744773255.595 [sink:NeedComms:D] Running Loop=1
2025-04-16T03:14:19.212Z,1744773259.212 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-16T03:14:26.548Z,1744773266.548 [NAL9602](INFO): SBD MO Status=1, MOMSN=19536, MT Status=0, MTMSN=0
2025-04-16T03:14:26.596Z,1744773266.596 [NAL9602](INFO): Sent 89 bytes from file Logs/20250416T014222/Courier0049.lzma
2025-04-16T03:14:26.596Z,1744773266.596 [NAL9602](INFO): Packets left to send: 0
2025-04-16T03:14:39.543Z,1744773279.543 [NAL9602](INFO): SBD MO Status=1, MOMSN=19537, MT Status=0, MTMSN=0
2025-04-16T03:14:39.604Z,1744773279.604 [NAL9602](INFO): Sent 332 bytes from file Logs/20250416T014222/Express0050.lzma
2025-04-16T03:14:39.604Z,1744773279.604 [NAL9602](INFO): Packets left to send: 1
2025-04-16T03:14:50.093Z,1744773290.093 [NAL9602](INFO): SBD MO Status=1, MOMSN=19538, MT Status=0, MTMSN=0
2025-04-16T03:14:50.148Z,1744773290.148 [NAL9602](INFO): Sent 94 bytes from file Logs/20250416T014222/Express0050.lzma
2025-04-16T03:14:50.148Z,1744773290.148 [NAL9602](INFO): Packets left to send: 0
2025-04-16T03:14:50.344Z,1744773290.344 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-16T03:14:58.172Z,1744773298.172 [NAL9602](INFO): SBD MO Status=0, MOMSN=19539, MT Status=0, MTMSN=0
2025-04-16T03:14:58.252Z,1744773298.252 [sink:NeedComms:D] Stopped
2025-04-16T03:14:58.253Z,1744773298.253 [sink:NeedComms:E] Running Loop=1
2025-04-16T03:15:00.603Z,1744773300.603 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,031501.00,A,3647.97869,N,12150.75357,W,1.050,65.96,160425,,,A*4D
2025-04-16T03:15:00.605Z,1744773300.605 [NAL9602](INFO): GPS fix at 20250416T031501: (36.799645, -121.845893)
2025-04-16T03:15:00.617Z,1744773300.617 [sink:NeedComms:E] Stopped
2025-04-16T03:15:00.618Z,1744773300.618 [sink:NeedComms](INFO): Completed sink:NeedComms
2025-04-16T03:15:00.618Z,1744773300.618 [sink:NeedComms] Stopped
2025-04-16T03:15:00.618Z,1744773300.618 [sink:NeedComms](DEBUG): Aggregate::uninitialize sink:NeedComms
2025-04-16T03:15:00.619Z,1744773300.619 [sink:NeedComms:B.GoToSurface] Stopped
2025-04-16T03:15:00.619Z,1744773300.619 [sink:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-04-16T03:15:01.077Z,1744773301.077 [sink:EndingMission](INFO): Completed sink:EndingMission
2025-04-16T03:15:01.077Z,1744773301.077 [sink:EndingMission] Stopped
2025-04-16T03:15:01.077Z,1744773301.077 [sink:EndingMission](DEBUG): Aggregate::uninitialize sink:EndingMission
2025-04-16T03:15:01.080Z,1744773301.080 [sink](INFO): Completed sink
2025-04-16T03:15:01.080Z,1744773301.080 [MissionManager](INFO): sink is completed.
2025-04-16T03:15:01.081Z,1744773301.081 [MissionManager](INFO): Uninitializing Mission sink
2025-04-16T03:15:01.081Z,1744773301.081 [sink] Stopped
2025-04-16T03:15:01.081Z,1744773301.081 [sink](DEBUG): Aggregate::uninitialize sink
2025-04-16T03:15:01.081Z,1744773301.081 [sink:Science] Stopped
2025-04-16T03:15:01.081Z,1744773301.081 [sink:Science](DEBUG): Aggregate::uninitialize sink:Science
2025-04-16T03:15:01.081Z,1744773301.081 [sink:Science:B] Stopped
2025-04-16T03:15:01.081Z,1744773301.081 [sink:Science:C] Stopped
2025-04-16T03:15:01.081Z,1744773301.081 [sink:Science:E] Stopped
2025-04-16T03:15:01.081Z,1744773301.081 [sink:Science:OceanCurrent] Stopped
2025-04-16T03:15:01.081Z,1744773301.081 [sink:Science:OceanCurrent](DEBUG): Aggregate::uninitialize sink:Science:OceanCurrent
2025-04-16T03:15:01.081Z,1744773301.081 [sink:Science:OceanCurrent:A.] Stopped
2025-04-16T03:15:01.081Z,1744773301.081 [sink:StandardEnvelopes] Stopped
2025-04-16T03:15:01.081Z,1744773301.081 [sink:StandardEnvelopes](DEBUG): Aggregate::uninitialize sink:StandardEnvelopes
2025-04-16T03:15:01.082Z,1744773301.082 [sink:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-04-16T03:15:01.082Z,1744773301.082 [sink:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-04-16T03:15:01.082Z,1744773301.082 [sink:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-04-16T03:15:01.082Z,1744773301.082 [sink:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-04-16T03:15:01.082Z,1744773301.082 [sink:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-04-16T03:15:01.082Z,1744773301.082 [sink:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-04-16T03:15:01.082Z,1744773301.082 [sink:BackseatDriver] Stopped
2025-04-16T03:15:01.082Z,1744773301.082 [sink:BackseatDriver](DEBUG): Aggregate::uninitialize sink:BackseatDriver
2025-04-16T03:15:01.082Z,1744773301.082 [sink:BackseatDriver:A.BackseatDriver] Stopped
2025-04-16T03:15:01.082Z,1744773301.082 [sink:PowerOnly] Stopped
2025-04-16T03:15:01.082Z,1744773301.082 [sink:PowerOnly](DEBUG): Aggregate::uninitialize sink:PowerOnly
2025-04-16T03:15:01.082Z,1744773301.082 [sink:PowerOnly:E.Wait] Stopped
2025-04-16T03:15:01.082Z,1744773301.082 [sink:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-04-16T03:15:01.315Z,1744773301.315 [WetLabsBB2FL](INFO): Powering down
2025-04-16T03:15:01.438Z,1744773301.438 [MissionManager](IMPORTANT): Started mission Default
2025-04-16T03:15:01.438Z,1744773301.438 [Default] Running Loop=1
2025-04-16T03:15:01.438Z,1744773301.438 [Default](DEBUG): Aggregate::initialize Default
2025-04-16T03:15:01.439Z,1744773301.439 [Default:B.GoToSurface] Running Loop=1
2025-04-16T03:15:01.439Z,1744773301.439 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-04-16T03:15:01.439Z,1744773301.439 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-04-16T03:15:01.455Z,1744773301.455 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-04-16T03:15:01.456Z,1744773301.456 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-04-16T03:15:01.456Z,1744773301.456 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-04-16T03:15:01.456Z,1744773301.456 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-04-16T03:15:01.457Z,1744773301.457 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-04-16T03:15:01.457Z,1744773301.457 [Default:A.Wait] Running Loop=1
2025-04-16T03:15:01.457Z,1744773301.457 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-04-16T03:15:14.750Z,1744773314.750 [Default:A.Wait](INFO): Done Waiting.
2025-04-16T03:15:14.750Z,1744773314.750 [Default:A.Wait] Stopped
2025-04-16T03:15:14.750Z,1744773314.750 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-04-16T03:15:15.151Z,1744773315.151 [Default:CheckIn] Running Loop=1
2025-04-16T03:15:15.151Z,1744773315.151 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-04-16T03:15:15.151Z,1744773315.151 [Default:CheckIn:Read_GPS] Running Loop=1
2025-04-16T03:15:17.162Z,1744773317.162 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,031517.00,A,3647.97883,N,12150.75313,W,0.311,114.36,160425,,,A*74
2025-04-16T03:15:17.174Z,1744773317.174 [NAL9602](INFO): GPS fix at 20250416T031517: (36.799647, -121.845885)
2025-04-16T03:15:17.186Z,1744773317.186 [Default:CheckIn:Read_GPS] Stopped
2025-04-16T03:15:17.186Z,1744773317.186 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-04-16T03:15:21.469Z,1744773321.469 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-16T03:15:41.457Z,1744773341.457 [NAL9602](INFO): SBD MO Status=1, MOMSN=19540, MT Status=0, MTMSN=0
2025-04-16T03:15:41.512Z,1744773341.512 [NAL9602](INFO): Sent 76 bytes from file Logs/20250416T014222/Courier0052.lzma
2025-04-16T03:15:41.512Z,1744773341.512 [NAL9602](INFO): Packets left to send: 0
2025-04-16T03:15:52.600Z,1744773352.600 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-16T03:16:00.936Z,1744773360.936 [NAL9602](INFO): SBD MO Status=2, MOMSN=19541, MT Status=2, MTMSN=0
2025-04-16T03:16:00.936Z,1744773360.936 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-04-16T03:16:01.128Z,1744773361.128 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003297
2025-04-16T03:16:09.451Z,1744773369.451 [DataOverHttps](INFO): Sending 174 bytes from file Logs/20250416T014222/Express0053.lzma
2025-04-16T03:16:10.453Z,1744773370.453 [DataOverHttps](INFO): Moved sent file to Logs/20250416T014222/Express0053.lzma.bak
2025-04-16T03:16:10.453Z,1744773370.453 [DataOverHttps](INFO): SBD MOMSN=24670325
2025-04-16T03:16:11.858Z,1744773371.858 [Default:CheckIn:Read_Iridium] Stopped
2025-04-16T03:16:11.858Z,1744773371.858 [Default:CheckIn:C.Wait] Running Loop=1
2025-04-16T03:16:11.858Z,1744773371.858 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-04-16T03:16:31.635Z,1744773391.635 [NAL9602](INFO): Not Powering down - fast GPS
2025-04-16T03:21:12.443Z,1744773672.443 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2025-04-16T03:21:12.443Z,1744773672.443 [Default:CheckIn:C.Wait] Stopped
2025-04-16T03:21:12.443Z,1744773672.443 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-04-16T03:21:12.444Z,1744773672.444 [Default:CheckIn:D] Running Loop=1
2025-04-16T03:21:12.862Z,1744773672.862 [Default:CheckIn:D] Stopped
2025-04-16T03:21:12.862Z,1744773672.862 [Default:CheckIn:E] Running Loop=1
2025-04-16T03:21:13.250Z,1744773673.250 [Default:CheckIn:E](IMPORTANT): Default mission has been running for  6.190383 min 
2025-04-16T03:21:13.250Z,1744773673.250 [Default:CheckIn:E] Stopped
2025-04-16T03:21:13.250Z,1744773673.250 [Default:CheckIn](INFO): Completed Default:CheckIn
2025-04-16T03:21:13.250Z,1744773673.250 [Default:CheckIn] Stopped
2025-04-16T03:21:13.250Z,1744773673.250 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-04-16T03:21:13.250Z,1744773673.250 [Default:CheckIn](INFO): Running loop #2
2025-04-16T03:21:13.250Z,1744773673.250 [Default:CheckIn] Running Loop=2
2025-04-16T03:21:13.250Z,1744773673.250 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-04-16T03:21:13.250Z,1744773673.250 [Default:CheckIn:Read_GPS] Running Loop=1
2025-04-16T03:21:15.261Z,1744773675.261 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,032116.00,A,3647.99334,N,12150.73406,W,0.603,10.07,160425,,,D*4A
2025-04-16T03:21:15.264Z,1744773675.264 [NAL9602](INFO): GPS fix at 20250416T032116: (36.799889, -121.845568)
2025-04-16T03:21:15.274Z,1744773675.274 [Default:CheckIn:Read_GPS] Stopped
2025-04-16T03:21:15.274Z,1744773675.274 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-04-16T03:21:23.307Z,1744773683.307 [DataOverHttps](INFO): Sending 74 bytes from file Logs/20250416T014222/Courier0055.lzma
2025-04-16T03:21:24.309Z,1744773684.309 [DataOverHttps](INFO): Moved sent file to Logs/20250416T014222/Courier0055.lzma.bak
2025-04-16T03:21:24.309Z,1744773684.309 [DataOverHttps](INFO): SBD MOMSN=24670339
2025-04-16T03:21:30.610Z,1744773690.610 [NAL9602](INFO): SBD MO Status=1, MOMSN=19541, MT Status=0, MTMSN=0
2025-04-16T03:21:30.610Z,1744773690.610 [NAL9602](INFO): No messages in MT queue
2025-04-16T03:21:41.947Z,1744773701.947 [DataOverHttps](INFO): Sending 175 bytes from file Logs/20250416T014222/Express0056.lzma
2025-04-16T03:21:42.950Z,1744773702.950 [DataOverHttps](INFO): Moved sent file to Logs/20250416T014222/Express0056.lzma.bak
2025-04-16T03:21:42.951Z,1744773702.951 [DataOverHttps](IMPORTANT): SBD MOMSN=24670343, MTMSN=20250416T032143
2025-04-16T03:21:44.361Z,1744773704.361 [Default:CheckIn:Read_Iridium] Stopped
2025-04-16T03:21:44.361Z,1744773704.361 [Default:CheckIn:C.Wait] Running Loop=1
2025-04-16T03:21:44.361Z,1744773704.361 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-04-16T03:21:50.539Z,1744773710.539 [DataOverHttps](INFO): Received command: load Transport/transit.tl;set transit.MissionTimeout 3 min;set transit.NeedCommsTime 30 min;set transit.Latitude 36.806966 degree;set transit.Longitude -121.824326 degree;set transit.Speed 1 m/s;set transit.MaxDepth 15 m;run
2025-04-16T03:21:50.565Z,1744773710.565 [CommandExec](IMPORTANT): got command load ./Missions/Transport/transit.tl
2025-04-16T03:21:50.565Z,1744773710.565 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/transit.tl
2025-04-16T03:21:50.565Z,1744773710.565 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/transit.tl
2025-04-16T03:21:50.567Z,1744773710.567 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/transit.tl
2025-04-16T03:21:51.721Z,1744773711.721 [MissionManager](DEBUG): TethyslAPI: ./Missions/Transport/transit.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="transit">
    <DefineArg Name="MissionTimeout">
        <Units:minute />
        <Value>60</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Northings">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="Eastings">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="Depth">
        <Units:meter />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="Speed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="MassHold">
        <True />
    </DefineArg>
    <DefineArg Name="BuoyancyHold">
        <True />
    </DefineArg>
    <Timeout Duration="MissionTimeout" />
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="NeedCommsTime" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:WaitForPitchUp" />
        <Units:second />
        <Value>1</Value>
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Guidance:Buoyancy Id="BuoyancyHold">
        <While>
            <Arg Name="BuoyancyHold" />
        </While>
        <Setting>
            <Guidance:Buoyancy.position />
            <Control:VerticalControl.buoyancyNeutral />
        </Setting>
    </Guidance:Buoyancy>
    <Guidance:Pitch Id="MassHold">
        <While>
            <Arg Name="MassHold" />
        </While>
        <Setting>
            <Guidance:Pitch.massPosition />
            <Control:VerticalControl.massDefault />
        </Setting>
    </Guidance:Pitch>
    <Aggregate Id="Transit">
        <Sequence />
        <Guidance:Pitch>
            <Parallel />
            <Setting>
                <Guidance:Pitch.depth />
                <Arg Name="Depth" />
            </Setting>
        </Guidance:Pitch>
        <Guidance:SetSpeed>
            <Parallel />
            <Setting>
                <Guidance:SetSpeed.speed />
                <Arg Name="Speed" />
            </Setting>
        </Guidance:SetSpeed>
        <Guidance:Waypoint Id="Wpt1">
            <Sequence />
            <Setting>
                <Guidance:Waypoint.latitude />
                <Arg Name="Latitude" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.longitude />
                <Arg Name="Longitude" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.northingsDelta />
                <Arg Name="Northings" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.eastingsDelta />
                <Arg Name="Eastings" />
            </Setting>
        </Guidance:Waypoint>
        <Call RefId="NeedComms" Id="PhoneHome" />
    </Aggregate>
</Mission>

2025-04-16T03:21:51.731Z,1744773711.731 [MissionManager](INFO): DefineArg transit.MissionTimeout = 60.000000 min
2025-04-16T03:21:51.734Z,1744773711.734 [MissionManager](INFO): DefineArg transit.NeedCommsTime = 30.000000 min
2025-04-16T03:21:51.736Z,1744773711.736 [MissionManager](INFO): DefineArg transit.Latitude = nan arcdeg
2025-04-16T03:21:51.739Z,1744773711.739 [MissionManager](INFO): DefineArg transit.Longitude = nan arcdeg
2025-04-16T03:21:51.742Z,1744773711.742 [MissionManager](INFO): DefineArg transit.Northings = 0.000000 m
2025-04-16T03:21:51.746Z,1744773711.746 [MissionManager](INFO): DefineArg transit.Eastings = 0.000000 m
2025-04-16T03:21:51.749Z,1744773711.749 [MissionManager](INFO): DefineArg transit.Depth = 10.000000 m
2025-04-16T03:21:51.751Z,1744773711.751 [MissionManager](INFO): DefineArg transit.Speed = 1.000000 m/s
2025-04-16T03:21:51.754Z,1744773711.754 [MissionManager](INFO): DefineArg transit.MaxDepth = 20.000000 m
2025-04-16T03:21:51.757Z,1744773711.757 [MissionManager](INFO): DefineArg transit.MinOffshore = 1.000000 km
2025-04-16T03:21:51.760Z,1744773711.760 [MissionManager](INFO): DefineArg transit.MinAltitude = 7.000000 m
2025-04-16T03:21:51.763Z,1744773711.763 [MissionManager](INFO): DefineArg transit.MassHold = 1 bool
2025-04-16T03:21:51.766Z,1744773711.766 [MissionManager](INFO): DefineArg transit.BuoyancyHold = 1 bool
2025-04-16T03:21:51.766Z,1744773711.766 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-04-16T03:21:51.766Z,1744773711.766 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-04-16T03:21:51.768Z,1744773711.768 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-04-16T03:21:52.129Z,1744773712.129 [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>

2025-04-16T03:21:52.135Z,1744773712.135 [MissionManager](INFO): DefineArg transit:NeedComms.DiveInterval = 1.000000 h
2025-04-16T03:21:52.138Z,1744773712.138 [MissionManager](INFO): DefineArg transit:NeedComms.WaitForPitchUp = 10.000000 min
2025-04-16T03:21:52.142Z,1744773712.142 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-04-16T03:21:52.176Z,1744773712.176 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceDepthRate = nan m/s
2025-04-16T03:21:52.182Z,1744773712.182 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-04-16T03:21:52.185Z,1744773712.185 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacingTimeout = 1000.000000 s
2025-04-16T03:21:52.189Z,1744773712.189 [MissionManager](INFO): DefineArg transit:NeedComms.GPSTimeout = 7.000000 min
2025-04-16T03:21:52.217Z,1744773712.217 [MissionManager](INFO): DefineArg transit:NeedComms.CommsTimeout = 30.000000 min
2025-04-16T03:21:52.236Z,1744773712.236 [transit:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-04-16T03:21:52.293Z,1744773712.293 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-04-16T03:21:52.294Z,1744773712.294 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-04-16T03:21:52.295Z,1744773712.295 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-04-16T03:21:52.432Z,1744773712.432 [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>

2025-04-16T03:21:52.441Z,1744773712.441 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinAltitude = 5.000000 m
2025-04-16T03:21:52.448Z,1744773712.448 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-04-16T03:21:52.454Z,1744773712.454 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepth = 200.000000 m
2025-04-16T03:21:52.458Z,1744773712.458 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-04-16T03:21:52.460Z,1744773712.460 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-04-16T03:21:52.495Z,1744773712.495 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-04-16T03:21:52.514Z,1744773712.514 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-04-16T03:21:52.558Z,1744773712.558 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-04-16T03:21:52.559Z,1744773712.559 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-04-16T03:21:52.564Z,1744773712.564 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-04-16T03:21:52.604Z,1744773712.604 [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>

2025-04-16T03:21:52.610Z,1744773712.610 [MissionManager](INFO): DefineArg transit:BackseatDriver.EnableBackseat = 0 bool
2025-04-16T03:21:52.621Z,1744773712.621 [transit:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-04-16T03:21:52.628Z,1744773712.628 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-04-16T03:21:52.628Z,1744773712.628 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-04-16T03:21:52.629Z,1744773712.629 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-04-16T03:21:52.853Z,1744773712.853 [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>

2025-04-16T03:21:52.865Z,1744773712.865 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleAll = 0 bool
2025-04-16T03:21:52.874Z,1744773712.874 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad1 = 0 bool
2025-04-16T03:21:52.885Z,1744773712.885 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad2 = 0 bool
2025-04-16T03:21:52.889Z,1744773712.889 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad3 = 0 bool
2025-04-16T03:21:52.912Z,1744773712.912 [MissionManager](INFO): DefineArg transit:PowerOnly.EnabledPowerOnly = 1 bool
2025-04-16T03:21:52.927Z,1744773712.927 [transit:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-04-16T03:21:52.929Z,1744773712.929 [transit:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-04-16T03:21:52.937Z,1744773712.937 [transit:MassHold.Pitch](DEBUG): Construct.
2025-04-16T03:21:52.958Z,1744773712.958 [transit:Transit:A.Pitch](DEBUG): Construct.
2025-04-16T03:21:52.978Z,1744773712.978 [transit:Transit:B.SetSpeed](DEBUG): Construct.
2025-04-16T03:21:52.982Z,1744773712.982 [transit:Transit:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-04-16T03:21:53.030Z,1744773713.030 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

  timeout duration=MissionTimeout

  insert id="NeedComms" Insert/NeedComms.tl

  assign in sequence NeedComms:DiveInterval = NeedCommsTime

  assign in sequence NeedComms:WaitForPitchUp = 1 second

  insert Insert/StandardEnvelopes.tl

  assign in sequence StandardEnvelopes:MinAltitude = MinAltitude

  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth

  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

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

    set position = Control:VerticalControl.buoyancyNeutral
  }

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

    set massPosition = Control:VerticalControl.massDefault
  }

  aggregate Transit {
    run in sequence

    behavior Guidance:Pitch {
      run in parallel

      set depth = Depth
    }

    behavior Guidance:SetSpeed {
      run in parallel

      set speed = Speed
    }

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

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

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


2025-04-16T03:21:53.031Z,1744773713.031 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/transit.tl id=transit
2025-04-16T03:22:01.335Z,1744773721.335 [NAL9602](INFO): Not Powering down - fast GPS
2025-04-16T03:22:11.848Z,1744773731.848 [CommandExec](IMPORTANT): got command set transit.MissionTimeout 3 minute
2025-04-16T03:22:11.849Z,1744773731.849 [CommandExec](IMPORTANT): got command set transit.NeedCommsTime 30 minute
2025-04-16T03:22:11.850Z,1744773731.850 [CommandExec](IMPORTANT): got command set transit.Latitude 36.806966 degree
2025-04-16T03:22:11.851Z,1744773731.851 [CommandExec](IMPORTANT): got command set transit.Longitude -121.824326 degree
2025-04-16T03:22:11.856Z,1744773731.856 [CommandExec](IMPORTANT): got command set transit.Speed 1 meter_per_second
2025-04-16T03:22:11.856Z,1744773731.856 [CommandExec](IMPORTANT): got command set transit.MaxDepth 15 meter
2025-04-16T03:22:11.857Z,1744773731.857 [CommandExec](IMPORTANT): got command run
2025-04-16T03:22:11.859Z,1744773731.859 [CommandExec](IMPORTANT): Running 
2025-04-16T03:22:12.234Z,1744773732.234 [Default] Stopped
2025-04-16T03:22:12.234Z,1744773732.234 [Default](DEBUG): Aggregate::uninitialize Default
2025-04-16T03:22:12.234Z,1744773732.234 [Default:B.GoToSurface] Stopped
2025-04-16T03:22:12.234Z,1744773732.234 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-04-16T03:22:12.234Z,1744773732.234 [Default:CheckIn] Stopped
2025-04-16T03:22:12.234Z,1744773732.234 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-04-16T03:22:12.234Z,1744773732.234 [Default:CheckIn:C.Wait] Stopped
2025-04-16T03:22:12.235Z,1744773732.235 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-04-16T03:22:12.235Z,1744773732.235 [MissionManager](IMPORTANT): Started mission transit
2025-04-16T03:22:12.235Z,1744773732.235 [transit] Running Loop=1
2025-04-16T03:22:12.276Z,1744773732.276 [transit](DEBUG): Aggregate::initialize transit
2025-04-16T03:22:12.276Z,1744773732.276 [transit:StandardEnvelopes] Running Loop=1
2025-04-16T03:22:12.276Z,1744773732.276 [transit:StandardEnvelopes](DEBUG): Aggregate::initialize transit:StandardEnvelopes
2025-04-16T03:22:12.276Z,1744773732.276 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-04-16T03:22:12.276Z,1744773732.276 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-04-16T03:22:12.277Z,1744773732.277 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-04-16T03:22:12.277Z,1744773732.277 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-04-16T03:22:12.277Z,1744773732.277 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-04-16T03:22:12.277Z,1744773732.277 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-04-16T03:22:12.277Z,1744773732.277 [transit:BackseatDriver] Running Loop=1
2025-04-16T03:22:12.277Z,1744773732.277 [transit:BackseatDriver](DEBUG): Aggregate::initialize transit:BackseatDriver
2025-04-16T03:22:12.277Z,1744773732.277 [transit:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-04-16T03:22:12.277Z,1744773732.277 [transit:PowerOnly] Running Loop=1
2025-04-16T03:22:12.277Z,1744773732.277 [transit:PowerOnly](DEBUG): Aggregate::initialize transit:PowerOnly
2025-04-16T03:22:12.278Z,1744773732.278 [transit:PowerOnly:A] Running Loop=1
2025-04-16T03:22:12.278Z,1744773732.278 [transit:PowerOnly:B] Running Loop=1
2025-04-16T03:22:12.278Z,1744773732.278 [transit:PowerOnly:C] Running Loop=1
2025-04-16T03:22:12.278Z,1744773732.278 [transit:PowerOnly:D] Running Loop=1
2025-04-16T03:22:12.278Z,1744773732.278 [transit:PowerOnly:E.Wait] Running Loop=1
2025-04-16T03:22:12.278Z,1744773732.278 [transit:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-04-16T03:22:12.278Z,1744773732.278 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-04-16T03:22:12.278Z,1744773732.278 [transit:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-04-16T03:22:12.278Z,1744773732.278 [transit:MassHold.Pitch] Running Loop=1
2025-04-16T03:22:12.278Z,1744773732.278 [transit:MassHold.Pitch](DEBUG): Initialize.
2025-04-16T03:22:12.278Z,1744773732.278 [transit:B] Running Loop=1
2025-04-16T03:22:12.303Z,1744773732.303 [transit:MassHold.Pitch] Running Loop=1
2025-04-16T03:22:12.304Z,1744773732.304 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-04-16T03:22:12.304Z,1744773732.304 [transit:PowerOnly] Running Loop=1
2025-04-16T03:22:12.304Z,1744773732.304 [transit:PowerOnly:D] Stopped
2025-04-16T03:22:12.304Z,1744773732.304 [transit:PowerOnly:C] Stopped
2025-04-16T03:22:12.304Z,1744773732.304 [transit:PowerOnly:B] Stopped
2025-04-16T03:22:12.304Z,1744773732.304 [transit:PowerOnly:A] Stopped
2025-04-16T03:22:12.304Z,1744773732.304 [transit:BackseatDriver] Running Loop=1
2025-04-16T03:22:12.305Z,1744773732.305 [transit:StandardEnvelopes] Running Loop=1
2025-04-16T03:22:12.305Z,1744773732.305 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-04-16T03:22:12.305Z,1744773732.305 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-04-16T03:22:12.305Z,1744773732.305 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-04-16T03:22:12.306Z,1744773732.306 [transit:B] Stopped
2025-04-16T03:22:12.306Z,1744773732.306 [transit:C] Running Loop=1
2025-04-16T03:22:12.644Z,1744773732.644 [transit:C] Stopped
2025-04-16T03:22:12.644Z,1744773732.644 [transit:E] Running Loop=1
2025-04-16T03:22:13.041Z,1744773733.041 [transit:E] Stopped
2025-04-16T03:22:13.041Z,1744773733.041 [transit:F] Running Loop=1
2025-04-16T03:22:13.454Z,1744773733.454 [transit:F] Stopped
2025-04-16T03:22:13.454Z,1744773733.454 [transit:G] Running Loop=1
2025-04-16T03:22:13.851Z,1744773733.851 [transit:G] Stopped
2025-04-16T03:22:13.867Z,1744773733.867 [transit:Transit] Running Loop=1
2025-04-16T03:22:13.867Z,1744773733.867 [transit:Transit](DEBUG): Aggregate::initialize transit:Transit
2025-04-16T03:22:13.867Z,1744773733.867 [transit:Transit:A.Pitch] Running Loop=1
2025-04-16T03:22:13.867Z,1744773733.867 [transit:Transit:A.Pitch](DEBUG): Initialize.
2025-04-16T03:22:13.868Z,1744773733.868 [transit:Transit:B.SetSpeed] Running Loop=1
2025-04-16T03:22:13.868Z,1744773733.868 [transit:Transit:B.SetSpeed](DEBUG): Initialize.
2025-04-16T03:22:13.868Z,1744773733.868 [transit:Transit:Wpt1.Waypoint] Running Loop=1
2025-04-16T03:22:13.868Z,1744773733.868 [transit:Transit:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-04-16T03:22:13.870Z,1744773733.870 [transit:Transit:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.806965,-121.824326
2025-04-16T03:22:13.870Z,1744773733.870 [transit:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2025-04-16T03:22:14.259Z,1744773734.259 [transit:Transit:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.806965,-121.824326
2025-04-16T03:22:14.261Z,1744773734.261 [transit:Transit:B.SetSpeed] Running Loop=1
2025-04-16T03:22:14.261Z,1744773734.261 [transit:Transit:A.Pitch] Running Loop=1
2025-04-16T03:22:14.269Z,1744773734.269 [HorizontalControl](DEBUG): kpHeading = 0.400000
2025-04-16T03:22:14.269Z,1744773734.269 [HorizontalControl](DEBUG): kiHeading = 0.001000
2025-04-16T03:22:14.270Z,1744773734.270 [HorizontalControl](DEBUG): kdHeading = 0.050000
2025-04-16T03:22:18.631Z,1744773738.631 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T03:22:18.944Z,1744773738.944 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T03:22:19.591Z,1744773739.591 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T03:22:19.843Z,1744773739.843 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T03:22:20.415Z,1744773740.415 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T03:22:20.684Z,1744773740.684 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-04-16T03:22:20.684Z,1744773740.684 [ThrusterHE](INFO): Powering down
2025-04-16T03:22:21.437Z,1744773741.437 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-04-16T03:22:21.556Z,1744773741.556 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-04-16T03:22:27.047Z,1744773747.047 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T03:22:28.350Z,1744773748.350 [ThrusterHE](FAULT): Lock Detect. Motor stopped spinning or could not start spinning. Consider trying best-effort mode.
2025-04-16T03:22:28.350Z,1744773748.350 [ThrusterHE] Hardware Fault, FailCount= 1
2025-04-16T03:22:28.350Z,1744773748.350 [ThrusterHE](ERROR): Hardware Fault
2025-04-16T03:22:28.367Z,1744773748.367 [CBIT](ERROR): Hardware Fault in component: ThrusterHE
2025-04-16T03:22:28.645Z,1744773748.645 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-04-16T03:22:28.645Z,1744773748.645 [ThrusterHE](INFO): Powering down
2025-04-16T03:22:29.441Z,1744773749.441 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-04-16T03:22:29.564Z,1744773749.564 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-04-16T03:22:29.568Z,1744773749.568 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-04-16T03:22:29.568Z,1744773749.568 [ThrusterHE] No Fault, FailCount= 1
2025-04-16T03:23:50.671Z,1744773830.671 [ThrusterHE](INFO): Failure count cleared after critical for ThrusterHE
2025-04-16T03:24:16.835Z,1744773856.835 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 20.00 deg, mass-position 10.42 mm (1 active estimators).
2025-04-16T03:24:47.781Z,1744773887.781 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-16T03:25:12.636Z,1744773912.636 [transit](INFO): Timed out from 2025-04-16T03:22:12.2Z
2025-04-16T03:25:12.636Z,1744773912.636 [MissionManager](INFO): transit is completed.
2025-04-16T03:25:12.636Z,1744773912.636 [MissionManager](INFO): Uninitializing Mission transit
2025-04-16T03:25:12.636Z,1744773912.636 [transit] Stopped
2025-04-16T03:25:12.636Z,1744773912.636 [transit](DEBUG): Aggregate::uninitialize transit
2025-04-16T03:25:12.636Z,1744773912.636 [transit:StandardEnvelopes] Stopped
2025-04-16T03:25:12.636Z,1744773912.636 [transit:StandardEnvelopes](DEBUG): Aggregate::uninitialize transit:StandardEnvelopes
2025-04-16T03:25:12.637Z,1744773912.637 [transit:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-04-16T03:25:12.637Z,1744773912.637 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-04-16T03:25:12.637Z,1744773912.637 [transit:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-04-16T03:25:12.637Z,1744773912.637 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-04-16T03:25:12.637Z,1744773912.637 [transit:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-04-16T03:25:12.637Z,1744773912.637 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-04-16T03:25:12.637Z,1744773912.637 [transit:BackseatDriver] Stopped
2025-04-16T03:25:12.637Z,1744773912.637 [transit:BackseatDriver](DEBUG): Aggregate::uninitialize transit:BackseatDriver
2025-04-16T03:25:12.637Z,1744773912.637 [transit:BackseatDriver:A.BackseatDriver] Stopped
2025-04-16T03:25:12.637Z,1744773912.637 [transit:PowerOnly] Stopped
2025-04-16T03:25:12.637Z,1744773912.637 [transit:PowerOnly](DEBUG): Aggregate::uninitialize transit:PowerOnly
2025-04-16T03:25:12.637Z,1744773912.637 [transit:PowerOnly:E.Wait] Stopped
2025-04-16T03:25:12.637Z,1744773912.637 [transit:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-04-16T03:25:12.637Z,1744773912.637 [transit:BuoyancyHold.Buoyancy] Stopped
2025-04-16T03:25:12.638Z,1744773912.638 [transit:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-04-16T03:25:12.638Z,1744773912.638 [transit:MassHold.Pitch] Stopped
2025-04-16T03:25:12.638Z,1744773912.638 [transit:Transit] Stopped
2025-04-16T03:25:12.638Z,1744773912.638 [transit:Transit](DEBUG): Aggregate::uninitialize transit:Transit
2025-04-16T03:25:12.638Z,1744773912.638 [transit:Transit:A.Pitch] Stopped
2025-04-16T03:25:12.638Z,1744773912.638 [transit:Transit:B.SetSpeed] Stopped
2025-04-16T03:25:12.638Z,1744773912.638 [transit:Transit:B.SetSpeed](DEBUG): Uninitialize.
2025-04-16T03:25:12.638Z,1744773912.638 [transit:Transit:Wpt1.Waypoint] Stopped
2025-04-16T03:25:12.638Z,1744773912.638 [transit:Transit:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-04-16T03:25:13.042Z,1744773913.042 [MissionManager](IMPORTANT): Started mission Default
2025-04-16T03:25:13.042Z,1744773913.042 [Default] Running Loop=1
2025-04-16T03:25:13.043Z,1744773913.043 [Default](DEBUG): Aggregate::initialize Default
2025-04-16T03:25:13.043Z,1744773913.043 [Default:B.GoToSurface] Running Loop=1
2025-04-16T03:25:13.043Z,1744773913.043 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-04-16T03:25:13.043Z,1744773913.043 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-04-16T03:25:13.044Z,1744773913.044 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-04-16T03:25:13.044Z,1744773913.044 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-04-16T03:25:13.044Z,1744773913.044 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-04-16T03:25:13.044Z,1744773913.044 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-04-16T03:25:13.045Z,1744773913.045 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-04-16T03:25:13.045Z,1744773913.045 [Default:A.Wait] Running Loop=1
2025-04-16T03:25:13.045Z,1744773913.045 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-04-16T03:25:13.435Z,1744773913.435 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -13.00 mm (2 active estimators).
2025-04-16T03:25:18.904Z,1744773918.904 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-16T03:25:26.372Z,1744773926.372 [Default:A.Wait](INFO): Done Waiting.
2025-04-16T03:25:26.372Z,1744773926.372 [Default:A.Wait] Stopped
2025-04-16T03:25:26.372Z,1744773926.372 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-04-16T03:25:50.028Z,1744773950.028 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-16T03:25:57.071Z,1744773957.071 [Default:CheckIn] Running Loop=1
2025-04-16T03:25:57.071Z,1744773957.071 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-04-16T03:25:57.087Z,1744773957.087 [Default:CheckIn:Read_GPS] Running Loop=1
2025-04-16T03:26:19.685Z,1744773979.685 [NAL9602](INFO): SBD MO Status=1, MOMSN=19542, MT Status=0, MTMSN=0
2025-04-16T03:26:19.685Z,1744773979.685 [NAL9602](INFO): No messages in MT queue
2025-04-16T03:26:20.905Z,1744773980.905 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,032621.00,A,3648.02424,N,12150.65930,W,0.136,45.57,160425,,,D*49
2025-04-16T03:26:20.907Z,1744773980.907 [NAL9602](INFO): GPS fix at 20250416T032621: (36.800404, -121.844322)
2025-04-16T03:26:20.917Z,1744773980.917 [Default:CheckIn:Read_GPS] Stopped
2025-04-16T03:26:20.918Z,1744773980.918 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-04-16T03:26:21.152Z,1744773981.152 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-16T03:26:24.164Z,1744773984.164 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.727768
2025-04-16T03:26:43.584Z,1744774003.584 [NAL9602](INFO): SBD MO Status=1, MOMSN=19543, MT Status=0, MTMSN=0
2025-04-16T03:26:43.632Z,1744774003.632 [NAL9602](INFO): Sent 77 bytes from file Logs/20250416T014222/Courier0058.lzma
2025-04-16T03:26:43.632Z,1744774003.632 [NAL9602](INFO): Packets left to send: 0
2025-04-16T03:26:53.876Z,1744774013.876 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003295
2025-04-16T03:26:54.208Z,1744774014.208 [NAL9602](INFO): SBD MO Status=1, MOMSN=19544, MT Status=0, MTMSN=0
2025-04-16T03:26:54.268Z,1744774014.268 [NAL9602](INFO): Sent 332 bytes from file Logs/20250416T014222/Express0059.lzma
2025-04-16T03:26:54.268Z,1744774014.268 [NAL9602](INFO): Packets left to send: 2
2025-04-16T03:27:01.425Z,1744774021.425 [DataOverHttps](INFO): Sending 676 bytes from file Logs/20250416T014222/Express0059.lzma
2025-04-16T03:27:02.425Z,1744774022.425 [DataOverHttps](INFO): Moved sent file to Logs/20250416T014222/Express0059.lzma.bak
2025-04-16T03:27:02.426Z,1744774022.426 [DataOverHttps](INFO): SBD MOMSN=24670365
2025-04-16T03:27:18.559Z,1744774038.559 [DataOverHttps](INFO): Sending 65 bytes from file Logs/20250416T014222/Express0062.lzma
2025-04-16T03:27:19.561Z,1744774039.561 [DataOverHttps](INFO): Moved sent file to Logs/20250416T014222/Express0062.lzma.bak
2025-04-16T03:27:19.562Z,1744774039.562 [DataOverHttps](INFO): SBD MOMSN=24670391
2025-04-16T03:27:20.906Z,1744774040.906 [Default:CheckIn:Read_Iridium] Stopped
2025-04-16T03:27:20.907Z,1744774040.907 [Default:CheckIn:C.Wait] Running Loop=1
2025-04-16T03:27:20.907Z,1744774040.907 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-04-16T03:27:24.896Z,1744774044.896 [NAL9602](INFO): Not Powering down - fast GPS
2025-04-16T03:30:01.530Z,1744774201.530 [DataOverHttps](IMPORTANT): SBD MTMSN=20250416T033002
2025-04-16T03:30:09.031Z,1744774209.031 [DataOverHttps](INFO): Received command: load Transport/transit.tl;set transit.MissionTimeout 3 min;set transit.NeedCommsTime 30 min;set transit.Latitude 36.806966 degree;set transit.Longitude -121.824326 degree;set transit.Speed -1 m/s;set transit.MaxDepth 15 m;run
2025-04-16T03:30:09.109Z,1744774209.109 [CommandExec](IMPORTANT): got command load ./Missions/Transport/transit.tl
2025-04-16T03:30:09.110Z,1744774209.110 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/transit.tl
2025-04-16T03:30:09.110Z,1744774209.110 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/transit.tl
2025-04-16T03:30:09.112Z,1744774209.112 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/transit.tl
2025-04-16T03:30:09.866Z,1744774209.866 [MissionManager](DEBUG): TethyslAPI: ./Missions/Transport/transit.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="transit">
    <DefineArg Name="MissionTimeout">
        <Units:minute />
        <Value>60</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Northings">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="Eastings">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="Depth">
        <Units:meter />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="Speed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="MassHold">
        <True />
    </DefineArg>
    <DefineArg Name="BuoyancyHold">
        <True />
    </DefineArg>
    <Timeout Duration="MissionTimeout" />
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="NeedCommsTime" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:WaitForPitchUp" />
        <Units:second />
        <Value>1</Value>
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Guidance:Buoyancy Id="BuoyancyHold">
        <While>
            <Arg Name="BuoyancyHold" />
        </While>
        <Setting>
            <Guidance:Buoyancy.position />
            <Control:VerticalControl.buoyancyNeutral />
        </Setting>
    </Guidance:Buoyancy>
    <Guidance:Pitch Id="MassHold">
        <While>
            <Arg Name="MassHold" />
        </While>
        <Setting>
            <Guidance:Pitch.massPosition />
            <Control:VerticalControl.massDefault />
        </Setting>
    </Guidance:Pitch>
    <Aggregate Id="Transit">
        <Sequence />
        <Guidance:Pitch>
            <Parallel />
            <Setting>
                <Guidance:Pitch.depth />
                <Arg Name="Depth" />
            </Setting>
        </Guidance:Pitch>
        <Guidance:SetSpeed>
            <Parallel />
            <Setting>
                <Guidance:SetSpeed.speed />
                <Arg Name="Speed" />
            </Setting>
        </Guidance:SetSpeed>
        <Guidance:Waypoint Id="Wpt1">
            <Sequence />
            <Setting>
                <Guidance:Waypoint.latitude />
                <Arg Name="Latitude" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.longitude />
                <Arg Name="Longitude" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.northingsDelta />
                <Arg Name="Northings" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.eastingsDelta />
                <Arg Name="Eastings" />
            </Setting>
        </Guidance:Waypoint>
        <Call RefId="NeedComms" Id="PhoneHome" />
    </Aggregate>
</Mission>

2025-04-16T03:30:09.871Z,1744774209.871 [MissionManager](INFO): DefineArg transit.MissionTimeout = 60.000000 min
2025-04-16T03:30:09.874Z,1744774209.874 [MissionManager](INFO): DefineArg transit.NeedCommsTime = 30.000000 min
2025-04-16T03:30:09.876Z,1744774209.876 [MissionManager](INFO): DefineArg transit.Latitude = nan arcdeg
2025-04-16T03:30:09.878Z,1744774209.878 [MissionManager](INFO): DefineArg transit.Longitude = nan arcdeg
2025-04-16T03:30:09.880Z,1744774209.880 [MissionManager](INFO): DefineArg transit.Northings = 0.000000 m
2025-04-16T03:30:09.882Z,1744774209.882 [MissionManager](INFO): DefineArg transit.Eastings = 0.000000 m
2025-04-16T03:30:09.916Z,1744774209.916 [MissionManager](INFO): DefineArg transit.Depth = 10.000000 m
2025-04-16T03:30:09.918Z,1744774209.918 [MissionManager](INFO): DefineArg transit.Speed = 1.000000 m/s
2025-04-16T03:30:09.920Z,1744774209.920 [MissionManager](INFO): DefineArg transit.MaxDepth = 20.000000 m
2025-04-16T03:30:09.922Z,1744774209.922 [MissionManager](INFO): DefineArg transit.MinOffshore = 1.000000 km
2025-04-16T03:30:09.925Z,1744774209.925 [MissionManager](INFO): DefineArg transit.MinAltitude = 7.000000 m
2025-04-16T03:30:09.927Z,1744774209.927 [MissionManager](INFO): DefineArg transit.MassHold = 1 bool
2025-04-16T03:30:09.929Z,1744774209.929 [MissionManager](INFO): DefineArg transit.BuoyancyHold = 1 bool
2025-04-16T03:30:09.929Z,1744774209.929 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-04-16T03:30:09.929Z,1744774209.929 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-04-16T03:30:09.931Z,1744774209.931 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-04-16T03:30:10.221Z,1744774210.221 [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>

2025-04-16T03:30:10.225Z,1744774210.225 [MissionManager](INFO): DefineArg transit:NeedComms.DiveInterval = 1.000000 h
2025-04-16T03:30:10.228Z,1744774210.228 [MissionManager](INFO): DefineArg transit:NeedComms.WaitForPitchUp = 10.000000 min
2025-04-16T03:30:10.230Z,1744774210.230 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-04-16T03:30:10.233Z,1744774210.233 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceDepthRate = nan m/s
2025-04-16T03:30:10.235Z,1744774210.235 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-04-16T03:30:10.237Z,1744774210.237 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacingTimeout = 1000.000000 s
2025-04-16T03:30:10.239Z,1744774210.239 [MissionManager](INFO): DefineArg transit:NeedComms.GPSTimeout = 7.000000 min
2025-04-16T03:30:10.242Z,1744774210.242 [MissionManager](INFO): DefineArg transit:NeedComms.CommsTimeout = 30.000000 min
2025-04-16T03:30:10.276Z,1744774210.276 [transit:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-04-16T03:30:10.316Z,1744774210.316 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-04-16T03:30:10.316Z,1744774210.316 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-04-16T03:30:10.318Z,1744774210.318 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-04-16T03:30:10.385Z,1744774210.385 [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>

2025-04-16T03:30:10.389Z,1744774210.389 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinAltitude = 5.000000 m
2025-04-16T03:30:10.391Z,1744774210.391 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-04-16T03:30:10.394Z,1744774210.394 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepth = 200.000000 m
2025-04-16T03:30:10.396Z,1744774210.396 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-04-16T03:30:10.397Z,1744774210.397 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-04-16T03:30:10.403Z,1744774210.403 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-04-16T03:30:10.434Z,1744774210.434 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-04-16T03:30:10.446Z,1744774210.446 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-04-16T03:30:10.446Z,1744774210.446 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-04-16T03:30:10.448Z,1744774210.448 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-04-16T03:30:10.477Z,1744774210.477 [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>

2025-04-16T03:30:10.480Z,1744774210.480 [MissionManager](INFO): DefineArg transit:BackseatDriver.EnableBackseat = 0 bool
2025-04-16T03:30:10.482Z,1744774210.482 [transit:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-04-16T03:30:10.484Z,1744774210.484 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-04-16T03:30:10.485Z,1744774210.485 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-04-16T03:30:10.486Z,1744774210.486 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-04-16T03:30:10.667Z,1744774210.667 [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>

2025-04-16T03:30:10.672Z,1744774210.672 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleAll = 0 bool
2025-04-16T03:30:10.674Z,1744774210.674 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad1 = 0 bool
2025-04-16T03:30:10.676Z,1744774210.676 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad2 = 0 bool
2025-04-16T03:30:10.678Z,1744774210.678 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad3 = 0 bool
2025-04-16T03:30:10.680Z,1744774210.680 [MissionManager](INFO): DefineArg transit:PowerOnly.EnabledPowerOnly = 1 bool
2025-04-16T03:30:10.687Z,1744774210.687 [transit:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-04-16T03:30:10.689Z,1744774210.689 [transit:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-04-16T03:30:10.692Z,1744774210.692 [transit:MassHold.Pitch](DEBUG): Construct.
2025-04-16T03:30:10.698Z,1744774210.698 [transit:Transit:A.Pitch](DEBUG): Construct.
2025-04-16T03:30:10.702Z,1744774210.702 [transit:Transit:B.SetSpeed](DEBUG): Construct.
2025-04-16T03:30:10.706Z,1744774210.706 [transit:Transit:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-04-16T03:30:10.778Z,1744774210.778 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

  timeout duration=MissionTimeout

  insert id="NeedComms" Insert/NeedComms.tl

  assign in sequence NeedComms:DiveInterval = NeedCommsTime

  assign in sequence NeedComms:WaitForPitchUp = 1 second

  insert Insert/StandardEnvelopes.tl

  assign in sequence StandardEnvelopes:MinAltitude = MinAltitude

  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth

  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

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

    set position = Control:VerticalControl.buoyancyNeutral
  }

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

    set massPosition = Control:VerticalControl.massDefault
  }

  aggregate Transit {
    run in sequence

    behavior Guidance:Pitch {
      run in parallel

      set depth = Depth
    }

    behavior Guidance:SetSpeed {
      run in parallel

      set speed = Speed
    }

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

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

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


2025-04-16T03:30:10.778Z,1744774210.778 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/transit.tl id=transit
2025-04-16T03:30:29.854Z,1744774229.854 [CommandExec](IMPORTANT): got command set transit.MissionTimeout 3 minute
2025-04-16T03:30:29.855Z,1744774229.855 [CommandExec](IMPORTANT): got command set transit.NeedCommsTime 30 minute
2025-04-16T03:30:29.869Z,1744774229.869 [CommandExec](IMPORTANT): got command set transit.Latitude 36.806966 degree
2025-04-16T03:30:29.869Z,1744774229.869 [CommandExec](IMPORTANT): got command set transit.Longitude -121.824326 degree
2025-04-16T03:30:29.870Z,1744774229.870 [CommandExec](IMPORTANT): got command set transit.Speed -1 meter_per_second
2025-04-16T03:30:29.871Z,1744774229.871 [CommandExec](IMPORTANT): got command set transit.MaxDepth 15 meter
2025-04-16T03:30:29.872Z,1744774229.872 [CommandExec](IMPORTANT): got command run
2025-04-16T03:30:29.873Z,1744774229.873 [CommandExec](IMPORTANT): Running 
2025-04-16T03:30:30.015Z,1744774230.015 [Default] Stopped
2025-04-16T03:30:30.015Z,1744774230.015 [Default](DEBUG): Aggregate::uninitialize Default
2025-04-16T03:30:30.015Z,1744774230.015 [Default:B.GoToSurface] Stopped
2025-04-16T03:30:30.019Z,1744774230.019 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-04-16T03:30:30.019Z,1744774230.019 [Default:CheckIn] Stopped
2025-04-16T03:30:30.019Z,1744774230.019 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-04-16T03:30:30.020Z,1744774230.020 [Default:CheckIn:C.Wait] Stopped
2025-04-16T03:30:30.020Z,1744774230.020 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-04-16T03:30:30.020Z,1744774230.020 [MissionManager](IMPORTANT): Started mission transit
2025-04-16T03:30:30.020Z,1744774230.020 [transit] Running Loop=1
2025-04-16T03:30:30.020Z,1744774230.020 [transit](DEBUG): Aggregate::initialize transit
2025-04-16T03:30:30.020Z,1744774230.020 [transit:StandardEnvelopes] Running Loop=1
2025-04-16T03:30:30.020Z,1744774230.020 [transit:StandardEnvelopes](DEBUG): Aggregate::initialize transit:StandardEnvelopes
2025-04-16T03:30:30.020Z,1744774230.020 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-04-16T03:30:30.020Z,1744774230.020 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-04-16T03:30:30.021Z,1744774230.021 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-04-16T03:30:30.021Z,1744774230.021 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-04-16T03:30:30.021Z,1744774230.021 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-04-16T03:30:30.021Z,1744774230.021 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-04-16T03:30:30.021Z,1744774230.021 [transit:BackseatDriver] Running Loop=1
2025-04-16T03:30:30.021Z,1744774230.021 [transit:BackseatDriver](DEBUG): Aggregate::initialize transit:BackseatDriver
2025-04-16T03:30:30.021Z,1744774230.021 [transit:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-04-16T03:30:30.021Z,1744774230.021 [transit:PowerOnly] Running Loop=1
2025-04-16T03:30:30.022Z,1744774230.022 [transit:PowerOnly](DEBUG): Aggregate::initialize transit:PowerOnly
2025-04-16T03:30:30.022Z,1744774230.022 [transit:PowerOnly:A] Running Loop=1
2025-04-16T03:30:30.022Z,1744774230.022 [transit:PowerOnly:B] Running Loop=1
2025-04-16T03:30:30.022Z,1744774230.022 [transit:PowerOnly:C] Running Loop=1
2025-04-16T03:30:30.022Z,1744774230.022 [transit:PowerOnly:D] Running Loop=1
2025-04-16T03:30:30.022Z,1744774230.022 [transit:PowerOnly:E.Wait] Running Loop=1
2025-04-16T03:30:30.022Z,1744774230.022 [transit:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-04-16T03:30:30.022Z,1744774230.022 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-04-16T03:30:30.022Z,1744774230.022 [transit:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-04-16T03:30:30.022Z,1744774230.022 [transit:MassHold.Pitch] Running Loop=1
2025-04-16T03:30:30.022Z,1744774230.022 [transit:MassHold.Pitch](DEBUG): Initialize.
2025-04-16T03:30:30.023Z,1744774230.023 [transit:B] Running Loop=1
2025-04-16T03:30:30.027Z,1744774230.027 [transit:MassHold.Pitch] Running Loop=1
2025-04-16T03:30:30.028Z,1744774230.028 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-04-16T03:30:30.028Z,1744774230.028 [transit:PowerOnly] Running Loop=1
2025-04-16T03:30:30.028Z,1744774230.028 [transit:PowerOnly:D] Stopped
2025-04-16T03:30:30.028Z,1744774230.028 [transit:PowerOnly:C] Stopped
2025-04-16T03:30:30.028Z,1744774230.028 [transit:PowerOnly:B] Stopped
2025-04-16T03:30:30.028Z,1744774230.028 [transit:PowerOnly:A] Stopped
2025-04-16T03:30:30.029Z,1744774230.029 [transit:BackseatDriver] Running Loop=1
2025-04-16T03:30:30.029Z,1744774230.029 [transit:StandardEnvelopes] Running Loop=1
2025-04-16T03:30:30.029Z,1744774230.029 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-04-16T03:30:30.029Z,1744774230.029 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-04-16T03:30:30.029Z,1744774230.029 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-04-16T03:30:30.030Z,1744774230.030 [transit:B] Stopped
2025-04-16T03:30:30.030Z,1744774230.030 [transit:C] Running Loop=1
2025-04-16T03:30:30.367Z,1744774230.367 [transit:C] Stopped
2025-04-16T03:30:30.367Z,1744774230.367 [transit:E] Running Loop=1
2025-04-16T03:30:30.762Z,1744774230.762 [transit:E] Stopped
2025-04-16T03:30:30.762Z,1744774230.762 [transit:F] Running Loop=1
2025-04-16T03:30:31.181Z,1744774231.181 [transit:F] Stopped
2025-04-16T03:30:31.181Z,1744774231.181 [transit:G] Running Loop=1
2025-04-16T03:30:31.597Z,1744774231.597 [transit:G] Stopped
2025-04-16T03:30:31.597Z,1744774231.597 [transit:Transit] Running Loop=1
2025-04-16T03:30:31.597Z,1744774231.597 [transit:Transit](DEBUG): Aggregate::initialize transit:Transit
2025-04-16T03:30:31.597Z,1744774231.597 [transit:Transit:A.Pitch] Running Loop=1
2025-04-16T03:30:31.597Z,1744774231.597 [transit:Transit:A.Pitch](DEBUG): Initialize.
2025-04-16T03:30:31.598Z,1744774231.598 [transit:Transit:B.SetSpeed] Running Loop=1
2025-04-16T03:30:31.598Z,1744774231.598 [transit:Transit:B.SetSpeed](DEBUG): Initialize.
2025-04-16T03:30:31.598Z,1744774231.598 [transit:Transit:Wpt1.Waypoint] Running Loop=1
2025-04-16T03:30:31.598Z,1744774231.598 [transit:Transit:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-04-16T03:30:31.599Z,1744774231.599 [transit:Transit:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.806965,-121.824326
2025-04-16T03:30:31.604Z,1744774231.604 [transit:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2025-04-16T03:30:32.002Z,1744774232.002 [transit:Transit:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.806965,-121.824326
2025-04-16T03:30:32.003Z,1744774232.003 [transit:Transit:B.SetSpeed] Running Loop=1
2025-04-16T03:30:32.004Z,1744774232.004 [transit:Transit:A.Pitch] Running Loop=1
2025-04-16T03:30:49.435Z,1744774249.435 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T03:30:49.823Z,1744774249.823 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T03:30:50.227Z,1744774250.227 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T03:30:50.627Z,1744774250.627 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T03:30:51.051Z,1744774251.051 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T03:30:53.055Z,1744774253.055 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T03:30:53.421Z,1744774253.421 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-04-16T03:30:53.421Z,1744774253.421 [ThrusterHE](INFO): Powering down
2025-04-16T03:30:54.241Z,1744774254.241 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-04-16T03:30:54.360Z,1744774254.360 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-04-16T03:31:21.760Z,1744774281.760 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T03:31:22.167Z,1744774282.167 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T03:31:22.547Z,1744774282.547 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T03:31:22.959Z,1744774282.959 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T03:31:23.379Z,1744774283.379 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T03:31:23.771Z,1744774283.771 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T03:31:24.125Z,1744774284.125 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-04-16T03:31:24.125Z,1744774284.125 [ThrusterHE](INFO): Powering down
2025-04-16T03:31:24.949Z,1744774284.949 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-04-16T03:31:25.068Z,1744774285.068 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-04-16T03:31:43.111Z,1744774303.111 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T03:31:43.515Z,1744774303.515 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T03:31:45.551Z,1744774305.551 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T03:31:45.955Z,1744774305.955 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T03:31:46.309Z,1744774306.309 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-04-16T03:31:46.309Z,1744774306.309 [ThrusterHE](INFO): Powering down
2025-04-16T03:31:47.126Z,1744774307.126 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-04-16T03:31:47.244Z,1744774307.244 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-04-16T03:32:34.988Z,1744774354.988 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-16T03:33:30.145Z,1744774410.145 [transit](INFO): Timed out from 2025-04-16T03:30:30.0Z
2025-04-16T03:33:30.145Z,1744774410.145 [MissionManager](INFO): transit is completed.
2025-04-16T03:33:30.145Z,1744774410.145 [MissionManager](INFO): Uninitializing Mission transit
2025-04-16T03:33:30.145Z,1744774410.145 [transit] Stopped
2025-04-16T03:33:30.145Z,1744774410.145 [transit](DEBUG): Aggregate::uninitialize transit
2025-04-16T03:33:30.145Z,1744774410.145 [transit:StandardEnvelopes] Stopped
2025-04-16T03:33:30.146Z,1744774410.146 [transit:StandardEnvelopes](DEBUG): Aggregate::uninitialize transit:StandardEnvelopes
2025-04-16T03:33:30.146Z,1744774410.146 [transit:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-04-16T03:33:30.146Z,1744774410.146 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-04-16T03:33:30.146Z,1744774410.146 [transit:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-04-16T03:33:30.146Z,1744774410.146 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-04-16T03:33:30.146Z,1744774410.146 [transit:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-04-16T03:33:30.146Z,1744774410.146 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-04-16T03:33:30.146Z,1744774410.146 [transit:BackseatDriver] Stopped
2025-04-16T03:33:30.146Z,1744774410.146 [transit:BackseatDriver](DEBUG): Aggregate::uninitialize transit:BackseatDriver
2025-04-16T03:33:30.146Z,1744774410.146 [transit:BackseatDriver:A.BackseatDriver] Stopped
2025-04-16T03:33:30.146Z,1744774410.146 [transit:PowerOnly] Stopped
2025-04-16T03:33:30.146Z,1744774410.146 [transit:PowerOnly](DEBUG): Aggregate::uninitialize transit:PowerOnly
2025-04-16T03:33:30.146Z,1744774410.146 [transit:PowerOnly:E.Wait] Stopped
2025-04-16T03:33:30.147Z,1744774410.147 [transit:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-04-16T03:33:30.147Z,1744774410.147 [transit:BuoyancyHold.Buoyancy] Stopped
2025-04-16T03:33:30.147Z,1744774410.147 [transit:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-04-16T03:33:30.147Z,1744774410.147 [transit:MassHold.Pitch] Stopped
2025-04-16T03:33:30.147Z,1744774410.147 [transit:Transit] Stopped
2025-04-16T03:33:30.147Z,1744774410.147 [transit:Transit](DEBUG): Aggregate::uninitialize transit:Transit
2025-04-16T03:33:30.147Z,1744774410.147 [transit:Transit:A.Pitch] Stopped
2025-04-16T03:33:30.147Z,1744774410.147 [transit:Transit:B.SetSpeed] Stopped
2025-04-16T03:33:30.147Z,1744774410.147 [transit:Transit:B.SetSpeed](DEBUG): Uninitialize.
2025-04-16T03:33:30.147Z,1744774410.147 [transit:Transit:Wpt1.Waypoint] Stopped
2025-04-16T03:33:30.147Z,1744774410.147 [transit:Transit:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-04-16T03:33:30.578Z,1744774410.578 [MissionManager](IMPORTANT): Started mission Default
2025-04-16T03:33:30.579Z,1744774410.579 [Default] Running Loop=1
2025-04-16T03:33:30.579Z,1744774410.579 [Default](DEBUG): Aggregate::initialize Default
2025-04-16T03:33:30.579Z,1744774410.579 [Default:B.GoToSurface] Running Loop=1
2025-04-16T03:33:30.605Z,1744774410.605 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-04-16T03:33:30.606Z,1744774410.606 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-04-16T03:33:30.606Z,1744774410.606 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-04-16T03:33:30.606Z,1744774410.606 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-04-16T03:33:30.607Z,1744774410.607 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-04-16T03:33:30.607Z,1744774410.607 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-04-16T03:33:30.620Z,1744774410.620 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-04-16T03:33:30.620Z,1744774410.620 [Default:A.Wait] Running Loop=1
2025-04-16T03:33:30.620Z,1744774410.620 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-04-16T03:33:43.880Z,1744774423.880 [Default:A.Wait](INFO): Done Waiting.
2025-04-16T03:33:43.880Z,1744774423.880 [Default:A.Wait] Stopped
2025-04-16T03:33:43.880Z,1744774423.880 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-04-16T03:33:44.267Z,1744774424.267 [Default:CheckIn] Running Loop=1
2025-04-16T03:33:44.267Z,1744774424.267 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-04-16T03:33:44.267Z,1744774424.267 [Default:CheckIn:Read_GPS] Running Loop=1
2025-04-16T03:33:46.283Z,1744774426.283 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,033347.00,A,3648.03547,N,12150.62147,W,0.428,22.62,160425,,,D*4A
2025-04-16T03:33:46.286Z,1744774426.286 [NAL9602](INFO): GPS fix at 20250416T033347: (36.800591, -121.843691)
2025-04-16T03:33:46.296Z,1744774426.296 [Default:CheckIn:Read_GPS] Stopped
2025-04-16T03:33:46.297Z,1744774426.297 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-04-16T03:33:54.043Z,1744774434.043 [DataOverHttps](INFO): Sending 75 bytes from file Logs/20250416T014222/Courier0064.lzma
2025-04-16T03:33:55.045Z,1744774435.045 [DataOverHttps](INFO): Moved sent file to Logs/20250416T014222/Courier0064.lzma.bak
2025-04-16T03:33:55.045Z,1744774435.045 [DataOverHttps](INFO): SBD MOMSN=24670412
2025-04-16T03:34:11.373Z,1744774451.373 [DataOverHttps](INFO): Sending 593 bytes from file Logs/20250416T014222/Express0065.lzma
2025-04-16T03:34:12.373Z,1744774452.373 [DataOverHttps](INFO): Moved sent file to Logs/20250416T014222/Express0065.lzma.bak
2025-04-16T03:34:12.373Z,1744774452.373 [DataOverHttps](INFO): SBD MOMSN=24670415
2025-04-16T03:34:20.619Z,1744774460.619 [NAL9602](INFO): SBD MO Status=0, MOMSN=19545, MT Status=0, MTMSN=0
2025-04-16T03:34:20.619Z,1744774460.619 [NAL9602](INFO): No messages in MT queue
2025-04-16T03:34:28.440Z,1744774468.440 [DataOverHttps](INFO): Sending 62 bytes from file Logs/20250416T014222/Express0068.lzma
2025-04-16T03:34:29.442Z,1744774469.442 [DataOverHttps](INFO): Moved sent file to Logs/20250416T014222/Express0068.lzma.bak
2025-04-16T03:34:29.442Z,1744774469.442 [DataOverHttps](INFO): SBD MOMSN=24670447
2025-04-16T03:34:31.156Z,1744774471.156 [Default:CheckIn:Read_Iridium] Stopped
2025-04-16T03:34:31.156Z,1744774471.156 [Default:CheckIn:C.Wait] Running Loop=1
2025-04-16T03:34:31.156Z,1744774471.156 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-04-16T03:34:51.321Z,1744774491.321 [NAL9602](INFO): Not Powering down - fast GPS
2025-04-16T03:35:08.946Z,1744774508.946 [DataOverHttps](IMPORTANT): SBD MTMSN=20250416T033509
2025-04-16T03:35:16.427Z,1744774516.427 [DataOverHttps](INFO): Received command: load Transport/transit.tl;set transit.MissionTimeout 3 min;set transit.NeedCommsTime 30 min;set transit.Latitude 36.806966 degree;set transit.Longitude -121.824326 degree;set transit.Speed -1 m/s;set transit.MaxDepth 15 m;run
2025-04-16T03:35:16.520Z,1744774516.520 [CommandExec](IMPORTANT): got command load ./Missions/Transport/transit.tl
2025-04-16T03:35:16.520Z,1744774516.520 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/transit.tl
2025-04-16T03:35:16.520Z,1744774516.520 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/transit.tl
2025-04-16T03:35:16.522Z,1744774516.522 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/transit.tl
2025-04-16T03:35:17.244Z,1744774517.244 [MissionManager](DEBUG): TethyslAPI: ./Missions/Transport/transit.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="transit">
    <DefineArg Name="MissionTimeout">
        <Units:minute />
        <Value>60</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Northings">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="Eastings">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="Depth">
        <Units:meter />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="Speed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="MassHold">
        <True />
    </DefineArg>
    <DefineArg Name="BuoyancyHold">
        <True />
    </DefineArg>
    <Timeout Duration="MissionTimeout" />
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="NeedCommsTime" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:WaitForPitchUp" />
        <Units:second />
        <Value>1</Value>
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Guidance:Buoyancy Id="BuoyancyHold">
        <While>
            <Arg Name="BuoyancyHold" />
        </While>
        <Setting>
            <Guidance:Buoyancy.position />
            <Control:VerticalControl.buoyancyNeutral />
        </Setting>
    </Guidance:Buoyancy>
    <Guidance:Pitch Id="MassHold">
        <While>
            <Arg Name="MassHold" />
        </While>
        <Setting>
            <Guidance:Pitch.massPosition />
            <Control:VerticalControl.massDefault />
        </Setting>
    </Guidance:Pitch>
    <Aggregate Id="Transit">
        <Sequence />
        <Guidance:Pitch>
            <Parallel />
            <Setting>
                <Guidance:Pitch.depth />
                <Arg Name="Depth" />
            </Setting>
        </Guidance:Pitch>
        <Guidance:SetSpeed>
            <Parallel />
            <Setting>
                <Guidance:SetSpeed.speed />
                <Arg Name="Speed" />
            </Setting>
        </Guidance:SetSpeed>
        <Guidance:Waypoint Id="Wpt1">
            <Sequence />
            <Setting>
                <Guidance:Waypoint.latitude />
                <Arg Name="Latitude" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.longitude />
                <Arg Name="Longitude" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.northingsDelta />
                <Arg Name="Northings" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.eastingsDelta />
                <Arg Name="Eastings" />
            </Setting>
        </Guidance:Waypoint>
        <Call RefId="NeedComms" Id="PhoneHome" />
    </Aggregate>
</Mission>

2025-04-16T03:35:17.249Z,1744774517.249 [MissionManager](INFO): DefineArg transit.MissionTimeout = 60.000000 min
2025-04-16T03:35:17.251Z,1744774517.251 [MissionManager](INFO): DefineArg transit.NeedCommsTime = 30.000000 min
2025-04-16T03:35:17.253Z,1744774517.253 [MissionManager](INFO): DefineArg transit.Latitude = nan arcdeg
2025-04-16T03:35:17.256Z,1744774517.256 [MissionManager](INFO): DefineArg transit.Longitude = nan arcdeg
2025-04-16T03:35:17.258Z,1744774517.258 [MissionManager](INFO): DefineArg transit.Northings = 0.000000 m
2025-04-16T03:35:17.260Z,1744774517.260 [MissionManager](INFO): DefineArg transit.Eastings = 0.000000 m
2025-04-16T03:35:17.262Z,1744774517.262 [MissionManager](INFO): DefineArg transit.Depth = 10.000000 m
2025-04-16T03:35:17.265Z,1744774517.265 [MissionManager](INFO): DefineArg transit.Speed = 1.000000 m/s
2025-04-16T03:35:17.267Z,1744774517.267 [MissionManager](INFO): DefineArg transit.MaxDepth = 20.000000 m
2025-04-16T03:35:17.269Z,1744774517.269 [MissionManager](INFO): DefineArg transit.MinOffshore = 1.000000 km
2025-04-16T03:35:17.272Z,1744774517.272 [MissionManager](INFO): DefineArg transit.MinAltitude = 7.000000 m
2025-04-16T03:35:17.274Z,1744774517.274 [MissionManager](INFO): DefineArg transit.MassHold = 1 bool
2025-04-16T03:35:17.300Z,1744774517.300 [MissionManager](INFO): DefineArg transit.BuoyancyHold = 1 bool
2025-04-16T03:35:17.300Z,1744774517.300 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-04-16T03:35:17.300Z,1744774517.300 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-04-16T03:35:17.302Z,1744774517.302 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-04-16T03:35:17.542Z,1744774517.542 [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>

2025-04-16T03:35:17.546Z,1744774517.546 [MissionManager](INFO): DefineArg transit:NeedComms.DiveInterval = 1.000000 h
2025-04-16T03:35:17.549Z,1744774517.549 [MissionManager](INFO): DefineArg transit:NeedComms.WaitForPitchUp = 10.000000 min
2025-04-16T03:35:17.551Z,1744774517.551 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-04-16T03:35:17.553Z,1744774517.553 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceDepthRate = nan m/s
2025-04-16T03:35:17.556Z,1744774517.556 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-04-16T03:35:17.558Z,1744774517.558 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacingTimeout = 1000.000000 s
2025-04-16T03:35:17.612Z,1744774517.612 [MissionManager](INFO): DefineArg transit:NeedComms.GPSTimeout = 7.000000 min
2025-04-16T03:35:17.615Z,1744774517.615 [MissionManager](INFO): DefineArg transit:NeedComms.CommsTimeout = 30.000000 min
2025-04-16T03:35:17.641Z,1744774517.641 [transit:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-04-16T03:35:17.687Z,1744774517.687 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-04-16T03:35:17.687Z,1744774517.687 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-04-16T03:35:17.692Z,1744774517.692 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-04-16T03:35:17.775Z,1744774517.775 [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>

2025-04-16T03:35:17.779Z,1744774517.779 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinAltitude = 5.000000 m
2025-04-16T03:35:17.781Z,1744774517.781 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-04-16T03:35:17.783Z,1744774517.783 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepth = 200.000000 m
2025-04-16T03:35:17.786Z,1744774517.786 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-04-16T03:35:17.787Z,1744774517.787 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-04-16T03:35:17.793Z,1744774517.793 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-04-16T03:35:17.799Z,1744774517.799 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-04-16T03:35:17.836Z,1744774517.836 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-04-16T03:35:17.837Z,1744774517.837 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-04-16T03:35:17.838Z,1744774517.838 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-04-16T03:35:17.857Z,1744774517.857 [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>

2025-04-16T03:35:17.869Z,1744774517.869 [MissionManager](INFO): DefineArg transit:BackseatDriver.EnableBackseat = 0 bool
2025-04-16T03:35:17.871Z,1744774517.871 [transit:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-04-16T03:35:17.874Z,1744774517.874 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-04-16T03:35:17.874Z,1744774517.874 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-04-16T03:35:17.875Z,1744774517.875 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-04-16T03:35:18.058Z,1744774518.058 [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>

2025-04-16T03:35:18.062Z,1744774518.062 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleAll = 0 bool
2025-04-16T03:35:18.064Z,1744774518.064 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad1 = 0 bool
2025-04-16T03:35:18.066Z,1744774518.066 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad2 = 0 bool
2025-04-16T03:35:18.086Z,1744774518.086 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad3 = 0 bool
2025-04-16T03:35:18.090Z,1744774518.090 [MissionManager](INFO): DefineArg transit:PowerOnly.EnabledPowerOnly = 1 bool
2025-04-16T03:35:18.096Z,1744774518.096 [transit:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-04-16T03:35:18.098Z,1744774518.098 [transit:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-04-16T03:35:18.101Z,1744774518.101 [transit:MassHold.Pitch](DEBUG): Construct.
2025-04-16T03:35:18.107Z,1744774518.107 [transit:Transit:A.Pitch](DEBUG): Construct.
2025-04-16T03:35:18.112Z,1744774518.112 [transit:Transit:B.SetSpeed](DEBUG): Construct.
2025-04-16T03:35:18.114Z,1744774518.114 [transit:Transit:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-04-16T03:35:18.175Z,1744774518.175 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

  timeout duration=MissionTimeout

  insert id="NeedComms" Insert/NeedComms.tl

  assign in sequence NeedComms:DiveInterval = NeedCommsTime

  assign in sequence NeedComms:WaitForPitchUp = 1 second

  insert Insert/StandardEnvelopes.tl

  assign in sequence StandardEnvelopes:MinAltitude = MinAltitude

  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth

  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

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

    set position = Control:VerticalControl.buoyancyNeutral
  }

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

    set massPosition = Control:VerticalControl.massDefault
  }

  aggregate Transit {
    run in sequence

    behavior Guidance:Pitch {
      run in parallel

      set depth = Depth
    }

    behavior Guidance:SetSpeed {
      run in parallel

      set speed = Speed
    }

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

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

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


2025-04-16T03:35:18.176Z,1744774518.176 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/transit.tl id=transit
2025-04-16T03:35:41.641Z,1744774541.641 [CommandExec](IMPORTANT): got command set transit.MissionTimeout 3 minute
2025-04-16T03:35:41.642Z,1744774541.642 [CommandExec](IMPORTANT): got command set transit.NeedCommsTime 30 minute
2025-04-16T03:35:41.642Z,1744774541.642 [CommandExec](IMPORTANT): got command set transit.Latitude 36.806966 degree
2025-04-16T03:35:41.643Z,1744774541.643 [CommandExec](IMPORTANT): got command set transit.Longitude -121.824326 degree
2025-04-16T03:35:41.644Z,1744774541.644 [CommandExec](IMPORTANT): got command set transit.Speed -1 meter_per_second
2025-04-16T03:35:41.645Z,1744774541.645 [CommandExec](IMPORTANT): got command set transit.MaxDepth 15 meter
2025-04-16T03:35:41.645Z,1744774541.645 [CommandExec](IMPORTANT): got command run
2025-04-16T03:35:41.647Z,1744774541.647 [CommandExec](IMPORTANT): Running 
2025-04-16T03:35:41.886Z,1744774541.886 [Default] Stopped
2025-04-16T03:35:41.886Z,1744774541.886 [Default](DEBUG): Aggregate::uninitialize Default
2025-04-16T03:35:41.887Z,1744774541.887 [Default:B.GoToSurface] Stopped
2025-04-16T03:35:41.887Z,1744774541.887 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-04-16T03:35:41.887Z,1744774541.887 [Default:CheckIn] Stopped
2025-04-16T03:35:41.887Z,1744774541.887 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-04-16T03:35:41.887Z,1744774541.887 [Default:CheckIn:C.Wait] Stopped
2025-04-16T03:35:41.887Z,1744774541.887 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-04-16T03:35:41.887Z,1744774541.887 [MissionManager](IMPORTANT): Started mission transit
2025-04-16T03:35:41.888Z,1744774541.888 [transit] Running Loop=1
2025-04-16T03:35:41.888Z,1744774541.888 [transit](DEBUG): Aggregate::initialize transit
2025-04-16T03:35:41.888Z,1744774541.888 [transit:StandardEnvelopes] Running Loop=1
2025-04-16T03:35:41.888Z,1744774541.888 [transit:StandardEnvelopes](DEBUG): Aggregate::initialize transit:StandardEnvelopes
2025-04-16T03:35:41.888Z,1744774541.888 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-04-16T03:35:41.888Z,1744774541.888 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-04-16T03:35:41.888Z,1744774541.888 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-04-16T03:35:41.888Z,1744774541.888 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-04-16T03:35:41.888Z,1744774541.888 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-04-16T03:35:41.889Z,1744774541.889 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-04-16T03:35:41.889Z,1744774541.889 [transit:BackseatDriver] Running Loop=1
2025-04-16T03:35:41.889Z,1744774541.889 [transit:BackseatDriver](DEBUG): Aggregate::initialize transit:BackseatDriver
2025-04-16T03:35:41.889Z,1744774541.889 [transit:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-04-16T03:35:41.889Z,1744774541.889 [transit:PowerOnly] Running Loop=1
2025-04-16T03:35:41.889Z,1744774541.889 [transit:PowerOnly](DEBUG): Aggregate::initialize transit:PowerOnly
2025-04-16T03:35:41.889Z,1744774541.889 [transit:PowerOnly:A] Running Loop=1
2025-04-16T03:35:41.889Z,1744774541.889 [transit:PowerOnly:B] Running Loop=1
2025-04-16T03:35:41.889Z,1744774541.889 [transit:PowerOnly:C] Running Loop=1
2025-04-16T03:35:41.889Z,1744774541.889 [transit:PowerOnly:D] Running Loop=1
2025-04-16T03:35:41.889Z,1744774541.889 [transit:PowerOnly:E.Wait] Running Loop=1
2025-04-16T03:35:41.889Z,1744774541.889 [transit:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-04-16T03:35:41.890Z,1744774541.890 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-04-16T03:35:41.890Z,1744774541.890 [transit:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-04-16T03:35:41.890Z,1744774541.890 [transit:MassHold.Pitch] Running Loop=1
2025-04-16T03:35:41.890Z,1744774541.890 [transit:MassHold.Pitch](DEBUG): Initialize.
2025-04-16T03:35:41.890Z,1744774541.890 [transit:B] Running Loop=1
2025-04-16T03:35:41.891Z,1744774541.891 [transit:MassHold.Pitch] Running Loop=1
2025-04-16T03:35:41.891Z,1744774541.891 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-04-16T03:35:41.891Z,1744774541.891 [transit:PowerOnly] Running Loop=1
2025-04-16T03:35:41.892Z,1744774541.892 [transit:PowerOnly:D] Stopped
2025-04-16T03:35:41.892Z,1744774541.892 [transit:PowerOnly:C] Stopped
2025-04-16T03:35:41.892Z,1744774541.892 [transit:PowerOnly:B] Stopped
2025-04-16T03:35:41.892Z,1744774541.892 [transit:PowerOnly:A] Stopped
2025-04-16T03:35:41.892Z,1744774541.892 [transit:BackseatDriver] Running Loop=1
2025-04-16T03:35:41.892Z,1744774541.892 [transit:StandardEnvelopes] Running Loop=1
2025-04-16T03:35:41.892Z,1744774541.892 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-04-16T03:35:41.893Z,1744774541.893 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-04-16T03:35:41.893Z,1744774541.893 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-04-16T03:35:41.893Z,1744774541.893 [transit:B] Stopped
2025-04-16T03:35:41.894Z,1744774541.894 [transit:C] Running Loop=1
2025-04-16T03:35:42.284Z,1744774542.284 [transit:C] Stopped
2025-04-16T03:35:42.284Z,1744774542.284 [transit:E] Running Loop=1
2025-04-16T03:35:42.703Z,1744774542.703 [transit:E] Stopped
2025-04-16T03:35:42.703Z,1744774542.703 [transit:F] Running Loop=1
2025-04-16T03:35:43.114Z,1744774543.114 [transit:F] Stopped
2025-04-16T03:35:43.114Z,1744774543.114 [transit:G] Running Loop=1
2025-04-16T03:35:43.522Z,1744774543.522 [transit:G] Stopped
2025-04-16T03:35:43.522Z,1744774543.522 [transit:Transit] Running Loop=1
2025-04-16T03:35:43.522Z,1744774543.522 [transit:Transit](DEBUG): Aggregate::initialize transit:Transit
2025-04-16T03:35:43.522Z,1744774543.522 [transit:Transit:A.Pitch] Running Loop=1
2025-04-16T03:35:43.522Z,1744774543.522 [transit:Transit:A.Pitch](DEBUG): Initialize.
2025-04-16T03:35:43.522Z,1744774543.522 [transit:Transit:B.SetSpeed] Running Loop=1
2025-04-16T03:35:43.522Z,1744774543.522 [transit:Transit:B.SetSpeed](DEBUG): Initialize.
2025-04-16T03:35:43.522Z,1744774543.522 [transit:Transit:Wpt1.Waypoint] Running Loop=1
2025-04-16T03:35:43.523Z,1744774543.523 [transit:Transit:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-04-16T03:35:43.528Z,1744774543.528 [transit:Transit:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.806965,-121.824326
2025-04-16T03:35:43.529Z,1744774543.529 [transit:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2025-04-16T03:35:43.931Z,1744774543.931 [transit:Transit:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.806965,-121.824326
2025-04-16T03:35:43.936Z,1744774543.936 [transit:Transit:B.SetSpeed] Running Loop=1
2025-04-16T03:35:43.936Z,1744774543.936 [transit:Transit:A.Pitch] Running Loop=1
2025-04-16T03:36:06.055Z,1744774566.055 [ThrusterHE](FAULT): Could not get status:serial timeout
2025-04-16T03:36:06.151Z,1744774566.151 [ThrusterHE](FAULT): getSpeed error serial timeout
2025-04-16T03:36:06.151Z,1744774566.151 [ThrusterHE](FAULT): Thruster uart error: serial timeout
2025-04-16T03:36:06.151Z,1744774566.151 [ThrusterHE] Communications Fault, FailCount= 1
2025-04-16T03:36:06.152Z,1744774566.152 [ThrusterHE](ERROR): Communications Fault
2025-04-16T03:36:06.155Z,1744774566.155 [CBIT](ERROR): Communications Fault in component: ThrusterHE
2025-04-16T03:36:06.297Z,1744774566.297 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-04-16T03:36:06.297Z,1744774566.297 [ThrusterHE](INFO): Powering down
2025-04-16T03:36:06.645Z,1744774566.645 [ThrusterHE](FAULT): LCB fault:  Current Limiter Activated.
2025-04-16T03:36:06.645Z,1744774566.645 [ThrusterHE] Hardware Fault, FailCount= 1
2025-04-16T03:36:06.645Z,1744774566.645 [ThrusterHE](ERROR): Hardware Fault
2025-04-16T03:36:07.041Z,1744774567.041 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-04-16T03:36:07.160Z,1744774567.160 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-04-16T03:36:07.164Z,1744774567.164 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-04-16T03:36:07.164Z,1744774567.164 [ThrusterHE] No Fault, FailCount= 1
2025-04-16T03:36:12.693Z,1744774572.693 [ThrusterHE](ERROR): Zero Speed Commanded.
2025-04-16T03:36:14.795Z,1744774574.795 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T03:36:15.179Z,1744774575.179 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T03:36:15.607Z,1744774575.607 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T03:36:17.595Z,1744774577.595 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T03:36:17.991Z,1744774577.991 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T03:36:18.364Z,1744774578.364 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-04-16T03:36:18.364Z,1744774578.364 [ThrusterHE](INFO): Powering down
2025-04-16T03:36:19.161Z,1744774579.161 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-04-16T03:36:19.280Z,1744774579.280 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-04-16T03:36:56.739Z,1744774616.739 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T03:36:57.147Z,1744774617.147 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T03:36:57.563Z,1744774617.563 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T03:36:57.947Z,1744774617.947 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T03:36:58.359Z,1744774618.359 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T03:36:58.725Z,1744774618.725 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-04-16T03:36:58.725Z,1744774618.725 [ThrusterHE](INFO): Powering down
2025-04-16T03:36:59.556Z,1744774619.556 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-04-16T03:36:59.676Z,1744774619.676 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-04-16T03:37:05.227Z,1744774625.227 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T03:37:06.399Z,1744774626.399 [ThrusterHE](FAULT): Lock Detect. Motor stopped spinning or could not start spinning. Consider trying best-effort mode.
2025-04-16T03:37:06.399Z,1744774626.399 [ThrusterHE] Hardware Fault, FailCount= 1
2025-04-16T03:37:06.399Z,1744774626.399 [ThrusterHE](ERROR): Hardware Fault
2025-04-16T03:37:06.434Z,1744774626.434 [CBIT](ERROR): Hardware Fault in component: ThrusterHE
2025-04-16T03:37:06.806Z,1744774626.806 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-04-16T03:37:06.806Z,1744774626.806 [ThrusterHE](INFO): Powering down
2025-04-16T03:37:07.625Z,1744774627.625 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-04-16T03:37:07.744Z,1744774627.744 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-04-16T03:37:07.748Z,1744774627.748 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-04-16T03:37:07.748Z,1744774627.748 [ThrusterHE] No Fault, FailCount= 1
2025-04-16T03:37:30.711Z,1744774650.711 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T03:37:31.131Z,1744774651.131 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T03:37:31.505Z,1744774651.505 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T03:37:31.923Z,1744774651.923 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T03:37:32.339Z,1744774652.339 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T03:37:34.319Z,1744774654.319 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T03:37:34.701Z,1744774654.701 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-04-16T03:37:34.701Z,1744774654.701 [ThrusterHE](INFO): Powering down
2025-04-16T03:37:35.480Z,1744774655.480 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-04-16T03:37:35.596Z,1744774655.596 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-04-16T03:37:43.219Z,1744774663.219 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T03:37:43.607Z,1744774663.607 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T03:37:44.023Z,1744774664.023 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T03:37:44.427Z,1744774664.427 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T03:37:44.807Z,1744774664.807 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T03:37:45.219Z,1744774665.219 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T03:37:45.587Z,1744774665.587 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-04-16T03:37:45.587Z,1744774665.587 [ThrusterHE](INFO): Powering down
2025-04-16T03:37:46.389Z,1744774666.389 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-04-16T03:37:46.508Z,1744774666.508 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-04-16T03:37:52.096Z,1744774672.096 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T03:37:54.119Z,1744774674.119 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T03:37:54.473Z,1744774674.473 [ThrusterHE](FAULT): Lock Detect. Motor stopped spinning or could not start spinning. Consider trying best-effort mode.
2025-04-16T03:37:54.473Z,1744774674.473 [ThrusterHE] Hardware Fault, FailCount= 1
2025-04-16T03:37:54.473Z,1744774674.473 [ThrusterHE](ERROR): Hardware Fault
2025-04-16T03:37:54.531Z,1744774674.531 [CBIT](ERROR): Hardware Fault in component: ThrusterHE
2025-04-16T03:37:54.881Z,1744774674.881 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-04-16T03:37:54.881Z,1744774674.881 [ThrusterHE](INFO): Powering down
2025-04-16T03:37:55.684Z,1744774675.684 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-04-16T03:37:55.804Z,1744774675.804 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-04-16T03:37:55.808Z,1744774675.808 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-04-16T03:37:55.808Z,1744774675.808 [ThrusterHE] No Fault, FailCount= 1
2025-04-16T03:38:03.411Z,1744774683.411 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T03:38:03.795Z,1744774683.795 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T03:38:04.211Z,1744774684.211 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T03:38:04.623Z,1744774684.623 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T03:38:05.055Z,1744774685.055 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T03:38:05.415Z,1744774685.415 [ThrusterHE](IMPORTANT): Status lock Detected.
2025-04-16T03:38:05.785Z,1744774685.785 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-04-16T03:38:05.785Z,1744774685.785 [ThrusterHE](INFO): Powering down
2025-04-16T03:38:06.614Z,1744774686.614 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-04-16T03:38:06.732Z,1744774686.732 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-04-16T03:38:13.532Z,1744774693.532 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-16T03:38:42.136Z,1744774722.136 [transit](INFO): Timed out from 2025-04-16T03:35:41.9Z
2025-04-16T03:38:42.136Z,1744774722.136 [MissionManager](INFO): transit is completed.
2025-04-16T03:38:42.136Z,1744774722.136 [MissionManager](INFO): Uninitializing Mission transit
2025-04-16T03:38:42.136Z,1744774722.136 [transit] Stopped
2025-04-16T03:38:42.136Z,1744774722.136 [transit](DEBUG): Aggregate::uninitialize transit
2025-04-16T03:38:42.136Z,1744774722.136 [transit:StandardEnvelopes] Stopped
2025-04-16T03:38:42.136Z,1744774722.136 [transit:StandardEnvelopes](DEBUG): Aggregate::uninitialize transit:StandardEnvelopes
2025-04-16T03:38:42.136Z,1744774722.136 [transit:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-04-16T03:38:42.137Z,1744774722.137 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-04-16T03:38:42.137Z,1744774722.137 [transit:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-04-16T03:38:42.137Z,1744774722.137 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-04-16T03:38:42.137Z,1744774722.137 [transit:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-04-16T03:38:42.137Z,1744774722.137 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-04-16T03:38:42.137Z,1744774722.137 [transit:BackseatDriver] Stopped
2025-04-16T03:38:42.137Z,1744774722.137 [transit:BackseatDriver](DEBUG): Aggregate::uninitialize transit:BackseatDriver
2025-04-16T03:38:42.137Z,1744774722.137 [transit:BackseatDriver:A.BackseatDriver] Stopped
2025-04-16T03:38:42.137Z,1744774722.137 [transit:PowerOnly] Stopped
2025-04-16T03:38:42.137Z,1744774722.137 [transit:PowerOnly](DEBUG): Aggregate::uninitialize transit:PowerOnly
2025-04-16T03:38:42.137Z,1744774722.137 [transit:PowerOnly:E.Wait] Stopped
2025-04-16T03:38:42.137Z,1744774722.137 [transit:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-04-16T03:38:42.137Z,1744774722.137 [transit:BuoyancyHold.Buoyancy] Stopped
2025-04-16T03:38:42.138Z,1744774722.138 [transit:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-04-16T03:38:42.138Z,1744774722.138 [transit:MassHold.Pitch] Stopped
2025-04-16T03:38:42.138Z,1744774722.138 [transit:Transit] Stopped
2025-04-16T03:38:42.138Z,1744774722.138 [transit:Transit](DEBUG): Aggregate::uninitialize transit:Transit
2025-04-16T03:38:42.138Z,1744774722.138 [transit:Transit:A.Pitch] Stopped
2025-04-16T03:38:42.138Z,1744774722.138 [transit:Transit:B.SetSpeed] Stopped
2025-04-16T03:38:42.138Z,1744774722.138 [transit:Transit:B.SetSpeed](DEBUG): Uninitialize.
2025-04-16T03:38:42.138Z,1744774722.138 [transit:Transit:Wpt1.Waypoint] Stopped
2025-04-16T03:38:42.138Z,1744774722.138 [transit:Transit:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-04-16T03:38:42.552Z,1744774722.552 [MissionManager](IMPORTANT): Started mission Default
2025-04-16T03:38:42.552Z,1744774722.552 [Default] Running Loop=1
2025-04-16T03:38:42.552Z,1744774722.552 [Default](DEBUG): Aggregate::initialize Default
2025-04-16T03:38:42.552Z,1744774722.552 [Default:B.GoToSurface] Running Loop=1
2025-04-16T03:38:42.552Z,1744774722.552 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-04-16T03:38:42.553Z,1744774722.553 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-04-16T03:38:42.553Z,1744774722.553 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-04-16T03:38:42.553Z,1744774722.553 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-04-16T03:38:42.553Z,1744774722.553 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-04-16T03:38:42.554Z,1744774722.554 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-04-16T03:38:42.554Z,1744774722.554 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-04-16T03:38:42.555Z,1744774722.555 [Default:A.Wait] Running Loop=1
2025-04-16T03:38:42.555Z,1744774722.555 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-04-16T03:38:44.676Z,1744774724.676 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-16T03:38:55.870Z,1744774735.870 [Default:A.Wait](INFO): Done Waiting.
2025-04-16T03:38:55.870Z,1744774735.870 [Default:A.Wait] Stopped
2025-04-16T03:38:55.870Z,1744774735.870 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-04-16T03:38:56.275Z,1744774736.275 [Default:CheckIn] Running Loop=1
2025-04-16T03:38:56.275Z,1744774736.275 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-04-16T03:38:56.276Z,1744774736.276 [Default:CheckIn:Read_GPS] Running Loop=1
2025-04-16T03:38:58.287Z,1744774738.287 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,033859.00,A,3648.06771,N,12150.62615,W,0.330,327.44,160425,,,D*70
2025-04-16T03:38:58.290Z,1744774738.290 [NAL9602](INFO): GPS fix at 20250416T033859: (36.801128, -121.843769)
2025-04-16T03:38:58.301Z,1744774738.301 [Default:CheckIn:Read_GPS] Stopped
2025-04-16T03:38:58.301Z,1744774738.301 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-04-16T03:39:14.447Z,1744774754.447 [NAL9602](INFO): SBD MO Status=0, MOMSN=19546, MT Status=0, MTMSN=0
2025-04-16T03:39:14.447Z,1744774754.447 [NAL9602](INFO): No messages in MT queue
2025-04-16T03:39:15.800Z,1744774755.800 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-16T03:39:45.160Z,1744774785.160 [NAL9602](INFO): Not Powering down - fast GPS
2025-04-16T03:39:46.924Z,1744774786.924 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-16T03:39:54.471Z,1744774794.471 [DataOverHttps](INFO): Sending 76 bytes from file Logs/20250416T014222/Courier0070.lzma
2025-04-16T03:39:55.474Z,1744774795.474 [DataOverHttps](INFO): Moved sent file to Logs/20250416T014222/Courier0070.lzma.bak
2025-04-16T03:39:55.474Z,1744774795.474 [DataOverHttps](INFO): SBD MOMSN=24670459
2025-04-16T03:40:11.553Z,1744774811.553 [DataOverHttps](INFO): Sending 801 bytes from file Logs/20250416T014222/Express0071.lzma
2025-04-16T03:40:12.553Z,1744774812.553 [DataOverHttps](INFO): Moved sent file to Logs/20250416T014222/Express0071.lzma.bak
2025-04-16T03:40:12.554Z,1744774812.554 [DataOverHttps](INFO): SBD MOMSN=24670462
2025-04-16T03:40:13.842Z,1744774813.842 [Default:CheckIn:Read_Iridium] Stopped
2025-04-16T03:40:13.842Z,1744774813.842 [Default:CheckIn:C.Wait] Running Loop=1
2025-04-16T03:40:13.843Z,1744774813.843 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-04-16T03:41:22.041Z,1744774882.041 [DataOverHttps](IMPORTANT): SBD MTMSN=20250416T034122
2025-04-16T03:41:29.495Z,1744774889.495 [DataOverHttps](INFO): Received command: configset ThrusterHE.bestEffortMode 1 bool persist; restart app
2025-04-16T03:41:29.974Z,1744774889.974 [CommandExec](IMPORTANT): got command configSet ThrusterHE.bestEffortMode 1 bool persist
2025-04-16T03:41:29.976Z,1744774889.976 [CommandExec](IMPORTANT): got command restart application
2025-04-16T03:41:30.979Z,1744774890.979 [Supervisor](INFO): Stop Mission called by Supervisor::terminate
2025-04-16T03:41:30.980Z,1744774890.980 [CommandExec ThreadHandler](INFO): Uninitializing protected caller thread.
2025-04-16T03:41:30.980Z,1744774890.980 [CommandExec](INFO): Uninitializing the command executive.
2025-04-16T03:41:30.980Z,1744774890.980 [CommandExec](INFO): Uninitializing the command scheduler.
2025-04-16T03:41:30.980Z,1744774890.980 [CommandExec ThreadHandler](INFO): Thread cancelled.
2025-04-16T03:41:31.015Z,1744774891.015 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2025-04-16T03:41:31.015Z,1744774891.015 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2025-04-16T03:41:31.016Z,1744774891.016 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2025-04-16T03:41:31.016Z,1744774891.016 [NavChartDb](INFO): Join timeout helper Thread ID is 5680
2025-04-16T03:41:31.084Z,1744774891.084 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2025-04-16T03:41:31.084Z,1744774891.084 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2025-04-16T03:41:31.099Z,1744774891.099 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2025-04-16T03:41:31.099Z,1744774891.099 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2025-04-16T03:41:31.100Z,1744774891.100 [Radio_Surface](INFO): Join timeout helper Thread ID is 5681
2025-04-16T03:41:31.308Z,1744774891.308 [Radio_Surface](INFO): Powering down
2025-04-16T03:41:31.308Z,1744774891.308 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2025-04-16T03:41:31.309Z,1744774891.309 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2025-04-16T03:41:31.324Z,1744774891.324 [ComponentRegistry](INFO): Shutting down Onboard ThreadHandler
2025-04-16T03:41:31.324Z,1744774891.324 [Onboard ThreadHandler](INFO): Thread cancelled.
2025-04-16T03:41:31.325Z,1744774891.325 [Onboard](INFO): Join timeout helper Thread ID is 5682
2025-04-16T03:41:31.500Z,1744774891.500 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-04-16T03:41:35.179Z,1744774895.179 [Onboard ThreadHandler](INFO): Uninitializing protected caller thread.
2025-04-16T03:41:35.180Z,1744774895.180 [Onboard ThreadHandler](INFO): Thread cancelled.
2025-04-16T03:41:35.183Z,1744774895.183 [ComponentRegistry](INFO): Shutting down DataOverHttps ThreadHandler
2025-04-16T03:41:35.183Z,1744774895.183 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2025-04-16T03:41:35.184Z,1744774895.184 [DataOverHttps](INFO): Join timeout helper Thread ID is 5683
2025-04-16T03:41:35.516Z,1744774895.516 [DataOverHttps ThreadHandler](INFO): Uninitializing protected caller thread.
2025-04-16T03:41:35.516Z,1744774895.516 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2025-04-16T03:41:35.535Z,1744774895.535 [ComponentRegistry](INFO): Shutting down DAT ThreadHandler
2025-04-16T03:41:35.535Z,1744774895.535 [DAT ThreadHandler](INFO): Thread cancelled.
2025-04-16T03:41:35.536Z,1744774895.536 [DAT](INFO): Join timeout helper Thread ID is 5684
2025-04-16T03:41:35.723Z,1744774895.723 [DAT](INFO): Powering down
2025-04-16T03:41:35.796Z,1744774895.796 [DAT ThreadHandler](INFO): Uninitializing protected caller thread.
2025-04-16T03:41:35.796Z,1744774895.796 [DAT](INFO): Powering down
2025-04-16T03:41:35.797Z,1744774895.797 [DAT ThreadHandler](INFO): Thread cancelled.
2025-04-16T03:41:35.816Z,1744774895.816 [ComponentRegistry](INFO): Shutting down BackseatComponent ThreadHandler
2025-04-16T03:41:35.816Z,1744774895.816 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2025-04-16T03:41:35.817Z,1744774895.817 [BackseatComponent](INFO): Join timeout helper Thread ID is 5685
2025-04-16T03:41:35.944Z,1744774895.944 [BackseatComponent ThreadHandler](INFO): Uninitializing protected caller thread.
2025-04-16T03:41:35.944Z,1744774895.944 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2025-04-16T03:41:35.963Z,1744774895.963 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2025-04-16T03:41:35.964Z,1744774895.964 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2025-04-16T03:41:35.965Z,1744774895.965 [WetLabsBB2FL](INFO): Join timeout helper Thread ID is 5686
2025-04-16T03:41:36.327Z,1744774896.327 [WetLabsBB2FL ThreadHandler](INFO): Uninitializing protected caller thread.
2025-04-16T03:41:36.328Z,1744774896.328 [WetLabsBB2FL](INFO): Powering down
2025-04-16T03:41:36.328Z,1744774896.328 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2025-04-16T03:41:36.344Z,1744774896.344 [ComponentRegistry](INFO): Shutting down CTD_Seabird ThreadHandler
2025-04-16T03:41:36.344Z,1744774896.344 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2025-04-16T03:41:36.345Z,1744774896.345 [CTD_Seabird](INFO): Join timeout helper Thread ID is 5687
2025-04-16T03:41:37.219Z,1744774897.219 [CTD_Seabird](INFO): Powering down
2025-04-16T03:41:37.231Z,1744774897.231 [CTD_Seabird ThreadHandler](INFO): Uninitializing protected caller thread.
2025-04-16T03:41:37.232Z,1744774897.232 [CTD_Seabird](INFO): Powering down
2025-04-16T03:41:37.243Z,1744774897.243 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2025-04-16T03:41:37.248Z,1744774897.248 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2025-04-16T03:41:37.248Z,1744774897.248 [logger ThreadHandler](INFO): Thread cancelled.
2025-04-16T03:41:37.249Z,1744774897.249 [logger](INFO): Join timeout helper Thread ID is 5688
2025-04-16T03:41:37.268Z,1744774897.268 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2025-04-16T03:41:37.268Z,1744774897.268 [logger ThreadHandler](INFO): Thread cancelled.
2025-04-16T03:41:37.288Z,1744774897.288 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2025-04-16T03:41:37.288Z,1744774897.288 [CommandLine ThreadHandler](INFO): Thread cancelled.
2025-04-16T03:41:37.288Z,1744774897.288 [CommandLine](INFO): Join timeout helper Thread ID is 5689
2025-04-16T03:41:37.347Z,1744774897.347 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2025-04-16T03:41:37.348Z,1744774897.348 [CommandLine ThreadHandler](INFO): Thread cancelled.
2025-04-16T03:41:37.368Z,1744774897.368 [ComponentRegistry](INFO): Shutting down CommandExec ThreadHandler
2025-04-16T03:41:37.368Z,1744774897.368 [CommandExec ThreadHandler](INFO): Thread cancelled.
2025-04-16T03:41:37.368Z,1744774897.368 [CommandExec](INFO): Join timeout helper Thread ID is 5690
2025-04-16T03:41:37.370Z,1744774897.370 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2025-04-16T03:41:37.370Z,1744774897.370 [controlThread ThreadHandler](INFO): Thread cancelled.
2025-04-16T03:41:37.370Z,1744774897.370 [controlThread](INFO): Join timeout helper Thread ID is 5691
2025-04-16T03:41:37.435Z,1744774897.435 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2025-04-16T03:41:37.436Z,1744774897.436 [controlThread](DEBUG): Uninitializing ControlThread
2025-04-16T03:41:37.438Z,1744774897.438 [AHRS_M2](INFO): Powering down
2025-04-16T03:41:37.516Z,1744774897.516 [NAL9602](INFO): Powering down
2025-04-16T03:41:37.517Z,1744774897.517 [Sonardyne_Nano](INFO): Powering down
2025-04-16T03:41:37.723Z,1744774897.723 [DepthRateCalculator](DEBUG): Uninitializing DepthRateCalculator.
2025-04-16T03:41:37.724Z,1744774897.724 [ElevatorOffsetCalculator](DEBUG): Uninitializing ElevatorOffsetCalculator.
2025-04-16T03:41:37.725Z,1744774897.725 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2025-04-16T03:41:37.725Z,1744774897.725 [MissionManager](INFO): Uninitializing Mission Default
2025-04-16T03:41:37.725Z,1744774897.725 [Default] Stopped
2025-04-16T03:41:37.725Z,1744774897.725 [Default](DEBUG): Aggregate::uninitialize Default
2025-04-16T03:41:37.725Z,1744774897.725 [Default:B.GoToSurface] Stopped
2025-04-16T03:41:37.726Z,1744774897.726 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-04-16T03:41:37.726Z,1744774897.726 [Default:CheckIn] Stopped
2025-04-16T03:41:37.726Z,1744774897.726 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-04-16T03:41:37.726Z,1744774897.726 [Default:CheckIn:C.Wait] Stopped
2025-04-16T03:41:37.726Z,1744774897.726 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-04-16T03:41:37.729Z,1744774897.729 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2025-04-16T03:41:37.729Z,1744774897.729 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2025-04-16T03:41:37.729Z,1744774897.729 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2025-04-16T03:41:37.730Z,1744774897.730 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2025-04-16T03:41:37.730Z,1744774897.730 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2025-04-16T03:41:37.730Z,1744774897.730 [BuoyancyServo](INFO): Powering down
2025-04-16T03:41:37.743Z,1744774897.743 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2025-04-16T03:41:37.743Z,1744774897.743 [ElevatorServo](INFO): Powering down
2025-04-16T03:41:37.744Z,1744774897.744 [MassServo](DEBUG): Uninitialize Mass Servo.
2025-04-16T03:41:37.744Z,1744774897.744 [MassServo](INFO): Powering down
2025-04-16T03:41:37.745Z,1744774897.745 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2025-04-16T03:41:37.745Z,1744774897.745 [RudderServo](INFO): Powering down
2025-04-16T03:41:37.746Z,1744774897.746 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-04-16T03:41:37.746Z,1744774897.746 [ThrusterHE](INFO): Powering down
2025-04-16T03:41:37.747Z,1744774897.747 [SBIT](DEBUG): Uninitialize SBIT Component.
2025-04-16T03:41:37.747Z,1744774897.747 [IBIT](DEBUG): Uninitialize IBIT Component.
2025-04-16T03:41:37.748Z,1744774897.748 [CBIT](DEBUG): Uninitialize CBIT Component.
2025-04-16T03:41:37.748Z,1744774897.748 [CBIT](DEBUG): Powering off loads.
2025-04-16T03:41:37.759Z,1744774897.759 [CBIT](DEBUG): Disabling WDT.
2025-04-16T03:41:37.771Z,1744774897.771 [GFScanner](DEBUG): Uninitialize GFScanner component.
2025-04-16T03:41:37.772Z,1744774897.772 [GFScanner](DEBUG): Opening all GF detection circuits.
2025-04-16T03:41:37.773Z,1744774897.773 [controlThread ThreadHandler](INFO): Thread cancelled.
2025-04-16T03:41:37.805Z,1744774897.805 [GFScanner](DEBUG): Uninitialize GFScanner component.
2025-04-16T03:41:37.805Z,1744774897.805 [GFScanner](DEBUG): Opening all GF detection circuits.
2025-04-16T03:41:37.820Z,1744774897.820 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2025-04-16T03:41:37.827Z,1744774897.827 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2025-04-16T03:41:37.859Z,1744774897.859 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2025-04-16T03:41:37.862Z,1744774897.862 [Onboard ThreadHandler](INFO): Thread cancelled.
2025-04-16T03:41:37.869Z,1744774897.869 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2025-04-16T03:41:37.875Z,1744774897.875 [DAT ThreadHandler](INFO): Thread cancelled.
2025-04-16T03:41:37.918Z,1744774897.918 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2025-04-16T03:41:37.972Z,1744774897.972 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2025-04-16T03:41:38.049Z,1744774898.049 [logger ThreadHandler](INFO): Thread cancelled.