2025-05-12T19:18:22.622Z,1747077502.622 [CommandExec](IMPORTANT): got command restart logs
2025-05-12T19:18:23.948Z,1747077503.948 [DataOverHttps](INFO): Moved sent file to Logs/20250512T181045/Express0038.lzma.bak
2025-05-12T19:18:23.948Z,1747077503.948 [DataOverHttps](INFO): SBD MOMSN=24855331
2025-05-12T19:18:43.112Z,1747077523.112 [DataOverHttps](INFO): Sending 40 bytes from file Logs/20250512T181045/Courier0040.lzma
2025-05-12T19:18:44.115Z,1747077524.115 [DataOverHttps](INFO): Moved sent file to Logs/20250512T181045/Courier0040.lzma.bak
2025-05-12T19:18:44.115Z,1747077524.115 [DataOverHttps](INFO): SBD MOMSN=24855335
2025-05-12T19:18:50.118Z,1747077530.118 [NAL9602](INFO): Not Powering down - fast GPS
2025-05-12T19:19:00.362Z,1747077540.362 [DataOverHttps](INFO): Sending 97 bytes from file Logs/20250512T181045/Express0041.lzma
2025-05-12T19:19:01.363Z,1747077541.363 [DataOverHttps](INFO): Moved sent file to Logs/20250512T181045/Express0041.lzma.bak
2025-05-12T19:19:01.363Z,1747077541.363 [DataOverHttps](INFO): SBD MOMSN=24855338
2025-05-12T19:19:02.659Z,1747077542.659 [Default:CheckIn:Read_Iridium] Stopped
2025-05-12T19:19:02.659Z,1747077542.659 [Default:CheckIn:C.Wait] Running Loop=1
2025-05-12T19:19:02.659Z,1747077542.659 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-05-12T19:21:43.791Z,1747077703.791 [DataOverHttps](IMPORTANT): SBD MTMSN=20250512T192143
2025-05-12T19:21:51.427Z,1747077711.427 [DataOverHttps](INFO): Received command: load Transport/transit.tl;set transit.NeedCommsTime 10 min;set transit.Latitude 36.797 degree;set transit.Longitude -121.847 degree;run
2025-05-12T19:21:51.507Z,1747077711.507 [CommandExec](IMPORTANT): got command load ./Missions/Transport/transit.tl
2025-05-12T19:21:51.508Z,1747077711.508 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/transit.tl
2025-05-12T19:21:51.508Z,1747077711.508 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/transit.tl
2025-05-12T19:21:51.520Z,1747077711.520 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/transit.tl
2025-05-12T19:21:52.261Z,1747077712.261 [MissionManager](DEBUG): TethyslAPI: ./Missions/Transport/transit.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="transit">
    <DefineArg Name="MissionTimeout">
        <Units:minute />
        <Value>60</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Northings">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="Eastings">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="Depth">
        <Units:meter />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="Speed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="MassHold">
        <True />
    </DefineArg>
    <DefineArg Name="BuoyancyHold">
        <True />
    </DefineArg>
    <Timeout Duration="MissionTimeout" />
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="NeedCommsTime" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:WaitForPitchUp" />
        <Units:second />
        <Value>1</Value>
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Guidance:Buoyancy Id="BuoyancyHold">
        <While>
            <Arg Name="BuoyancyHold" />
        </While>
        <Setting>
            <Guidance:Buoyancy.position />
            <Control:VerticalControl.buoyancyNeutral />
        </Setting>
    </Guidance:Buoyancy>
    <Guidance:Pitch Id="MassHold">
        <While>
            <Arg Name="MassHold" />
        </While>
        <Setting>
            <Guidance:Pitch.massPosition />
            <Control:VerticalControl.massDefault />
        </Setting>
    </Guidance:Pitch>
    <Aggregate Id="Transit">
        <Sequence />
        <Guidance:Pitch>
            <Parallel />
            <Setting>
                <Guidance:Pitch.depth />
                <Arg Name="Depth" />
            </Setting>
        </Guidance:Pitch>
        <Guidance:SetSpeed>
            <Parallel />
            <Setting>
                <Guidance:SetSpeed.speed />
                <Arg Name="Speed" />
            </Setting>
        </Guidance:SetSpeed>
        <Guidance:Waypoint Id="Wpt1">
            <Sequence />
            <Setting>
                <Guidance:Waypoint.latitude />
                <Arg Name="Latitude" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.longitude />
                <Arg Name="Longitude" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.northingsDelta />
                <Arg Name="Northings" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.eastingsDelta />
                <Arg Name="Eastings" />
            </Setting>
        </Guidance:Waypoint>
        <Call RefId="NeedComms" Id="PhoneHome" PriorityHere="false" />
    </Aggregate>
</Mission>

2025-05-12T19:21:52.266Z,1747077712.266 [MissionManager](INFO): DefineArg transit.MissionTimeout = 60.000000 min
2025-05-12T19:21:52.286Z,1747077712.286 [MissionManager](INFO): DefineArg transit.NeedCommsTime = 30.000000 min
2025-05-12T19:21:52.322Z,1747077712.322 [MissionManager](INFO): DefineArg transit.Latitude = nan arcdeg
2025-05-12T19:21:52.341Z,1747077712.341 [MissionManager](INFO): DefineArg transit.Longitude = nan arcdeg
2025-05-12T19:21:52.344Z,1747077712.344 [MissionManager](INFO): DefineArg transit.Northings = 0.000000 m
2025-05-12T19:21:52.356Z,1747077712.356 [MissionManager](INFO): DefineArg transit.Eastings = 0.000000 m
2025-05-12T19:21:52.382Z,1747077712.382 [MissionManager](INFO): DefineArg transit.Depth = 10.000000 m
2025-05-12T19:21:52.393Z,1747077712.393 [MissionManager](INFO): DefineArg transit.Speed = 1.000000 m/s
2025-05-12T19:21:52.396Z,1747077712.396 [MissionManager](INFO): DefineArg transit.MaxDepth = 20.000000 m
2025-05-12T19:21:52.407Z,1747077712.407 [MissionManager](INFO): DefineArg transit.MinOffshore = 1.000000 km
2025-05-12T19:21:52.414Z,1747077712.414 [MissionManager](INFO): DefineArg transit.MinAltitude = 7.000000 m
2025-05-12T19:21:52.437Z,1747077712.437 [MissionManager](INFO): DefineArg transit.MassHold = 1 bool
2025-05-12T19:21:52.440Z,1747077712.440 [MissionManager](INFO): DefineArg transit.BuoyancyHold = 1 bool
2025-05-12T19:21:52.440Z,1747077712.440 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-05-12T19:21:52.445Z,1747077712.445 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-05-12T19:21:52.447Z,1747077712.447 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-05-12T19:21:52.835Z,1747077712.835 [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>

2025-05-12T19:21:52.840Z,1747077712.841 [MissionManager](INFO): DefineArg transit:NeedComms.DiveInterval = 1.000000 h
2025-05-12T19:21:52.844Z,1747077712.844 [MissionManager](INFO): DefineArg transit:NeedComms.WaitForPitchUp = 10.000000 min
2025-05-12T19:21:52.847Z,1747077712.847 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-05-12T19:21:52.850Z,1747077712.850 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceDepthRate = nan m/s
2025-05-12T19:21:52.853Z,1747077712.853 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-05-12T19:21:52.856Z,1747077712.856 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacingTimeout = 1000.000000 s
2025-05-12T19:21:52.860Z,1747077712.860 [MissionManager](INFO): DefineArg transit:NeedComms.GPSTimeout = 7.000000 min
2025-05-12T19:21:52.866Z,1747077712.866 [MissionManager](INFO): DefineArg transit:NeedComms.CommsTimeout = 30.000000 min
2025-05-12T19:21:52.908Z,1747077712.908 [transit:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-05-12T19:21:52.960Z,1747077712.960 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-05-12T19:21:52.973Z,1747077712.973 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-05-12T19:21:52.975Z,1747077712.975 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-05-12T19:21:53.157Z,1747077713.157 [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>

2025-05-12T19:21:53.163Z,1747077713.163 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinAltitude = 5.000000 m
2025-05-12T19:21:53.178Z,1747077713.178 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-05-12T19:21:53.182Z,1747077713.182 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepth = 200.000000 m
2025-05-12T19:21:53.194Z,1747077713.194 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-05-12T19:21:53.195Z,1747077713.195 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-05-12T19:21:53.222Z,1747077713.222 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-05-12T19:21:53.252Z,1747077713.252 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-05-12T19:21:53.287Z,1747077713.287 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-05-12T19:21:53.288Z,1747077713.288 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-05-12T19:21:53.293Z,1747077713.293 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-05-12T19:21:53.328Z,1747077713.328 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="BackseatDriver">
    <DefineArg Name="EnableBackseat">
        <False />
    </DefineArg>
    <Parallel />
    <Guidance:BackseatDriver>
        <Sequence />
        <Setting>
            <Guidance:BackseatDriver.powerBackseat />
            <Arg Name="EnableBackseat" />
        </Setting>
    </Guidance:BackseatDriver>
</Aggregate>

2025-05-12T19:21:53.336Z,1747077713.336 [MissionManager](INFO): DefineArg transit:BackseatDriver.EnableBackseat = 0 bool
2025-05-12T19:21:53.343Z,1747077713.343 [transit:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-05-12T19:21:53.347Z,1747077713.347 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-05-12T19:21:53.347Z,1747077713.347 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-05-12T19:21:53.348Z,1747077713.348 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-05-12T19:21:53.671Z,1747077713.671 [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>

2025-05-12T19:21:53.679Z,1747077713.679 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleAll = 0 bool
2025-05-12T19:21:53.682Z,1747077713.682 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad1 = 0 bool
2025-05-12T19:21:53.684Z,1747077713.684 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad2 = 0 bool
2025-05-12T19:21:53.687Z,1747077713.687 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad3 = 0 bool
2025-05-12T19:21:53.711Z,1747077713.711 [MissionManager](INFO): DefineArg transit:PowerOnly.EnabledPowerOnly = 1 bool
2025-05-12T19:21:53.726Z,1747077713.726 [transit:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-05-12T19:21:53.728Z,1747077713.728 [transit:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-05-12T19:21:53.732Z,1747077713.732 [transit:MassHold.Pitch](DEBUG): Construct.
2025-05-12T19:21:53.744Z,1747077713.744 [transit:Transit:A.Pitch](DEBUG): Construct.
2025-05-12T19:21:53.762Z,1747077713.762 [transit:Transit:B.SetSpeed](DEBUG): Construct.
2025-05-12T19:21:53.769Z,1747077713.769 [transit:Transit:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-05-12T19:21:53.809Z,1747077713.809 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

  timeout duration=MissionTimeout

  insert id="NeedComms" Insert/NeedComms.tl

  assign in sequence NeedComms:DiveInterval = NeedCommsTime

  assign in sequence NeedComms:WaitForPitchUp = 1 second

  insert Insert/StandardEnvelopes.tl

  assign in sequence StandardEnvelopes:MinAltitude = MinAltitude

  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth

  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

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

    set position = Control:VerticalControl.buoyancyNeutral
  }

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

    set massPosition = Control:VerticalControl.massDefault
  }

  aggregate Transit {
    run in sequence

    behavior Guidance:Pitch {
      run in parallel

      set depth = Depth
    }

    behavior Guidance:SetSpeed {
      run in parallel

      set speed = Speed
    }

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

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

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


2025-05-12T19:21:53.810Z,1747077713.810 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/transit.tl id=transit
2025-05-12T19:22:01.533Z,1747077721.533 [CommandExec](IMPORTANT): got command set transit.NeedCommsTime 10 minute
2025-05-12T19:22:01.534Z,1747077721.534 [CommandExec](IMPORTANT): got command set transit.Latitude 36.797 degree
2025-05-12T19:22:01.535Z,1747077721.535 [CommandExec](IMPORTANT): got command set transit.Longitude -121.847 degree
2025-05-12T19:22:01.535Z,1747077721.535 [CommandExec](IMPORTANT): got command run
2025-05-12T19:22:01.538Z,1747077721.538 [CommandExec](IMPORTANT): Running 
2025-05-12T19:22:01.627Z,1747077721.627 [Default] Stopped
2025-05-12T19:22:01.627Z,1747077721.627 [Default](DEBUG): Aggregate::uninitialize Default
2025-05-12T19:22:01.627Z,1747077721.627 [Default:B.GoToSurface] Stopped
2025-05-12T19:22:01.627Z,1747077721.627 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-05-12T19:22:01.627Z,1747077721.627 [Default:CheckIn] Stopped
2025-05-12T19:22:01.627Z,1747077721.627 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-05-12T19:22:01.627Z,1747077721.627 [Default:CheckIn:C.Wait] Stopped
2025-05-12T19:22:01.627Z,1747077721.627 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-05-12T19:22:01.628Z,1747077721.628 [MissionManager](IMPORTANT): Started mission transit
2025-05-12T19:22:01.628Z,1747077721.628 [transit] Running Loop=1
2025-05-12T19:22:01.628Z,1747077721.628 [transit](DEBUG): Aggregate::initialize transit
2025-05-12T19:22:01.628Z,1747077721.628 [transit:StandardEnvelopes] Running Loop=1
2025-05-12T19:22:01.628Z,1747077721.628 [transit:StandardEnvelopes](DEBUG): Aggregate::initialize transit:StandardEnvelopes
2025-05-12T19:22:01.628Z,1747077721.628 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-05-12T19:22:01.628Z,1747077721.628 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-05-12T19:22:01.629Z,1747077721.629 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-05-12T19:22:01.629Z,1747077721.629 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-05-12T19:22:01.629Z,1747077721.629 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-05-12T19:22:01.629Z,1747077721.629 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-05-12T19:22:01.629Z,1747077721.629 [transit:BackseatDriver] Running Loop=1
2025-05-12T19:22:01.629Z,1747077721.629 [transit:BackseatDriver](DEBUG): Aggregate::initialize transit:BackseatDriver
2025-05-12T19:22:01.630Z,1747077721.630 [transit:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-05-12T19:22:01.630Z,1747077721.630 [transit:PowerOnly] Running Loop=1
2025-05-12T19:22:01.630Z,1747077721.630 [transit:PowerOnly](DEBUG): Aggregate::initialize transit:PowerOnly
2025-05-12T19:22:01.630Z,1747077721.630 [transit:PowerOnly:A] Running Loop=1
2025-05-12T19:22:01.630Z,1747077721.630 [transit:PowerOnly:B] Running Loop=1
2025-05-12T19:22:01.630Z,1747077721.630 [transit:PowerOnly:C] Running Loop=1
2025-05-12T19:22:01.630Z,1747077721.630 [transit:PowerOnly:D] Running Loop=1
2025-05-12T19:22:01.630Z,1747077721.630 [transit:PowerOnly:E.Wait] Running Loop=1
2025-05-12T19:22:01.630Z,1747077721.630 [transit:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-05-12T19:22:01.630Z,1747077721.630 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-05-12T19:22:01.630Z,1747077721.630 [transit:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-05-12T19:22:01.630Z,1747077721.630 [transit:MassHold.Pitch] Running Loop=1
2025-05-12T19:22:01.631Z,1747077721.631 [transit:MassHold.Pitch](DEBUG): Initialize.
2025-05-12T19:22:01.631Z,1747077721.631 [transit:B] Running Loop=1
2025-05-12T19:22:01.631Z,1747077721.631 [transit:MassHold.Pitch] Running Loop=1
2025-05-12T19:22:01.632Z,1747077721.632 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-05-12T19:22:01.632Z,1747077721.632 [transit:PowerOnly] Running Loop=1
2025-05-12T19:22:01.633Z,1747077721.633 [transit:PowerOnly:D] Stopped
2025-05-12T19:22:01.633Z,1747077721.633 [transit:PowerOnly:C] Stopped
2025-05-12T19:22:01.633Z,1747077721.633 [transit:PowerOnly:B] Stopped
2025-05-12T19:22:01.633Z,1747077721.633 [transit:PowerOnly:A] Stopped
2025-05-12T19:22:01.633Z,1747077721.633 [transit:BackseatDriver] Running Loop=1
2025-05-12T19:22:01.633Z,1747077721.633 [transit:StandardEnvelopes] Running Loop=1
2025-05-12T19:22:01.633Z,1747077721.633 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-05-12T19:22:01.634Z,1747077721.634 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-05-12T19:22:01.635Z,1747077721.635 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-05-12T19:22:01.635Z,1747077721.635 [transit:B] Stopped
2025-05-12T19:22:01.636Z,1747077721.636 [transit:C] Running Loop=1
2025-05-12T19:22:02.035Z,1747077722.035 [transit:C] Stopped
2025-05-12T19:22:02.035Z,1747077722.035 [transit:E] Running Loop=1
2025-05-12T19:22:02.425Z,1747077722.425 [transit:E] Stopped
2025-05-12T19:22:02.425Z,1747077722.425 [transit:F] Running Loop=1
2025-05-12T19:22:02.826Z,1747077722.826 [transit:F] Stopped
2025-05-12T19:22:02.826Z,1747077722.826 [transit:G] Running Loop=1
2025-05-12T19:22:03.237Z,1747077723.237 [transit:G] Stopped
2025-05-12T19:22:03.237Z,1747077723.237 [transit:Transit] Running Loop=1
2025-05-12T19:22:03.237Z,1747077723.237 [transit:Transit](DEBUG): Aggregate::initialize transit:Transit
2025-05-12T19:22:03.237Z,1747077723.237 [transit:Transit:A.Pitch] Running Loop=1
2025-05-12T19:22:03.237Z,1747077723.237 [transit:Transit:A.Pitch](DEBUG): Initialize.
2025-05-12T19:22:03.237Z,1747077723.237 [transit:Transit:B.SetSpeed] Running Loop=1
2025-05-12T19:22:03.237Z,1747077723.237 [transit:Transit:B.SetSpeed](DEBUG): Initialize.
2025-05-12T19:22:03.238Z,1747077723.238 [transit:Transit:Wpt1.Waypoint] Running Loop=1
2025-05-12T19:22:03.238Z,1747077723.238 [transit:Transit:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-05-12T19:22:03.239Z,1747077723.239 [transit:Transit:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.797001,-121.847000
2025-05-12T19:22:03.654Z,1747077723.654 [transit:Transit:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.797001,-121.847000
2025-05-12T19:22:03.655Z,1747077723.655 [transit:Transit:B.SetSpeed] Running Loop=1
2025-05-12T19:22:03.655Z,1747077723.655 [transit:Transit:A.Pitch] Running Loop=1
2025-05-12T19:22:03.664Z,1747077723.664 [HorizontalControl](DEBUG): kpHeading = 0.400000
2025-05-12T19:22:03.664Z,1747077723.664 [HorizontalControl](DEBUG): kiHeading = 0.001000
2025-05-12T19:22:03.665Z,1747077723.665 [HorizontalControl](DEBUG): kdHeading = 0.050000
2025-05-12T19:22:07.691Z,1747077727.691 [transit:StandardEnvelopes:A.AltitudeEnvelope](IMPORTANT): Altitude envelope ACTIVE. Altitude:0.600000m. At depth:0.036565m.
2025-05-12T19:23:46.301Z,1747077826.301 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-12T19:24:17.429Z,1747077857.429 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-12T19:24:48.565Z,1747077888.565 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-12T19:25:19.729Z,1747077919.729 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-12T19:25:50.861Z,1747077950.861 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-12T19:25:53.271Z,1747077953.271 [BPC1](ERROR): Battery stick #2 (s/n: 0124) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-05-12T19:25:53.272Z,1747077953.272 [BPC1](ERROR): Battery stick #4 (s/n: 017A) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-05-12T19:25:53.273Z,1747077953.273 [BPC1](INFO): Calculating totals. Valid battery stick count: 54. Valid reserve battery stick count: 6.
2025-05-12T19:25:53.275Z,1747077953.275 [BPC1](INFO): Received data from all battery sticks.
2025-05-12T19:25:54.877Z,1747077954.877 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.819351
2025-05-12T19:26:52.109Z,1747078012.109 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-12T19:27:23.233Z,1747078043.233 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-12T19:27:54.365Z,1747078074.365 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-12T19:27:57.743Z,1747078077.743 [transit:NeedComms] Running Loop=1
2025-05-12T19:27:57.743Z,1747078077.743 [transit:NeedComms](DEBUG): Aggregate::initialize transit:NeedComms
2025-05-12T19:27:57.743Z,1747078077.743 [transit:NeedComms:B.GoToSurface] Running Loop=1
2025-05-12T19:27:57.744Z,1747078077.744 [transit:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-05-12T19:27:57.761Z,1747078077.761 [transit:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-05-12T19:27:57.762Z,1747078077.762 [transit:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-05-12T19:27:57.762Z,1747078077.762 [transit:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-05-12T19:27:57.763Z,1747078077.763 [transit:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-05-12T19:27:57.764Z,1747078077.764 [transit:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-05-12T19:27:57.764Z,1747078077.764 [transit:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-05-12T19:27:57.771Z,1747078077.771 [transit:NeedComms:A] Running Loop=1
2025-05-12T19:27:57.774Z,1747078077.774 [transit:NeedComms:A](INFO): last time_fix was:  1747077477.000000 second since 1970/01/01T00:00:00Z 
2025-05-12T19:27:57.774Z,1747078077.774 [transit:NeedComms:A] Stopped
2025-05-12T19:27:58.135Z,1747078078.135 [transit:NeedComms:C] Running Loop=1
2025-05-12T19:27:58.517Z,1747078078.517 [transit:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-05-12T19:28:25.497Z,1747078105.497 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-12T19:28:56.637Z,1747078136.637 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-12T19:29:14.278Z,1747078154.278 [DataOverHttps](IMPORTANT): SBD MTMSN=20250512T192913
2025-05-12T19:29:14.282Z,1747078154.282 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003880
2025-05-12T19:29:16.102Z,1747078156.102 [DVL_micro](ERROR): Failed to parse:
:RD,+9999.99,+0000.49,+0000.30,+0000.68
2025-05-12T19:29:17.692Z,1747078157.692 [NAL9602](INFO): SBD MO Status=0, MOMSN=20604, MT Status=0, MTMSN=0
2025-05-12T19:29:17.692Z,1747078157.692 [NAL9602](INFO): No messages in MT queue
2025-05-12T19:29:18.101Z,1747078158.101 [DVL_micro](ERROR): Failed to parse:
:SA,+00.69,-04.16,238.0
2025-05-12T19:29:18.916Z,1747078158.916 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,192918.00,A,3648.25686,N,12148.89806,W,0.583,236.40,120525,,,D*78
2025-05-12T19:29:18.931Z,1747078158.931 [NAL9602](INFO): GPS fix at 20250512T192918: (36.804281, -121.814968)
2025-05-12T19:29:18.953Z,1747078158.953 [UniversalFixResidualReporter](INFO): Fix residual: 23.3 %DT, over the last 2432.7 m. Residual distance 567.7 m at bearing -139.7 degrees. Fix at (36.8043, -121.8150) with 56.5 m made good.
2025-05-12T19:29:18.961Z,1747078158.961 [transit:NeedComms:C] Stopped
2025-05-12T19:29:18.961Z,1747078158.961 [transit:NeedComms:D] Running Loop=1
2025-05-12T19:29:19.371Z,1747078159.371 [transit:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-05-12T19:29:22.365Z,1747078162.365 [DataOverHttps](INFO): Sending 368 bytes from file Logs/20250512T191822/Courier0003.lzma
2025-05-12T19:29:22.368Z,1747078162.368 [DataOverHttps](INFO): Received command: stop
2025-05-12T19:29:22.385Z,1747078162.385 [CommandExec](IMPORTANT): got command stop
2025-05-12T19:29:22.386Z,1747078162.386 [CommandExec](IMPORTANT): Scheduling is paused
2025-05-12T19:29:22.386Z,1747078162.386 [Supervisor](INFO): Stop Mission called by CommandExec::commandStop
2025-05-12T19:29:22.413Z,1747078162.413 [MissionManager](INFO): MissionManager is completed.
2025-05-12T19:29:22.414Z,1747078162.414 [MissionManager](INFO): Uninitializing Mission transit
2025-05-12T19:29:22.414Z,1747078162.414 [transit] Stopped
2025-05-12T19:29:22.414Z,1747078162.414 [transit](DEBUG): Aggregate::uninitialize transit
2025-05-12T19:29:22.414Z,1747078162.414 [transit:NeedComms] Stopped
2025-05-12T19:29:22.414Z,1747078162.414 [transit:NeedComms](DEBUG): Aggregate::uninitialize transit:NeedComms
2025-05-12T19:29:22.414Z,1747078162.414 [transit:NeedComms:B.GoToSurface] Stopped
2025-05-12T19:29:22.414Z,1747078162.414 [transit:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-05-12T19:29:22.414Z,1747078162.414 [transit:NeedComms:D] Stopped
2025-05-12T19:29:22.414Z,1747078162.414 [transit:StandardEnvelopes] Stopped
2025-05-12T19:29:22.414Z,1747078162.414 [transit:StandardEnvelopes](DEBUG): Aggregate::uninitialize transit:StandardEnvelopes
2025-05-12T19:29:22.414Z,1747078162.414 [transit:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-05-12T19:29:22.414Z,1747078162.414 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-05-12T19:29:22.415Z,1747078162.415 [transit:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-05-12T19:29:22.415Z,1747078162.415 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-05-12T19:29:22.415Z,1747078162.415 [transit:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-05-12T19:29:22.415Z,1747078162.415 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-05-12T19:29:22.415Z,1747078162.415 [transit:BackseatDriver] Stopped
2025-05-12T19:29:22.415Z,1747078162.415 [transit:BackseatDriver](DEBUG): Aggregate::uninitialize transit:BackseatDriver
2025-05-12T19:29:22.415Z,1747078162.415 [transit:BackseatDriver:A.BackseatDriver] Stopped
2025-05-12T19:29:22.415Z,1747078162.415 [transit:PowerOnly] Stopped
2025-05-12T19:29:22.415Z,1747078162.415 [transit:PowerOnly](DEBUG): Aggregate::uninitialize transit:PowerOnly
2025-05-12T19:29:22.415Z,1747078162.415 [transit:PowerOnly:E.Wait] Stopped
2025-05-12T19:29:22.415Z,1747078162.415 [transit:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-05-12T19:29:22.415Z,1747078162.415 [transit:BuoyancyHold.Buoyancy] Stopped
2025-05-12T19:29:22.416Z,1747078162.416 [transit:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-05-12T19:29:22.416Z,1747078162.416 [transit:MassHold.Pitch] Stopped
2025-05-12T19:29:22.416Z,1747078162.416 [transit:Transit] Stopped
2025-05-12T19:29:22.416Z,1747078162.416 [transit:Transit](DEBUG): Aggregate::uninitialize transit:Transit
2025-05-12T19:29:22.416Z,1747078162.416 [transit:Transit:A.Pitch] Stopped
2025-05-12T19:29:22.416Z,1747078162.416 [transit:Transit:B.SetSpeed] Stopped
2025-05-12T19:29:22.416Z,1747078162.416 [transit:Transit:B.SetSpeed](DEBUG): Uninitialize.
2025-05-12T19:29:22.416Z,1747078162.416 [transit:Transit:Wpt1.Waypoint] Stopped
2025-05-12T19:29:22.416Z,1747078162.416 [transit:Transit:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-05-12T19:29:22.769Z,1747078162.769 [MissionManager](IMPORTANT): Started mission Default
2025-05-12T19:29:22.769Z,1747078162.769 [Default] Running Loop=1
2025-05-12T19:29:22.769Z,1747078162.769 [Default](DEBUG): Aggregate::initialize Default
2025-05-12T19:29:22.769Z,1747078162.769 [Default:B.GoToSurface] Running Loop=1
2025-05-12T19:29:22.769Z,1747078162.769 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-05-12T19:29:22.769Z,1747078162.769 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-05-12T19:29:22.770Z,1747078162.770 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-05-12T19:29:22.770Z,1747078162.770 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-05-12T19:29:22.770Z,1747078162.770 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-05-12T19:29:22.771Z,1747078162.771 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-05-12T19:29:22.771Z,1747078162.771 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-05-12T19:29:22.771Z,1747078162.771 [Default:A.Wait] Running Loop=1
2025-05-12T19:29:22.771Z,1747078162.771 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-05-12T19:29:23.366Z,1747078163.366 [DataOverHttps](INFO): Moved sent file to Logs/20250512T191822/Courier0003.lzma.bak
2025-05-12T19:29:23.367Z,1747078163.367 [DataOverHttps](INFO): SBD MOMSN=24855409
2025-05-12T19:29:36.113Z,1747078176.113 [Default:A.Wait](INFO): Done Waiting.
2025-05-12T19:29:36.113Z,1747078176.113 [Default:A.Wait] Stopped
2025-05-12T19:29:36.113Z,1747078176.113 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-05-12T19:29:36.507Z,1747078176.507 [Default:CheckIn] Running Loop=1
2025-05-12T19:29:36.508Z,1747078176.508 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-05-12T19:29:36.508Z,1747078176.508 [Default:CheckIn:Read_GPS] Running Loop=1
2025-05-12T19:29:38.507Z,1747078178.507 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,192937.00,A,3648.25687,N,12148.89892,W,0.097,24.87,120525,,,D*43
2025-05-12T19:29:38.509Z,1747078178.509 [NAL9602](INFO): GPS fix at 20250512T192937: (36.804281, -121.814982)
2025-05-12T19:29:38.520Z,1747078178.520 [Default:CheckIn:Read_GPS] Stopped
2025-05-12T19:29:38.520Z,1747078178.520 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-05-12T19:29:45.600Z,1747078185.600 [DataOverHttps](INFO): Sending 40 bytes from file Logs/20250512T191822/Courier0006.lzma
2025-05-12T19:29:46.604Z,1747078186.604 [DataOverHttps](INFO): Moved sent file to Logs/20250512T191822/Courier0006.lzma.bak
2025-05-12T19:29:46.604Z,1747078186.604 [DataOverHttps](INFO): SBD MOMSN=24855414
2025-05-12T19:29:48.629Z,1747078188.629 [DVL_micro](ERROR): Failed to parse:
:RD,+9999.99,+0000.53,+0000.30,+0000.68
2025-05-12T19:29:50.627Z,1747078190.627 [DVL_micro](ERROR): Failed to parse:
:SA,+00.05,-04.78,233.4
2025-05-12T19:30:02.824Z,1747078202.824 [DataOverHttps](INFO): Sending 76 bytes from file Logs/20250512T191822/Courier0009.lzma
2025-05-12T19:30:05.834Z,1747078205.834 [DataOverHttps](INFO): Moved sent file to Logs/20250512T191822/Courier0009.lzma.bak
2025-05-12T19:30:05.835Z,1747078205.835 [DataOverHttps](INFO): SBD MOMSN=24855417
2025-05-12T19:30:11.235Z,1747078211.235 [NAL9602](INFO): Not Powering down - fast GPS
2025-05-12T19:30:22.192Z,1747078222.192 [DataOverHttps](INFO): Sending 1095 bytes from file Logs/20250512T191822/Express0004.lzma
2025-05-12T19:30:23.190Z,1747078223.190 [DataOverHttps](INFO): Moved sent file to Logs/20250512T191822/Express0004.lzma.bak
2025-05-12T19:30:23.191Z,1747078223.191 [DataOverHttps](INFO): SBD MOMSN=24855420
2025-05-12T19:30:39.434Z,1747078239.434 [DataOverHttps](INFO): Sending 63 bytes from file Logs/20250512T191822/Express0007.lzma
2025-05-12T19:30:40.435Z,1747078240.435 [DataOverHttps](INFO): Moved sent file to Logs/20250512T191822/Express0007.lzma.bak
2025-05-12T19:30:40.435Z,1747078240.435 [DataOverHttps](INFO): SBD MOMSN=24855435
2025-05-12T19:30:56.569Z,1747078256.569 [DataOverHttps](INFO): Sending 202 bytes from file Logs/20250512T191822/Express0010.lzma
2025-05-12T19:30:57.570Z,1747078257.570 [DataOverHttps](INFO): Moved sent file to Logs/20250512T191822/Express0010.lzma.bak
2025-05-12T19:30:57.571Z,1747078257.571 [DataOverHttps](INFO): SBD MOMSN=24855440
2025-05-12T19:30:58.916Z,1747078258.916 [Default:CheckIn:Read_Iridium] Stopped
2025-05-12T19:30:58.917Z,1747078258.917 [Default:CheckIn:C.Wait] Running Loop=1
2025-05-12T19:30:58.917Z,1747078258.917 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-05-12T19:34:10.102Z,1747078450.102 [DataOverHttps](IMPORTANT): SBD MTMSN=20250512T193409
2025-05-12T19:34:17.797Z,1747078457.797 [DataOverHttps](INFO): Received command: configSet verticalControl.massDefault 0 cm persist
2025-05-12T19:34:18.286Z,1747078458.286 [CommandExec](IMPORTANT): got command configSet VerticalControl.massDefault 0 centimeter persist
2025-05-12T19:34:20.806Z,1747078460.806 [DataOverHttps](IMPORTANT): SBD MTMSN=20250512T193420
2025-05-12T19:34:28.527Z,1747078468.527 [DataOverHttps](INFO): Received command: load Transport/transit.tl;set transit.NeedCommsTime 10 min;set transit.Latitude 36.797 degree;set transit.Longitude -121.847 degree;run
2025-05-12T19:34:28.551Z,1747078468.551 [CommandExec](IMPORTANT): got command load ./Missions/Transport/transit.tl
2025-05-12T19:34:28.551Z,1747078468.551 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/transit.tl
2025-05-12T19:34:28.551Z,1747078468.551 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/transit.tl
2025-05-12T19:34:28.553Z,1747078468.553 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/transit.tl
2025-05-12T19:34:29.383Z,1747078469.383 [MissionManager](DEBUG): TethyslAPI: ./Missions/Transport/transit.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="transit">
    <DefineArg Name="MissionTimeout">
        <Units:minute />
        <Value>60</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Northings">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="Eastings">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="Depth">
        <Units:meter />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="Speed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="MassHold">
        <True />
    </DefineArg>
    <DefineArg Name="BuoyancyHold">
        <True />
    </DefineArg>
    <Timeout Duration="MissionTimeout" />
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="NeedCommsTime" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:WaitForPitchUp" />
        <Units:second />
        <Value>1</Value>
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Guidance:Buoyancy Id="BuoyancyHold">
        <While>
            <Arg Name="BuoyancyHold" />
        </While>
        <Setting>
            <Guidance:Buoyancy.position />
            <Control:VerticalControl.buoyancyNeutral />
        </Setting>
    </Guidance:Buoyancy>
    <Guidance:Pitch Id="MassHold">
        <While>
            <Arg Name="MassHold" />
        </While>
        <Setting>
            <Guidance:Pitch.massPosition />
            <Control:VerticalControl.massDefault />
        </Setting>
    </Guidance:Pitch>
    <Aggregate Id="Transit">
        <Sequence />
        <Guidance:Pitch>
            <Parallel />
            <Setting>
                <Guidance:Pitch.depth />
                <Arg Name="Depth" />
            </Setting>
        </Guidance:Pitch>
        <Guidance:SetSpeed>
            <Parallel />
            <Setting>
                <Guidance:SetSpeed.speed />
                <Arg Name="Speed" />
            </Setting>
        </Guidance:SetSpeed>
        <Guidance:Waypoint Id="Wpt1">
            <Sequence />
            <Setting>
                <Guidance:Waypoint.latitude />
                <Arg Name="Latitude" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.longitude />
                <Arg Name="Longitude" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.northingsDelta />
                <Arg Name="Northings" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.eastingsDelta />
                <Arg Name="Eastings" />
            </Setting>
        </Guidance:Waypoint>
        <Call RefId="NeedComms" Id="PhoneHome" PriorityHere="false" />
    </Aggregate>
</Mission>

2025-05-12T19:34:29.388Z,1747078469.388 [MissionManager](INFO): DefineArg transit.MissionTimeout = 60.000000 min
2025-05-12T19:34:29.390Z,1747078469.390 [MissionManager](INFO): DefineArg transit.NeedCommsTime = 30.000000 min
2025-05-12T19:34:29.450Z,1747078469.450 [MissionManager](INFO): DefineArg transit.Latitude = nan arcdeg
2025-05-12T19:34:29.452Z,1747078469.452 [MissionManager](INFO): DefineArg transit.Longitude = nan arcdeg
2025-05-12T19:34:29.454Z,1747078469.454 [MissionManager](INFO): DefineArg transit.Northings = 0.000000 m
2025-05-12T19:34:29.456Z,1747078469.456 [MissionManager](INFO): DefineArg transit.Eastings = 0.000000 m
2025-05-12T19:34:29.463Z,1747078469.463 [MissionManager](INFO): DefineArg transit.Depth = 10.000000 m
2025-05-12T19:34:29.497Z,1747078469.497 [MissionManager](INFO): DefineArg transit.Speed = 1.000000 m/s
2025-05-12T19:34:29.499Z,1747078469.499 [MissionManager](INFO): DefineArg transit.MaxDepth = 20.000000 m
2025-05-12T19:34:29.513Z,1747078469.513 [MissionManager](INFO): DefineArg transit.MinOffshore = 1.000000 km
2025-05-12T19:34:29.515Z,1747078469.515 [MissionManager](INFO): DefineArg transit.MinAltitude = 7.000000 m
2025-05-12T19:34:29.538Z,1747078469.538 [MissionManager](INFO): DefineArg transit.MassHold = 1 bool
2025-05-12T19:34:29.540Z,1747078469.540 [MissionManager](INFO): DefineArg transit.BuoyancyHold = 1 bool
2025-05-12T19:34:29.540Z,1747078469.540 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-05-12T19:34:29.546Z,1747078469.546 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-05-12T19:34:29.547Z,1747078469.547 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-05-12T19:34:29.782Z,1747078469.782 [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>

2025-05-12T19:34:29.786Z,1747078469.786 [MissionManager](INFO): DefineArg transit:NeedComms.DiveInterval = 1.000000 h
2025-05-12T19:34:29.844Z,1747078469.844 [MissionManager](INFO): DefineArg transit:NeedComms.WaitForPitchUp = 10.000000 min
2025-05-12T19:34:29.846Z,1747078469.846 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-05-12T19:34:29.848Z,1747078469.848 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceDepthRate = nan m/s
2025-05-12T19:34:29.863Z,1747078469.863 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-05-12T19:34:29.875Z,1747078469.875 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacingTimeout = 1000.000000 s
2025-05-12T19:34:29.877Z,1747078469.877 [MissionManager](INFO): DefineArg transit:NeedComms.GPSTimeout = 7.000000 min
2025-05-12T19:34:29.880Z,1747078469.880 [MissionManager](INFO): DefineArg transit:NeedComms.CommsTimeout = 30.000000 min
2025-05-12T19:34:29.887Z,1747078469.887 [transit:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-05-12T19:34:29.940Z,1747078469.940 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-05-12T19:34:29.940Z,1747078469.940 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-05-12T19:34:29.949Z,1747078469.949 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-05-12T19:34:30.055Z,1747078470.055 [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>

2025-05-12T19:34:30.059Z,1747078470.059 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinAltitude = 5.000000 m
2025-05-12T19:34:30.061Z,1747078470.061 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-05-12T19:34:30.063Z,1747078470.063 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepth = 200.000000 m
2025-05-12T19:34:30.066Z,1747078470.066 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-05-12T19:34:30.067Z,1747078470.067 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-05-12T19:34:30.073Z,1747078470.073 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-05-12T19:34:30.079Z,1747078470.079 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-05-12T19:34:30.088Z,1747078470.088 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-05-12T19:34:30.088Z,1747078470.088 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-05-12T19:34:30.089Z,1747078470.089 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-05-12T19:34:30.146Z,1747078470.146 [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>

2025-05-12T19:34:30.153Z,1747078470.153 [MissionManager](INFO): DefineArg transit:BackseatDriver.EnableBackseat = 0 bool
2025-05-12T19:34:30.155Z,1747078470.155 [transit:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-05-12T19:34:30.158Z,1747078470.158 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-05-12T19:34:30.158Z,1747078470.158 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-05-12T19:34:30.159Z,1747078470.159 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-05-12T19:34:30.381Z,1747078470.381 [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>

2025-05-12T19:34:30.386Z,1747078470.386 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleAll = 0 bool
2025-05-12T19:34:30.395Z,1747078470.395 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad1 = 0 bool
2025-05-12T19:34:30.397Z,1747078470.397 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad2 = 0 bool
2025-05-12T19:34:30.399Z,1747078470.399 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad3 = 0 bool
2025-05-12T19:34:30.402Z,1747078470.402 [MissionManager](INFO): DefineArg transit:PowerOnly.EnabledPowerOnly = 1 bool
2025-05-12T19:34:30.408Z,1747078470.408 [transit:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-05-12T19:34:30.410Z,1747078470.410 [transit:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-05-12T19:34:30.437Z,1747078470.437 [transit:MassHold.Pitch](DEBUG): Construct.
2025-05-12T19:34:30.451Z,1747078470.451 [transit:Transit:A.Pitch](DEBUG): Construct.
2025-05-12T19:34:30.456Z,1747078470.456 [transit:Transit:B.SetSpeed](DEBUG): Construct.
2025-05-12T19:34:30.463Z,1747078470.463 [transit:Transit:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-05-12T19:34:30.482Z,1747078470.482 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

  timeout duration=MissionTimeout

  insert id="NeedComms" Insert/NeedComms.tl

  assign in sequence NeedComms:DiveInterval = NeedCommsTime

  assign in sequence NeedComms:WaitForPitchUp = 1 second

  insert Insert/StandardEnvelopes.tl

  assign in sequence StandardEnvelopes:MinAltitude = MinAltitude

  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth

  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

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

    set position = Control:VerticalControl.buoyancyNeutral
  }

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

    set massPosition = Control:VerticalControl.massDefault
  }

  aggregate Transit {
    run in sequence

    behavior Guidance:Pitch {
      run in parallel

      set depth = Depth
    }

    behavior Guidance:SetSpeed {
      run in parallel

      set speed = Speed
    }

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

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

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


2025-05-12T19:34:30.482Z,1747078470.482 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/transit.tl id=transit
2025-05-12T19:34:40.207Z,1747078480.207 [CommandExec](IMPORTANT): got command set transit.NeedCommsTime 10 minute
2025-05-12T19:34:40.208Z,1747078480.208 [CommandExec](IMPORTANT): got command set transit.Latitude 36.797 degree
2025-05-12T19:34:40.209Z,1747078480.209 [CommandExec](IMPORTANT): got command set transit.Longitude -121.847 degree
2025-05-12T19:34:40.209Z,1747078480.209 [CommandExec](IMPORTANT): got command run
2025-05-12T19:34:40.211Z,1747078480.211 [CommandExec](IMPORTANT): Running 
2025-05-12T19:34:40.366Z,1747078480.366 [Default] Stopped
2025-05-12T19:34:40.366Z,1747078480.366 [Default](DEBUG): Aggregate::uninitialize Default
2025-05-12T19:34:40.366Z,1747078480.366 [Default:B.GoToSurface] Stopped
2025-05-12T19:34:40.366Z,1747078480.366 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-05-12T19:34:40.366Z,1747078480.366 [Default:CheckIn] Stopped
2025-05-12T19:34:40.366Z,1747078480.366 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-05-12T19:34:40.366Z,1747078480.366 [Default:CheckIn:C.Wait] Stopped
2025-05-12T19:34:40.366Z,1747078480.366 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-05-12T19:34:40.366Z,1747078480.366 [MissionManager](IMPORTANT): Started mission transit
2025-05-12T19:34:40.367Z,1747078480.367 [transit] Running Loop=1
2025-05-12T19:34:40.367Z,1747078480.367 [transit](DEBUG): Aggregate::initialize transit
2025-05-12T19:34:40.367Z,1747078480.367 [transit:StandardEnvelopes] Running Loop=1
2025-05-12T19:34:40.367Z,1747078480.367 [transit:StandardEnvelopes](DEBUG): Aggregate::initialize transit:StandardEnvelopes
2025-05-12T19:34:40.367Z,1747078480.367 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-05-12T19:34:40.367Z,1747078480.367 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-05-12T19:34:40.367Z,1747078480.367 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-05-12T19:34:40.367Z,1747078480.367 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-05-12T19:34:40.368Z,1747078480.368 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-05-12T19:34:40.368Z,1747078480.368 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-05-12T19:34:40.368Z,1747078480.368 [transit:BackseatDriver] Running Loop=1
2025-05-12T19:34:40.368Z,1747078480.368 [transit:BackseatDriver](DEBUG): Aggregate::initialize transit:BackseatDriver
2025-05-12T19:34:40.368Z,1747078480.368 [transit:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-05-12T19:34:40.368Z,1747078480.368 [transit:PowerOnly] Running Loop=1
2025-05-12T19:34:40.368Z,1747078480.368 [transit:PowerOnly](DEBUG): Aggregate::initialize transit:PowerOnly
2025-05-12T19:34:40.368Z,1747078480.368 [transit:PowerOnly:A] Running Loop=1
2025-05-12T19:34:40.369Z,1747078480.369 [transit:PowerOnly:B] Running Loop=1
2025-05-12T19:34:40.369Z,1747078480.369 [transit:PowerOnly:C] Running Loop=1
2025-05-12T19:34:40.369Z,1747078480.369 [transit:PowerOnly:D] Running Loop=1
2025-05-12T19:34:40.369Z,1747078480.369 [transit:PowerOnly:E.Wait] Running Loop=1
2025-05-12T19:34:40.369Z,1747078480.369 [transit:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-05-12T19:34:40.369Z,1747078480.369 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-05-12T19:34:40.369Z,1747078480.369 [transit:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-05-12T19:34:40.369Z,1747078480.369 [transit:MassHold.Pitch] Running Loop=1
2025-05-12T19:34:40.369Z,1747078480.369 [transit:MassHold.Pitch](DEBUG): Initialize.
2025-05-12T19:34:40.369Z,1747078480.369 [transit:B] Running Loop=1
2025-05-12T19:34:40.370Z,1747078480.370 [transit:MassHold.Pitch] Running Loop=1
2025-05-12T19:34:40.370Z,1747078480.370 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-05-12T19:34:40.371Z,1747078480.371 [transit:PowerOnly] Running Loop=1
2025-05-12T19:34:40.371Z,1747078480.371 [transit:PowerOnly:D] Stopped
2025-05-12T19:34:40.371Z,1747078480.371 [transit:PowerOnly:C] Stopped
2025-05-12T19:34:40.371Z,1747078480.371 [transit:PowerOnly:B] Stopped
2025-05-12T19:34:40.371Z,1747078480.371 [transit:PowerOnly:A] Stopped
2025-05-12T19:34:40.371Z,1747078480.371 [transit:BackseatDriver] Running Loop=1
2025-05-12T19:34:40.371Z,1747078480.371 [transit:StandardEnvelopes] Running Loop=1
2025-05-12T19:34:40.371Z,1747078480.371 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-05-12T19:34:40.372Z,1747078480.372 [transit:StandardEnvelopes:C.OffshoreEnvelope](IMPORTANT): Offshore envelope ACTIVE
2025-05-12T19:34:40.379Z,1747078480.379 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-05-12T19:34:40.380Z,1747078480.380 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-05-12T19:34:40.380Z,1747078480.380 [transit:B] Stopped
2025-05-12T19:34:40.381Z,1747078480.381 [transit:C] Running Loop=1
2025-05-12T19:34:40.790Z,1747078480.790 [transit:C] Stopped
2025-05-12T19:34:40.790Z,1747078480.790 [transit:E] Running Loop=1
2025-05-12T19:34:41.179Z,1747078481.179 [transit:E] Stopped
2025-05-12T19:34:41.179Z,1747078481.179 [transit:F] Running Loop=1
2025-05-12T19:34:41.217Z,1747078481.217 [transit:StandardEnvelopes:A.AltitudeEnvelope](IMPORTANT): Altitude envelope ACTIVE. Altitude:0.680000m. At depth:0.085929m.
2025-05-12T19:34:41.646Z,1747078481.646 [transit:F] Stopped
2025-05-12T19:34:41.647Z,1747078481.647 [transit:G] Running Loop=1
2025-05-12T19:34:41.989Z,1747078481.989 [transit:G] Stopped
2025-05-12T19:34:41.989Z,1747078481.989 [transit:Transit] Running Loop=1
2025-05-12T19:34:41.989Z,1747078481.989 [transit:Transit](DEBUG): Aggregate::initialize transit:Transit
2025-05-12T19:34:41.990Z,1747078481.990 [transit:Transit:A.Pitch] Running Loop=1
2025-05-12T19:34:41.990Z,1747078481.990 [transit:Transit:A.Pitch](DEBUG): Initialize.
2025-05-12T19:34:41.990Z,1747078481.990 [transit:Transit:B.SetSpeed] Running Loop=1
2025-05-12T19:34:41.990Z,1747078481.990 [transit:Transit:B.SetSpeed](DEBUG): Initialize.
2025-05-12T19:34:41.990Z,1747078481.990 [transit:Transit:Wpt1.Waypoint] Running Loop=1
2025-05-12T19:34:41.990Z,1747078481.990 [transit:Transit:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-05-12T19:34:41.991Z,1747078481.991 [transit:Transit:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.797001,-121.847000
2025-05-12T19:34:42.454Z,1747078482.454 [transit:Transit:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.797001,-121.847000
2025-05-12T19:34:42.455Z,1747078482.455 [transit:Transit:B.SetSpeed] Running Loop=1
2025-05-12T19:34:42.455Z,1747078482.455 [transit:Transit:A.Pitch] Running Loop=1
2025-05-12T19:35:53.013Z,1747078553.013 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-12T19:36:24.137Z,1747078584.137 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-12T19:36:55.273Z,1747078615.273 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-12T19:37:26.399Z,1747078646.399 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-12T19:37:57.525Z,1747078677.525 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-12T19:38:01.543Z,1747078681.543 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.749237
2025-05-12T19:38:40.903Z,1747078720.903 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003624
2025-05-12T19:39:39.598Z,1747078779.598 [transit:NeedComms] Running Loop=1
2025-05-12T19:39:39.598Z,1747078779.598 [transit:NeedComms](DEBUG): Aggregate::initialize transit:NeedComms
2025-05-12T19:39:39.598Z,1747078779.598 [transit:NeedComms:B.GoToSurface] Running Loop=1
2025-05-12T19:39:39.598Z,1747078779.598 [transit:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-05-12T19:39:39.599Z,1747078779.599 [transit:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-05-12T19:39:39.599Z,1747078779.599 [transit:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-05-12T19:39:39.599Z,1747078779.599 [transit:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-05-12T19:39:39.600Z,1747078779.600 [transit:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-05-12T19:39:39.600Z,1747078779.600 [transit:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-05-12T19:39:39.601Z,1747078779.601 [transit:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-05-12T19:39:39.601Z,1747078779.601 [transit:NeedComms:A] Running Loop=1
2025-05-12T19:39:39.602Z,1747078779.602 [transit:NeedComms:A](INFO): last time_fix was:  1747078177.000000 second since 1970/01/01T00:00:00Z 
2025-05-12T19:39:39.603Z,1747078779.603 [transit:NeedComms:A] Stopped
2025-05-12T19:39:39.966Z,1747078779.966 [transit:NeedComms:C] Running Loop=1
2025-05-12T19:39:40.365Z,1747078780.365 [transit:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-05-12T19:39:41.969Z,1747078781.969 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,193941.00,A,3648.22201,N,12148.96202,W,1.555,224.68,120525,,,A*7F
2025-05-12T19:39:41.971Z,1747078781.971 [NAL9602](INFO): GPS fix at 20250512T193941: (36.803700, -121.816034)
2025-05-12T19:39:41.983Z,1747078781.983 [UniversalFixResidualReporter](INFO): Fix residual: 45.4 %DT, over the last 1066.2 m. Residual distance 483.7 m at bearing 97.6 degrees. Fix at (36.8037, -121.8160) with 113.8 m made good.
2025-05-12T19:39:41.987Z,1747078781.987 [transit:NeedComms:C] Stopped
2025-05-12T19:39:41.987Z,1747078781.987 [transit:NeedComms:D] Running Loop=1
2025-05-12T19:39:42.395Z,1747078782.395 [transit:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-05-12T19:39:49.408Z,1747078789.408 [DataOverHttps](INFO): Sending 85 bytes from file Logs/20250512T191822/Courier0012.lzma
2025-05-12T19:39:50.411Z,1747078790.411 [DataOverHttps](INFO): Moved sent file to Logs/20250512T191822/Courier0012.lzma.bak
2025-05-12T19:39:50.411Z,1747078790.411 [DataOverHttps](INFO): SBD MOMSN=24855464
2025-05-12T19:40:22.553Z,1747078822.553 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-12T19:40:48.266Z,1747078848.266 [NAL9602](INFO): SBD MO Status=2, MOMSN=20605, MT Status=2, MTMSN=0
2025-05-12T19:40:48.266Z,1747078848.266 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-05-12T19:40:53.677Z,1747078853.677 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-12T19:40:59.982Z,1747078859.982 [NAL9602](INFO): SBD MO Status=0, MOMSN=20605, MT Status=0, MTMSN=0
2025-05-12T19:40:59.982Z,1747078859.982 [NAL9602](INFO): No messages in MT queue
2025-05-12T19:41:29.314Z,1747078889.314 [DataOverHttps](INFO): Sending 679 bytes from file Logs/20250512T191822/Express0014.lzma
2025-05-12T19:41:30.315Z,1747078890.315 [DataOverHttps](INFO): Moved sent file to Logs/20250512T191822/Express0014.lzma.bak
2025-05-12T19:41:30.315Z,1747078890.315 [DataOverHttps](INFO): SBD MOMSN=24855469
2025-05-12T19:41:30.689Z,1747078890.689 [NAL9602](INFO): Not Powering down - fast GPS
2025-05-12T19:41:31.592Z,1747078891.592 [transit:NeedComms:D] Stopped
2025-05-12T19:41:31.592Z,1747078891.592 [transit:NeedComms:E] Running Loop=1
2025-05-12T19:41:31.923Z,1747078891.923 [transit:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-05-12T19:41:33.525Z,1747078893.525 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,194133.00,A,3648.21790,N,12148.96854,W,0.136,136.33,120525,,,A*7C
2025-05-12T19:41:33.527Z,1747078893.527 [NAL9602](INFO): GPS fix at 20250512T194133: (36.803632, -121.816142)
2025-05-12T19:41:33.598Z,1747078893.598 [transit:NeedComms:E] Stopped
2025-05-12T19:41:33.599Z,1747078893.599 [transit:NeedComms](INFO): Completed transit:NeedComms
2025-05-12T19:41:33.599Z,1747078893.599 [transit:NeedComms] Stopped
2025-05-12T19:41:33.599Z,1747078893.599 [transit:NeedComms](DEBUG): Aggregate::uninitialize transit:NeedComms
2025-05-12T19:41:33.599Z,1747078893.599 [transit:NeedComms:B.GoToSurface] Stopped
2025-05-12T19:41:33.599Z,1747078893.599 [transit:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-05-12T19:41:44.021Z,1747078904.021 [NAL9602](INFO): SBD MO Status=0, MOMSN=20606, MT Status=0, MTMSN=0
2025-05-12T19:41:44.021Z,1747078904.021 [NAL9602](INFO): No messages in MT queue
2025-05-12T19:42:14.558Z,1747078934.558 [NAL9602](INFO): Not Powering down - fast GPS
2025-05-12T19:46:05.525Z,1747079165.525 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-12T19:46:16.061Z,1747079176.061 [Radio_Surface](INFO): Powering down
2025-05-12T19:46:36.661Z,1747079196.661 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-12T19:46:37.667Z,1747079197.667 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-05-12T19:47:42.949Z,1747079262.949 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.771088
2025-05-12T19:51:34.616Z,1747079494.616 [transit:NeedComms] Running Loop=1
2025-05-12T19:51:34.616Z,1747079494.616 [transit:NeedComms](DEBUG): Aggregate::initialize transit:NeedComms
2025-05-12T19:51:34.616Z,1747079494.616 [transit:NeedComms:B.GoToSurface] Running Loop=1
2025-05-12T19:51:34.616Z,1747079494.616 [transit:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-05-12T19:51:34.637Z,1747079494.637 [transit:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-05-12T19:51:34.637Z,1747079494.637 [transit:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-05-12T19:51:34.637Z,1747079494.637 [transit:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-05-12T19:51:34.638Z,1747079494.638 [transit:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-05-12T19:51:34.638Z,1747079494.638 [transit:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-05-12T19:51:34.638Z,1747079494.638 [transit:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-05-12T19:51:34.639Z,1747079494.639 [transit:NeedComms:A] Running Loop=1
2025-05-12T19:51:34.645Z,1747079494.645 [transit:NeedComms:A](INFO): last time_fix was:  1747078893.000000 second since 1970/01/01T00:00:00Z 
2025-05-12T19:51:34.645Z,1747079494.645 [transit:NeedComms:A] Stopped
2025-05-12T19:52:03.838Z,1747079523.838 [transit:NeedComms:C] Running Loop=1
2025-05-12T19:52:04.313Z,1747079524.313 [Radio_Surface](INFO): Powering up
2025-05-12T19:52:10.054Z,1747079530.054 [DataOverHttps](INFO): Radio surface powered ON.
2025-05-12T19:52:24.028Z,1747079544.028 [NAL9602](INFO): SBD MO Status=2, MOMSN=20607, MT Status=2, MTMSN=0
2025-05-12T19:52:24.029Z,1747079544.029 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-05-12T19:52:40.185Z,1747079560.185 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-12T19:53:11.325Z,1747079591.325 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-12T19:53:42.449Z,1747079622.449 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-12T19:54:13.593Z,1747079653.593 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-12T19:54:22.322Z,1747079662.322 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003602
2025-05-12T19:55:29.077Z,1747079729.077 [DVL_micro](ERROR): Failed to parse:
:RD,+0000.30,+9999.99,+0000.68,+9999.99
2025-05-12T19:55:43.394Z,1747079743.394 [CommandExec](IMPORTANT): got command get platform_pitch_angle degree
2025-05-12T19:55:43.394Z,1747079743.394 [CommandExec](IMPORTANT): platform_pitch_angle -1.178497 arcdeg
2025-05-12T19:55:44.424Z,1747079744.424 [DVL_micro](ERROR): only read 0 of 4 data items for beam range. Device response is::RD9.99
2025-05-12T19:55:44.424Z,1747079744.424 [DVL_micro](ERROR): Failed to parse:
:RD9.99
2025-05-12T19:55:48.282Z,1747079748.282 [CommandExec](IMPORTANT): got command show stack
2025-05-12T19:55:48.282Z,1747079748.282 [CommandExec](IMPORTANT): Behavior Stack:

2025-05-12T19:55:48.282Z,1747079748.282 [transit:NeedComms](IMPORTANT): Priority 0: transit:NeedComms:B.GoToSurface
2025-05-12T19:55:48.283Z,1747079748.283 [transit:NeedComms](IMPORTANT): Priority 1: transit:NeedComms:C
2025-05-12T19:55:48.283Z,1747079748.283 [transit:StandardEnvelopes](IMPORTANT): Priority 2: transit:StandardEnvelopes:A.AltitudeEnvelope
2025-05-12T19:55:48.283Z,1747079748.283 [transit:StandardEnvelopes](IMPORTANT): Priority 3: transit:StandardEnvelopes:B.DepthEnvelope
2025-05-12T19:55:48.284Z,1747079748.284 [transit:StandardEnvelopes](IMPORTANT): Priority 4: transit:StandardEnvelopes:C.OffshoreEnvelope
2025-05-12T19:55:48.284Z,1747079748.284 [transit:BackseatDriver](IMPORTANT): Priority 5: transit:BackseatDriver:A.BackseatDriver
2025-05-12T19:55:48.284Z,1747079748.284 [transit:PowerOnly](IMPORTANT): Priority 6: transit:PowerOnly:E.Wait
2025-05-12T19:55:48.285Z,1747079748.285 [transit](IMPORTANT): Priority 7: transit:BuoyancyHold.Buoyancy
2025-05-12T19:55:48.285Z,1747079748.285 [transit](IMPORTANT): Priority 8: transit:MassHold.Pitch
2025-05-12T19:55:48.285Z,1747079748.285 [transit:Transit](IMPORTANT): Priority 9: transit:Transit:A.Pitch
2025-05-12T19:55:48.285Z,1747079748.285 [transit:Transit](IMPORTANT): Priority 10: transit:Transit:B.SetSpeed
2025-05-12T19:55:48.286Z,1747079748.286 [transit:Transit](IMPORTANT): Priority 11: transit:Transit:Wpt1.Waypoint
2025-05-12T19:55:58.561Z,1747079758.561 [NAL9602](INFO): SBD MO Status=0, MOMSN=20607, MT Status=0, MTMSN=0
2025-05-12T19:55:58.561Z,1747079758.561 [NAL9602](INFO): No messages in MT queue
2025-05-12T19:55:58.704Z,1747079758.704 [CommandExec](IMPORTANT): got command get SpeedControl.speedCmd
2025-05-12T19:55:58.704Z,1747079758.704 [CommandExec](IMPORTANT): SpeedControl.speedCmd 0.000000 m/s
2025-05-12T19:55:59.775Z,1747079759.775 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,195559.00,A,3647.97689,N,12149.23533,W,0.233,300.20,120525,,,A*7E
2025-05-12T19:55:59.777Z,1747079759.777 [NAL9602](INFO): GPS fix at 20250512T195559: (36.799615, -121.820589)
2025-05-12T19:55:59.789Z,1747079759.789 [UniversalFixResidualReporter](INFO): Fix residual: 44.4 %DT, over the last 651.7 m. Residual distance 289.4 m at bearing 38.5 degrees. Fix at (36.7996, -121.8206) with 596.9 m made good.
2025-05-12T19:55:59.793Z,1747079759.793 [transit:NeedComms:C] Stopped
2025-05-12T19:55:59.794Z,1747079759.794 [transit:NeedComms:D] Running Loop=1
2025-05-12T19:56:00.604Z,1747079760.604 [transit:NeedComms:D] Stopped
2025-05-12T19:56:00.604Z,1747079760.604 [transit:NeedComms:E] Running Loop=1
2025-05-12T19:56:03.004Z,1747079763.004 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,195602.00,A,3647.97702,N,12149.23536,W,0.292,300.20,120525,,,A*7F
2025-05-12T19:56:03.006Z,1747079763.006 [NAL9602](INFO): GPS fix at 20250512T195602: (36.799617, -121.820589)
2025-05-12T19:56:03.033Z,1747079763.033 [transit:NeedComms:E] Stopped
2025-05-12T19:56:03.034Z,1747079763.034 [transit:NeedComms](INFO): Completed transit:NeedComms
2025-05-12T19:56:03.034Z,1747079763.034 [transit:NeedComms] Stopped
2025-05-12T19:56:03.034Z,1747079763.034 [transit:NeedComms](DEBUG): Aggregate::uninitialize transit:NeedComms
2025-05-12T19:56:03.034Z,1747079763.034 [transit:NeedComms:B.GoToSurface] Stopped
2025-05-12T19:56:03.034Z,1747079763.034 [transit:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-05-12T19:56:08.489Z,1747079768.489 [CommandExec](IMPORTANT): got command stop
2025-05-12T19:56:08.490Z,1747079768.490 [Supervisor](INFO): Stop Mission called by CommandExec::commandStop
2025-05-12T19:56:08.677Z,1747079768.677 [MissionManager](INFO): MissionManager is completed.
2025-05-12T19:56:08.677Z,1747079768.677 [MissionManager](INFO): Uninitializing Mission transit
2025-05-12T19:56:08.677Z,1747079768.677 [transit] Stopped
2025-05-12T19:56:08.677Z,1747079768.677 [transit](DEBUG): Aggregate::uninitialize transit
2025-05-12T19:56:08.677Z,1747079768.677 [transit:StandardEnvelopes] Stopped
2025-05-12T19:56:08.677Z,1747079768.677 [transit:StandardEnvelopes](DEBUG): Aggregate::uninitialize transit:StandardEnvelopes
2025-05-12T19:56:08.677Z,1747079768.677 [transit:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-05-12T19:56:08.677Z,1747079768.677 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-05-12T19:56:08.677Z,1747079768.677 [transit:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-05-12T19:56:08.677Z,1747079768.677 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-05-12T19:56:08.678Z,1747079768.678 [transit:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-05-12T19:56:08.678Z,1747079768.678 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-05-12T19:56:08.678Z,1747079768.678 [transit:BackseatDriver] Stopped
2025-05-12T19:56:08.678Z,1747079768.678 [transit:BackseatDriver](DEBUG): Aggregate::uninitialize transit:BackseatDriver
2025-05-12T19:56:08.678Z,1747079768.678 [transit:BackseatDriver:A.BackseatDriver] Stopped
2025-05-12T19:56:08.678Z,1747079768.678 [transit:PowerOnly] Stopped
2025-05-12T19:56:08.678Z,1747079768.678 [transit:PowerOnly](DEBUG): Aggregate::uninitialize transit:PowerOnly
2025-05-12T19:56:08.678Z,1747079768.678 [transit:PowerOnly:E.Wait] Stopped
2025-05-12T19:56:08.678Z,1747079768.678 [transit:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-05-12T19:56:08.678Z,1747079768.678 [transit:BuoyancyHold.Buoyancy] Stopped
2025-05-12T19:56:08.678Z,1747079768.678 [transit:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-05-12T19:56:08.678Z,1747079768.678 [transit:MassHold.Pitch] Stopped
2025-05-12T19:56:08.678Z,1747079768.678 [transit:Transit] Stopped
2025-05-12T19:56:08.679Z,1747079768.679 [transit:Transit](DEBUG): Aggregate::uninitialize transit:Transit
2025-05-12T19:56:08.679Z,1747079768.679 [transit:Transit:A.Pitch] Stopped
2025-05-12T19:56:08.679Z,1747079768.679 [transit:Transit:B.SetSpeed] Stopped
2025-05-12T19:56:08.679Z,1747079768.679 [transit:Transit:B.SetSpeed](DEBUG): Uninitialize.
2025-05-12T19:56:08.679Z,1747079768.679 [transit:Transit:Wpt1.Waypoint] Stopped
2025-05-12T19:56:08.679Z,1747079768.679 [transit:Transit:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-05-12T19:56:09.079Z,1747079769.079 [MissionManager](IMPORTANT): Started mission Default
2025-05-12T19:56:09.079Z,1747079769.079 [Default] Running Loop=1
2025-05-12T19:56:09.079Z,1747079769.079 [Default](DEBUG): Aggregate::initialize Default
2025-05-12T19:56:09.079Z,1747079769.079 [Default:B.GoToSurface] Running Loop=1
2025-05-12T19:56:09.079Z,1747079769.079 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-05-12T19:56:09.079Z,1747079769.079 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-05-12T19:56:09.080Z,1747079769.080 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-05-12T19:56:09.080Z,1747079769.080 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-05-12T19:56:09.080Z,1747079769.080 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-05-12T19:56:09.081Z,1747079769.081 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-05-12T19:56:09.081Z,1747079769.081 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-05-12T19:56:09.081Z,1747079769.081 [Default:A.Wait] Running Loop=1
2025-05-12T19:56:09.082Z,1747079769.082 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-05-12T19:56:22.422Z,1747079782.422 [Default:A.Wait](INFO): Done Waiting.
2025-05-12T19:56:22.422Z,1747079782.422 [Default:A.Wait] Stopped
2025-05-12T19:56:22.422Z,1747079782.422 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-05-12T19:56:22.814Z,1747079782.814 [Default:CheckIn] Running Loop=1
2025-05-12T19:56:22.814Z,1747079782.814 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-05-12T19:56:22.814Z,1747079782.814 [Default:CheckIn:Read_GPS] Running Loop=1
2025-05-12T19:56:24.827Z,1747079784.827 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,195624.00,A,3647.97732,N,12149.23587,W,0.836,260.74,120525,,,A*70
2025-05-12T19:56:24.829Z,1747079784.829 [NAL9602](INFO): GPS fix at 20250512T195624: (36.799622, -121.820598)
2025-05-12T19:56:24.839Z,1747079784.839 [Default:CheckIn:Read_GPS] Stopped
2025-05-12T19:56:24.840Z,1747079784.840 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-05-12T19:56:32.148Z,1747079792.148 [DataOverHttps](INFO): Sending 85 bytes from file Logs/20250512T191822/Courier0018.lzma
2025-05-12T19:56:33.151Z,1747079793.151 [DataOverHttps](INFO): Moved sent file to Logs/20250512T191822/Courier0018.lzma.bak
2025-05-12T19:56:33.151Z,1747079793.151 [DataOverHttps](INFO): SBD MOMSN=24855568
2025-05-12T19:56:49.184Z,1747079809.184 [DataOverHttps](INFO): Sending 75 bytes from file Logs/20250512T191822/Courier0024.lzma
2025-05-12T19:56:50.186Z,1747079810.186 [DataOverHttps](INFO): Moved sent file to Logs/20250512T191822/Courier0024.lzma.bak
2025-05-12T19:56:50.187Z,1747079810.187 [DataOverHttps](INFO): SBD MOMSN=24855572
2025-05-12T19:56:57.541Z,1747079817.541 [NAL9602](INFO): Not Powering down - fast GPS
2025-05-12T19:57:06.491Z,1747079826.491 [DataOverHttps](INFO): Sending 773 bytes from file Logs/20250512T191822/Express0020.lzma
2025-05-12T19:57:07.490Z,1747079827.490 [DataOverHttps](INFO): Moved sent file to Logs/20250512T191822/Express0020.lzma.bak
2025-05-12T19:57:07.491Z,1747079827.491 [DataOverHttps](INFO): SBD MOMSN=24855575
2025-05-12T19:57:23.689Z,1747079843.689 [DataOverHttps](INFO): Sending 163 bytes from file Logs/20250512T191822/Express0025.lzma
2025-05-12T19:57:24.690Z,1747079844.690 [DataOverHttps](INFO): Moved sent file to Logs/20250512T191822/Express0025.lzma.bak
2025-05-12T19:57:24.691Z,1747079844.691 [DataOverHttps](INFO): SBD MOMSN=24855597
2025-05-12T19:57:25.831Z,1747079845.831 [Default:CheckIn:Read_Iridium] Stopped
2025-05-12T19:57:25.831Z,1747079845.831 [Default:CheckIn:C.Wait] Running Loop=1
2025-05-12T19:57:25.831Z,1747079845.831 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-05-12T19:58:03.939Z,1747079883.939 [DataOverHttps](IMPORTANT): SBD MTMSN=20250512T195803
2025-05-12T19:58:11.521Z,1747079891.521 [DataOverHttps](INFO): Received command: load Transport/transit.tl;set transit.MissionTimeout 90 min;set transit.Latitude 36.797 degree;set transit.Longitude -121.847 degree;run
2025-05-12T19:58:11.619Z,1747079891.619 [CommandExec](IMPORTANT): got command load ./Missions/Transport/transit.tl
2025-05-12T19:58:11.619Z,1747079891.619 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/transit.tl
2025-05-12T19:58:11.619Z,1747079891.619 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/transit.tl
2025-05-12T19:58:11.621Z,1747079891.621 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/transit.tl
2025-05-12T19:58:12.430Z,1747079892.430 [MissionManager](DEBUG): TethyslAPI: ./Missions/Transport/transit.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="transit">
    <DefineArg Name="MissionTimeout">
        <Units:minute />
        <Value>60</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Northings">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="Eastings">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="Depth">
        <Units:meter />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="Speed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="MassHold">
        <True />
    </DefineArg>
    <DefineArg Name="BuoyancyHold">
        <True />
    </DefineArg>
    <Timeout Duration="MissionTimeout" />
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="NeedCommsTime" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:WaitForPitchUp" />
        <Units:second />
        <Value>1</Value>
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Guidance:Buoyancy Id="BuoyancyHold">
        <While>
            <Arg Name="BuoyancyHold" />
        </While>
        <Setting>
            <Guidance:Buoyancy.position />
            <Control:VerticalControl.buoyancyNeutral />
        </Setting>
    </Guidance:Buoyancy>
    <Guidance:Pitch Id="MassHold">
        <While>
            <Arg Name="MassHold" />
        </While>
        <Setting>
            <Guidance:Pitch.massPosition />
            <Control:VerticalControl.massDefault />
        </Setting>
    </Guidance:Pitch>
    <Aggregate Id="Transit">
        <Sequence />
        <Guidance:Pitch>
            <Parallel />
            <Setting>
                <Guidance:Pitch.depth />
                <Arg Name="Depth" />
            </Setting>
        </Guidance:Pitch>
        <Guidance:SetSpeed>
            <Parallel />
            <Setting>
                <Guidance:SetSpeed.speed />
                <Arg Name="Speed" />
            </Setting>
        </Guidance:SetSpeed>
        <Guidance:Waypoint Id="Wpt1">
            <Sequence />
            <Setting>
                <Guidance:Waypoint.latitude />
                <Arg Name="Latitude" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.longitude />
                <Arg Name="Longitude" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.northingsDelta />
                <Arg Name="Northings" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.eastingsDelta />
                <Arg Name="Eastings" />
            </Setting>
        </Guidance:Waypoint>
        <Call RefId="NeedComms" Id="PhoneHome" PriorityHere="false" />
    </Aggregate>
</Mission>

2025-05-12T19:58:12.451Z,1747079892.451 [MissionManager](INFO): DefineArg transit.MissionTimeout = 60.000000 min
2025-05-12T19:58:12.463Z,1747079892.463 [MissionManager](INFO): DefineArg transit.NeedCommsTime = 30.000000 min
2025-05-12T19:58:12.481Z,1747079892.481 [MissionManager](INFO): DefineArg transit.Latitude = nan arcdeg
2025-05-12T19:58:12.483Z,1747079892.483 [MissionManager](INFO): DefineArg transit.Longitude = nan arcdeg
2025-05-12T19:58:12.509Z,1747079892.509 [MissionManager](INFO): DefineArg transit.Northings = 0.000000 m
2025-05-12T19:58:12.511Z,1747079892.511 [MissionManager](INFO): DefineArg transit.Eastings = 0.000000 m
2025-05-12T19:58:12.514Z,1747079892.514 [MissionManager](INFO): DefineArg transit.Depth = 10.000000 m
2025-05-12T19:58:12.516Z,1747079892.516 [MissionManager](INFO): DefineArg transit.Speed = 1.000000 m/s
2025-05-12T19:58:12.518Z,1747079892.518 [MissionManager](INFO): DefineArg transit.MaxDepth = 20.000000 m
2025-05-12T19:58:12.520Z,1747079892.520 [MissionManager](INFO): DefineArg transit.MinOffshore = 1.000000 km
2025-05-12T19:58:12.529Z,1747079892.529 [MissionManager](INFO): DefineArg transit.MinAltitude = 7.000000 m
2025-05-12T19:58:12.530Z,1747079892.530 [MissionManager](INFO): DefineArg transit.MassHold = 1 bool
2025-05-12T19:58:12.532Z,1747079892.532 [MissionManager](INFO): DefineArg transit.BuoyancyHold = 1 bool
2025-05-12T19:58:12.533Z,1747079892.533 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-05-12T19:58:12.533Z,1747079892.533 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-05-12T19:58:12.534Z,1747079892.534 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-05-12T19:58:12.833Z,1747079892.833 [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>

2025-05-12T19:58:12.845Z,1747079892.845 [MissionManager](INFO): DefineArg transit:NeedComms.DiveInterval = 1.000000 h
2025-05-12T19:58:12.847Z,1747079892.847 [MissionManager](INFO): DefineArg transit:NeedComms.WaitForPitchUp = 10.000000 min
2025-05-12T19:58:12.850Z,1747079892.850 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-05-12T19:58:12.852Z,1747079892.852 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceDepthRate = nan m/s
2025-05-12T19:58:12.877Z,1747079892.877 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-05-12T19:58:12.879Z,1747079892.879 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacingTimeout = 1000.000000 s
2025-05-12T19:58:12.881Z,1747079892.881 [MissionManager](INFO): DefineArg transit:NeedComms.GPSTimeout = 7.000000 min
2025-05-12T19:58:12.883Z,1747079892.883 [MissionManager](INFO): DefineArg transit:NeedComms.CommsTimeout = 30.000000 min
2025-05-12T19:58:12.889Z,1747079892.889 [transit:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-05-12T19:58:12.919Z,1747079892.919 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-05-12T19:58:12.919Z,1747079892.919 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-05-12T19:58:12.929Z,1747079892.929 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-05-12T19:58:12.996Z,1747079892.996 [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>

2025-05-12T19:58:12.999Z,1747079892.999 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinAltitude = 5.000000 m
2025-05-12T19:58:13.002Z,1747079893.002 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-05-12T19:58:13.004Z,1747079893.004 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepth = 200.000000 m
2025-05-12T19:58:13.029Z,1747079893.029 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-05-12T19:58:13.030Z,1747079893.030 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-05-12T19:58:13.035Z,1747079893.035 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-05-12T19:58:13.042Z,1747079893.042 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-05-12T19:58:13.051Z,1747079893.051 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-05-12T19:58:13.051Z,1747079893.051 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-05-12T19:58:13.052Z,1747079893.052 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-05-12T19:58:13.150Z,1747079893.150 [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>

2025-05-12T19:58:13.157Z,1747079893.157 [MissionManager](INFO): DefineArg transit:BackseatDriver.EnableBackseat = 0 bool
2025-05-12T19:58:13.159Z,1747079893.159 [transit:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-05-12T19:58:13.162Z,1747079893.162 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-05-12T19:58:13.162Z,1747079893.162 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-05-12T19:58:13.163Z,1747079893.163 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-05-12T19:58:13.300Z,1747079893.300 [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>

2025-05-12T19:58:13.303Z,1747079893.303 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleAll = 0 bool
2025-05-12T19:58:13.305Z,1747079893.305 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad1 = 0 bool
2025-05-12T19:58:13.307Z,1747079893.307 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad2 = 0 bool
2025-05-12T19:58:13.309Z,1747079893.309 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad3 = 0 bool
2025-05-12T19:58:13.312Z,1747079893.312 [MissionManager](INFO): DefineArg transit:PowerOnly.EnabledPowerOnly = 1 bool
2025-05-12T19:58:13.318Z,1747079893.318 [transit:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-05-12T19:58:13.320Z,1747079893.320 [transit:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-05-12T19:58:13.323Z,1747079893.323 [transit:MassHold.Pitch](DEBUG): Construct.
2025-05-12T19:58:13.361Z,1747079893.361 [transit:Transit:A.Pitch](DEBUG): Construct.
2025-05-12T19:58:13.365Z,1747079893.365 [transit:Transit:B.SetSpeed](DEBUG): Construct.
2025-05-12T19:58:13.367Z,1747079893.367 [transit:Transit:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-05-12T19:58:13.389Z,1747079893.389 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

  timeout duration=MissionTimeout

  insert id="NeedComms" Insert/NeedComms.tl

  assign in sequence NeedComms:DiveInterval = NeedCommsTime

  assign in sequence NeedComms:WaitForPitchUp = 1 second

  insert Insert/StandardEnvelopes.tl

  assign in sequence StandardEnvelopes:MinAltitude = MinAltitude

  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth

  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

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

    set position = Control:VerticalControl.buoyancyNeutral
  }

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

    set massPosition = Control:VerticalControl.massDefault
  }

  aggregate Transit {
    run in sequence

    behavior Guidance:Pitch {
      run in parallel

      set depth = Depth
    }

    behavior Guidance:SetSpeed {
      run in parallel

      set speed = Speed
    }

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

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

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


2025-05-12T19:58:13.389Z,1747079893.389 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/transit.tl id=transit
2025-05-12T19:58:21.001Z,1747079901.001 [CommandExec](IMPORTANT): got command set transit.MissionTimeout 90 minute
2025-05-12T19:58:21.002Z,1747079901.002 [CommandExec](IMPORTANT): got command set transit.Latitude 36.797 degree
2025-05-12T19:58:21.002Z,1747079901.002 [CommandExec](IMPORTANT): got command set transit.Longitude -121.847 degree
2025-05-12T19:58:21.003Z,1747079901.003 [CommandExec](IMPORTANT): got command run
2025-05-12T19:58:21.005Z,1747079901.005 [CommandExec](IMPORTANT): Running 
2025-05-12T19:58:21.181Z,1747079901.181 [Default] Stopped
2025-05-12T19:58:21.181Z,1747079901.181 [Default](DEBUG): Aggregate::uninitialize Default
2025-05-12T19:58:21.181Z,1747079901.181 [Default:B.GoToSurface] Stopped
2025-05-12T19:58:21.181Z,1747079901.181 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-05-12T19:58:21.181Z,1747079901.181 [Default:CheckIn] Stopped
2025-05-12T19:58:21.181Z,1747079901.181 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-05-12T19:58:21.182Z,1747079901.182 [Default:CheckIn:C.Wait] Stopped
2025-05-12T19:58:21.182Z,1747079901.182 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-05-12T19:58:21.182Z,1747079901.182 [MissionManager](IMPORTANT): Started mission transit
2025-05-12T19:58:21.182Z,1747079901.182 [transit] Running Loop=1
2025-05-12T19:58:21.182Z,1747079901.182 [transit](DEBUG): Aggregate::initialize transit
2025-05-12T19:58:21.182Z,1747079901.182 [transit:StandardEnvelopes] Running Loop=1
2025-05-12T19:58:21.182Z,1747079901.182 [transit:StandardEnvelopes](DEBUG): Aggregate::initialize transit:StandardEnvelopes
2025-05-12T19:58:21.182Z,1747079901.182 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-05-12T19:58:21.182Z,1747079901.182 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-05-12T19:58:21.183Z,1747079901.183 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-05-12T19:58:21.183Z,1747079901.183 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-05-12T19:58:21.183Z,1747079901.183 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-05-12T19:58:21.183Z,1747079901.183 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-05-12T19:58:21.183Z,1747079901.183 [transit:BackseatDriver] Running Loop=1
2025-05-12T19:58:21.183Z,1747079901.183 [transit:BackseatDriver](DEBUG): Aggregate::initialize transit:BackseatDriver
2025-05-12T19:58:21.183Z,1747079901.183 [transit:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-05-12T19:58:21.183Z,1747079901.183 [transit:PowerOnly] Running Loop=1
2025-05-12T19:58:21.183Z,1747079901.183 [transit:PowerOnly](DEBUG): Aggregate::initialize transit:PowerOnly
2025-05-12T19:58:21.184Z,1747079901.184 [transit:PowerOnly:A] Running Loop=1
2025-05-12T19:58:21.184Z,1747079901.184 [transit:PowerOnly:B] Running Loop=1
2025-05-12T19:58:21.184Z,1747079901.184 [transit:PowerOnly:C] Running Loop=1
2025-05-12T19:58:21.184Z,1747079901.184 [transit:PowerOnly:D] Running Loop=1
2025-05-12T19:58:21.184Z,1747079901.184 [transit:PowerOnly:E.Wait] Running Loop=1
2025-05-12T19:58:21.184Z,1747079901.184 [transit:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-05-12T19:58:21.184Z,1747079901.184 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-05-12T19:58:21.184Z,1747079901.184 [transit:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-05-12T19:58:21.184Z,1747079901.184 [transit:MassHold.Pitch] Running Loop=1
2025-05-12T19:58:21.184Z,1747079901.184 [transit:MassHold.Pitch](DEBUG): Initialize.
2025-05-12T19:58:21.185Z,1747079901.185 [transit:B] Running Loop=1
2025-05-12T19:58:21.185Z,1747079901.185 [transit:MassHold.Pitch] Running Loop=1
2025-05-12T19:58:21.186Z,1747079901.186 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-05-12T19:58:21.186Z,1747079901.186 [transit:PowerOnly] Running Loop=1
2025-05-12T19:58:21.186Z,1747079901.186 [transit:PowerOnly:D] Stopped
2025-05-12T19:58:21.186Z,1747079901.186 [transit:PowerOnly:C] Stopped
2025-05-12T19:58:21.186Z,1747079901.186 [transit:PowerOnly:B] Stopped
2025-05-12T19:58:21.186Z,1747079901.186 [transit:PowerOnly:A] Stopped
2025-05-12T19:58:21.186Z,1747079901.186 [transit:BackseatDriver] Running Loop=1
2025-05-12T19:58:21.187Z,1747079901.187 [transit:StandardEnvelopes] Running Loop=1
2025-05-12T19:58:21.187Z,1747079901.187 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-05-12T19:58:21.187Z,1747079901.187 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-05-12T19:58:21.187Z,1747079901.187 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-05-12T19:58:21.188Z,1747079901.188 [transit:B] Stopped
2025-05-12T19:58:21.188Z,1747079901.188 [transit:C] Running Loop=1
2025-05-12T19:58:21.591Z,1747079901.591 [transit:C] Stopped
2025-05-12T19:58:21.591Z,1747079901.591 [transit:E] Running Loop=1
2025-05-12T19:58:21.997Z,1747079901.997 [transit:E] Stopped
2025-05-12T19:58:21.997Z,1747079901.997 [transit:F] Running Loop=1
2025-05-12T19:58:22.415Z,1747079902.415 [transit:F] Stopped
2025-05-12T19:58:22.415Z,1747079902.415 [transit:G] Running Loop=1
2025-05-12T19:58:22.797Z,1747079902.797 [transit:G] Stopped
2025-05-12T19:58:22.797Z,1747079902.797 [transit:Transit] Running Loop=1
2025-05-12T19:58:22.797Z,1747079902.797 [transit:Transit](DEBUG): Aggregate::initialize transit:Transit
2025-05-12T19:58:22.797Z,1747079902.797 [transit:Transit:A.Pitch] Running Loop=1
2025-05-12T19:58:22.797Z,1747079902.797 [transit:Transit:A.Pitch](DEBUG): Initialize.
2025-05-12T19:58:22.798Z,1747079902.798 [transit:Transit:B.SetSpeed] Running Loop=1
2025-05-12T19:58:22.798Z,1747079902.798 [transit:Transit:B.SetSpeed](DEBUG): Initialize.
2025-05-12T19:58:22.798Z,1747079902.798 [transit:Transit:Wpt1.Waypoint] Running Loop=1
2025-05-12T19:58:22.798Z,1747079902.798 [transit:Transit:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-05-12T19:58:22.799Z,1747079902.799 [transit:Transit:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.797001,-121.847000
2025-05-12T19:58:23.203Z,1747079903.203 [transit:Transit:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.797001,-121.847000
2025-05-12T19:58:23.203Z,1747079903.203 [transit:Transit:B.SetSpeed] Running Loop=1
2025-05-12T19:58:23.203Z,1747079903.203 [transit:Transit:A.Pitch] Running Loop=1
2025-05-12T19:59:13.677Z,1747079953.677 [ElevatorServo](FAULT): Overload Error
2025-05-12T19:59:13.677Z,1747079953.677 [ElevatorServo] Hardware Fault, FailCount= 1
2025-05-12T19:59:13.677Z,1747079953.677 [ElevatorServo](ERROR): Hardware Fault
2025-05-12T19:59:13.895Z,1747079953.895 [CBIT](ERROR): Hardware Fault in component: ElevatorServo
2025-05-12T19:59:14.074Z,1747079954.074 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2025-05-12T19:59:14.074Z,1747079954.074 [ElevatorServo](INFO): Powering down
2025-05-12T19:59:14.858Z,1747079954.858 [ElevatorServo](DEBUG): Initializing EZServoServo.
2025-05-12T19:59:14.978Z,1747079954.978 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2025-05-12T19:59:15.192Z,1747079955.192 [CBIT](INFO): Clearing failed state for component ElevatorServo
2025-05-12T19:59:15.192Z,1747079955.192 [ElevatorServo] No Fault, FailCount= 1
2025-05-12T19:59:30.193Z,1747079970.193 [DVL_micro](ERROR): Failed to parse:
:WI,-00032,+00934,+00293,+00000,A
2025-05-12T20:02:08.832Z,1747080128.832 [DVL_micro](ERROR): Failed to parse:
:SA,-02.65,-05.94,248.8
2025-05-12T20:03:45.578Z,1747080225.578 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 20.00 deg, mass-position 0.00 mm (1 active estimators).
2025-05-12T20:04:09.085Z,1747080249.085 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-12T20:04:40.217Z,1747080280.217 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-12T20:04:45.853Z,1747080285.853 [Radio_Surface](INFO): Powering down
2025-05-12T20:05:11.341Z,1747080311.341 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-12T20:05:12.345Z,1747080312.345 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-05-12T20:06:17.610Z,1747080377.610 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.731354
2025-05-12T20:19:28.685Z,1747081168.685 [ElevatorServo](FAULT): Overload Error
2025-05-12T20:19:28.685Z,1747081168.685 [ElevatorServo] Hardware Fault, FailCount= 1
2025-05-12T20:19:28.685Z,1747081168.685 [ElevatorServo](ERROR): Hardware Fault
2025-05-12T20:19:28.989Z,1747081168.989 [CBIT](ERROR): Hardware Fault in component: ElevatorServo
2025-05-12T20:19:29.068Z,1747081169.068 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2025-05-12T20:19:29.073Z,1747081169.073 [ElevatorServo](INFO): Powering down
2025-05-12T20:19:29.866Z,1747081169.866 [ElevatorServo](DEBUG): Initializing EZServoServo.
2025-05-12T20:19:29.982Z,1747081169.982 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2025-05-12T20:19:29.000Z,1747081170.000 [CBIT](INFO): Clearing failed state for component ElevatorServo
2025-05-12T20:19:29.000Z,1747081170.000 [ElevatorServo] No Fault, FailCount= 1
2025-05-12T20:26:25.972Z,1747081585.972 [transit:NeedComms] Running Loop=1
2025-05-12T20:26:25.972Z,1747081585.972 [transit:NeedComms](DEBUG): Aggregate::initialize transit:NeedComms
2025-05-12T20:26:25.973Z,1747081585.973 [transit:NeedComms:B.GoToSurface] Running Loop=1
2025-05-12T20:26:25.973Z,1747081585.973 [transit:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-05-12T20:26:25.974Z,1747081585.974 [transit:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-05-12T20:26:25.974Z,1747081585.974 [transit:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-05-12T20:26:25.974Z,1747081585.974 [transit:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-05-12T20:26:25.975Z,1747081585.975 [transit:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-05-12T20:26:25.975Z,1747081585.975 [transit:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-05-12T20:26:25.975Z,1747081585.975 [transit:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-05-12T20:26:25.976Z,1747081585.976 [transit:NeedComms:A] Running Loop=1
2025-05-12T20:26:25.978Z,1747081585.978 [transit:NeedComms:A](INFO): last time_fix was:  1747079784.000000 second since 1970/01/01T00:00:00Z 
2025-05-12T20:26:25.978Z,1747081585.978 [transit:NeedComms:A] Stopped
2025-05-12T20:26:33.281Z,1747081593.281 [ElevatorServo](FAULT): Overload Error
2025-05-12T20:26:33.281Z,1747081593.281 [ElevatorServo] Hardware Fault, FailCount= 1
2025-05-12T20:26:33.281Z,1747081593.281 [ElevatorServo](ERROR): Hardware Fault
2025-05-12T20:26:33.485Z,1747081593.485 [CBIT](ERROR): Hardware Fault in component: ElevatorServo
2025-05-12T20:26:33.656Z,1747081593.656 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2025-05-12T20:26:33.657Z,1747081593.657 [ElevatorServo](INFO): Powering down
2025-05-12T20:26:34.490Z,1747081594.490 [ElevatorServo](DEBUG): Initializing EZServoServo.
2025-05-12T20:26:34.610Z,1747081594.610 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2025-05-12T20:26:34.660Z,1747081594.660 [CBIT](INFO): Clearing failed state for component ElevatorServo
2025-05-12T20:26:34.660Z,1747081594.660 [ElevatorServo] No Fault, FailCount= 1
2025-05-12T20:26:56.315Z,1747081616.315 [transit:NeedComms:C] Running Loop=1
2025-05-12T20:26:56.732Z,1747081616.732 [transit:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-05-12T20:26:56.785Z,1747081616.785 [Radio_Surface](INFO): Powering up
2025-05-12T20:27:02.709Z,1747081622.709 [DataOverHttps](INFO): Radio surface powered ON.
2025-05-12T20:27:32.829Z,1747081652.829 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-12T20:27:37.794Z,1747081657.794 [transit:StandardEnvelopes:A.AltitudeEnvelope](IMPORTANT): Altitude envelope ACTIVE. Altitude:0.650000m. At depth:0.741125m.
2025-05-12T20:28:03.961Z,1747081683.961 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-12T20:28:35.085Z,1747081715.085 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-12T20:28:39.160Z,1747081719.160 [NAL9602](INFO): SBD MO Status=2, MOMSN=20608, MT Status=2, MTMSN=0
2025-05-12T20:28:39.160Z,1747081719.160 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-05-12T20:28:56.935Z,1747081736.935 [NAL9602](INFO): SBD MO Status=2, MOMSN=20608, MT Status=2, MTMSN=0
2025-05-12T20:28:56.935Z,1747081736.935 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-05-12T20:29:06.229Z,1747081746.229 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-12T20:29:14.803Z,1747081754.803 [DataOverHttps](IMPORTANT): SBD MTMSN=20250512T202914
2025-05-12T20:29:14.807Z,1747081754.807 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003980
2025-05-12T20:29:22.760Z,1747081762.760 [DataOverHttps](INFO): Received command: configSet Express linearApproximation height_above_sea_floor 5 meter persist
2025-05-12T20:29:23.762Z,1747081763.762 [DataOverHttps](IMPORTANT): SBD MTMSN=20250512T202922
2025-05-12T20:29:23.835Z,1747081763.835 [CommandExec](IMPORTANT): got command configSet Express linearApproximation height_above_sea_floor 5 meter persist
2025-05-12T20:29:31.641Z,1747081771.641 [DataOverHttps](INFO): Received command: stop
2025-05-12T20:29:31.745Z,1747081771.745 [CommandExec](IMPORTANT): got command stop
2025-05-12T20:29:31.746Z,1747081771.746 [Supervisor](INFO): Stop Mission called by CommandExec::commandStop
2025-05-12T20:29:31.750Z,1747081771.750 [MissionManager](INFO): MissionManager is completed.
2025-05-12T20:29:31.750Z,1747081771.750 [MissionManager](INFO): Uninitializing Mission transit
2025-05-12T20:29:31.750Z,1747081771.750 [transit] Stopped
2025-05-12T20:29:31.751Z,1747081771.751 [transit](DEBUG): Aggregate::uninitialize transit
2025-05-12T20:29:31.751Z,1747081771.751 [transit:NeedComms] Stopped
2025-05-12T20:29:31.751Z,1747081771.751 [transit:NeedComms](DEBUG): Aggregate::uninitialize transit:NeedComms
2025-05-12T20:29:31.751Z,1747081771.751 [transit:NeedComms:B.GoToSurface] Stopped
2025-05-12T20:29:31.751Z,1747081771.751 [transit:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-05-12T20:29:31.751Z,1747081771.751 [transit:NeedComms:C] Stopped
2025-05-12T20:29:31.751Z,1747081771.751 [transit:StandardEnvelopes] Stopped
2025-05-12T20:29:31.751Z,1747081771.751 [transit:StandardEnvelopes](DEBUG): Aggregate::uninitialize transit:StandardEnvelopes
2025-05-12T20:29:31.751Z,1747081771.751 [transit:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-05-12T20:29:31.751Z,1747081771.751 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-05-12T20:29:31.751Z,1747081771.751 [transit:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-05-12T20:29:31.751Z,1747081771.751 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-05-12T20:29:31.751Z,1747081771.751 [transit:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-05-12T20:29:31.752Z,1747081771.752 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-05-12T20:29:31.752Z,1747081771.752 [transit:BackseatDriver] Stopped
2025-05-12T20:29:31.752Z,1747081771.752 [transit:BackseatDriver](DEBUG): Aggregate::uninitialize transit:BackseatDriver
2025-05-12T20:29:31.752Z,1747081771.752 [transit:BackseatDriver:A.BackseatDriver] Stopped
2025-05-12T20:29:31.752Z,1747081771.752 [transit:PowerOnly] Stopped
2025-05-12T20:29:31.752Z,1747081771.752 [transit:PowerOnly](DEBUG): Aggregate::uninitialize transit:PowerOnly
2025-05-12T20:29:31.752Z,1747081771.752 [transit:PowerOnly:E.Wait] Stopped
2025-05-12T20:29:31.752Z,1747081771.752 [transit:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-05-12T20:29:31.752Z,1747081771.752 [transit:BuoyancyHold.Buoyancy] Stopped
2025-05-12T20:29:31.752Z,1747081771.752 [transit:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-05-12T20:29:31.789Z,1747081771.789 [transit:MassHold.Pitch] Stopped
2025-05-12T20:29:31.789Z,1747081771.789 [transit:Transit] Stopped
2025-05-12T20:29:31.789Z,1747081771.789 [transit:Transit](DEBUG): Aggregate::uninitialize transit:Transit
2025-05-12T20:29:31.789Z,1747081771.789 [transit:Transit:A.Pitch] Stopped
2025-05-12T20:29:31.789Z,1747081771.789 [transit:Transit:B.SetSpeed] Stopped
2025-05-12T20:29:31.789Z,1747081771.789 [transit:Transit:B.SetSpeed](DEBUG): Uninitialize.
2025-05-12T20:29:31.789Z,1747081771.789 [transit:Transit:Wpt1.Waypoint] Stopped
2025-05-12T20:29:31.789Z,1747081771.789 [transit:Transit:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-05-12T20:29:32.115Z,1747081772.115 [MissionManager](IMPORTANT): Started mission Default
2025-05-12T20:29:32.116Z,1747081772.116 [Default] Running Loop=1
2025-05-12T20:29:32.116Z,1747081772.116 [Default](DEBUG): Aggregate::initialize Default
2025-05-12T20:29:32.116Z,1747081772.116 [Default:B.GoToSurface] Running Loop=1
2025-05-12T20:29:32.116Z,1747081772.116 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-05-12T20:29:32.116Z,1747081772.116 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-05-12T20:29:32.117Z,1747081772.117 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-05-12T20:29:32.117Z,1747081772.117 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-05-12T20:29:32.117Z,1747081772.117 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-05-12T20:29:32.118Z,1747081772.118 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-05-12T20:29:32.118Z,1747081772.118 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-05-12T20:29:32.118Z,1747081772.118 [Default:A.Wait] Running Loop=1
2025-05-12T20:29:32.119Z,1747081772.119 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-05-12T20:29:32.915Z,1747081772.915 [NAL9602](INFO): SBD MO Status=2, MOMSN=20608, MT Status=2, MTMSN=0
2025-05-12T20:29:32.915Z,1747081772.915 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-05-12T20:29:45.440Z,1747081785.440 [Default:A.Wait](INFO): Done Waiting.
2025-05-12T20:29:45.440Z,1747081785.440 [Default:A.Wait] Stopped
2025-05-12T20:29:45.440Z,1747081785.440 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-05-12T20:29:45.847Z,1747081785.847 [Default:CheckIn] Running Loop=1
2025-05-12T20:29:45.847Z,1747081785.847 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-05-12T20:29:45.848Z,1747081785.848 [Default:CheckIn:Read_GPS] Running Loop=1
2025-05-12T20:30:21.401Z,1747081821.401 [NAL9602](INFO): SBD MO Status=2, MOMSN=20608, MT Status=2, MTMSN=0
2025-05-12T20:30:21.401Z,1747081821.401 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-05-12T20:30:29.872Z,1747081829.872 [NAL9602](INFO): SBD MO Status=0, MOMSN=20608, MT Status=0, MTMSN=0
2025-05-12T20:30:29.872Z,1747081829.872 [NAL9602](INFO): No messages in MT queue
2025-05-12T20:30:31.103Z,1747081831.103 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,203030.00,A,3647.87570,N,12150.25971,W,0.564,29.65,120525,,,A*44
2025-05-12T20:30:31.109Z,1747081831.109 [NAL9602](INFO): GPS fix at 20250512T203030: (36.797928, -121.837662)
2025-05-12T20:30:31.133Z,1747081831.133 [UniversalFixResidualReporter](INFO): Fix residual: 5.8 %DT, over the last 1664.8 m. Residual distance 96.1 m at bearing -70.8 degrees. Fix at (36.7979, -121.8377) with 1531.0 m made good.
2025-05-12T20:30:31.134Z,1747081831.134 [Default:CheckIn:Read_GPS] Stopped
2025-05-12T20:30:31.134Z,1747081831.134 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-05-12T20:30:32.862Z,1747081832.862 [DataOverHttps](INFO): Sending 85 bytes from file Logs/20250512T191822/Courier0027.lzma
2025-05-12T20:30:33.443Z,1747081833.443 [DataOverHttps](INFO): Moved sent file to Logs/20250512T191822/Courier0027.lzma.bak
2025-05-12T20:30:33.443Z,1747081833.443 [DataOverHttps](INFO): SBD MOMSN=24855725
2025-05-12T20:30:57.215Z,1747081857.215 [DataOverHttps](INFO): Sending 753 bytes from file Logs/20250512T191822/Express0028.lzma
2025-05-12T20:30:58.215Z,1747081858.215 [DataOverHttps](INFO): Moved sent file to Logs/20250512T191822/Express0028.lzma.bak
2025-05-12T20:30:58.215Z,1747081858.215 [DataOverHttps](INFO): SBD MOMSN=24855729
2025-05-12T20:30:58.993Z,1747081858.993 [DVL_micro](ERROR): only read 3 of 4 data items for bottom velocity. Device response is::BI,+000,+00000000.00,9999.99,000.00
2025-05-12T20:30:58.993Z,1747081858.993 [DVL_micro](ERROR): Failed to parse:
:BI,+000,+00000000.00,9999.99,000.00
2025-05-12T20:31:03.418Z,1747081863.418 [NAL9602](INFO): Not Powering down - fast GPS
2025-05-12T20:31:14.696Z,1747081874.696 [DataOverHttps](INFO): Sending 63 bytes from file Logs/20250512T191822/Express0031.lzma
2025-05-12T20:31:15.699Z,1747081875.699 [DataOverHttps](INFO): Moved sent file to Logs/20250512T191822/Express0031.lzma.bak
2025-05-12T20:31:15.699Z,1747081875.699 [DataOverHttps](INFO): SBD MOMSN=24855750
2025-05-12T20:31:16.756Z,1747081876.756 [Default:CheckIn:Read_Iridium] Stopped
2025-05-12T20:31:16.756Z,1747081876.756 [Default:CheckIn:C.Wait] Running Loop=1
2025-05-12T20:31:16.757Z,1747081876.757 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-05-12T20:33:28.063Z,1747082008.063 [BPC1](FAULT): Battery stick #2 (s/n: 0124) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-05-12T20:33:28.064Z,1747082008.064 [BPC1](FAULT): Battery stick #4 (s/n: 017A) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-05-12T20:33:28.065Z,1747082008.065 [BPC1](INFO): Calculating totals. Valid battery stick count: 54. Valid reserve battery stick count: 6.
2025-05-12T20:33:28.069Z,1747082008.069 [BPC1](INFO): Received data from all battery sticks.
2025-05-12T20:34:28.955Z,1747082068.955 [DataOverHttps](IMPORTANT): SBD MTMSN=20250512T203428
2025-05-12T20:34:38.037Z,1747082078.037 [DataOverHttps](INFO): Received command: load Transport/transit.tl;set transit.MissionTimeout 90 min;set transit.Latitude 36.797 degree;set transit.Longitude -121.847 degree;run
2025-05-12T20:34:38.142Z,1747082078.142 [CommandExec](IMPORTANT): got command load ./Missions/Transport/transit.tl
2025-05-12T20:34:38.142Z,1747082078.142 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/transit.tl
2025-05-12T20:34:38.142Z,1747082078.142 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/transit.tl
2025-05-12T20:34:38.143Z,1747082078.143 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/transit.tl
2025-05-12T20:34:38.871Z,1747082078.871 [MissionManager](DEBUG): TethyslAPI: ./Missions/Transport/transit.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="transit">
    <DefineArg Name="MissionTimeout">
        <Units:minute />
        <Value>60</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Northings">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="Eastings">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="Depth">
        <Units:meter />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="Speed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="MassHold">
        <True />
    </DefineArg>
    <DefineArg Name="BuoyancyHold">
        <True />
    </DefineArg>
    <Timeout Duration="MissionTimeout" />
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="NeedCommsTime" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:WaitForPitchUp" />
        <Units:second />
        <Value>1</Value>
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Guidance:Buoyancy Id="BuoyancyHold">
        <While>
            <Arg Name="BuoyancyHold" />
        </While>
        <Setting>
            <Guidance:Buoyancy.position />
            <Control:VerticalControl.buoyancyNeutral />
        </Setting>
    </Guidance:Buoyancy>
    <Guidance:Pitch Id="MassHold">
        <While>
            <Arg Name="MassHold" />
        </While>
        <Setting>
            <Guidance:Pitch.massPosition />
            <Control:VerticalControl.massDefault />
        </Setting>
    </Guidance:Pitch>
    <Aggregate Id="Transit">
        <Sequence />
        <Guidance:Pitch>
            <Parallel />
            <Setting>
                <Guidance:Pitch.depth />
                <Arg Name="Depth" />
            </Setting>
        </Guidance:Pitch>
        <Guidance:SetSpeed>
            <Parallel />
            <Setting>
                <Guidance:SetSpeed.speed />
                <Arg Name="Speed" />
            </Setting>
        </Guidance:SetSpeed>
        <Guidance:Waypoint Id="Wpt1">
            <Sequence />
            <Setting>
                <Guidance:Waypoint.latitude />
                <Arg Name="Latitude" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.longitude />
                <Arg Name="Longitude" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.northingsDelta />
                <Arg Name="Northings" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.eastingsDelta />
                <Arg Name="Eastings" />
            </Setting>
        </Guidance:Waypoint>
        <Call RefId="NeedComms" Id="PhoneHome" PriorityHere="false" />
    </Aggregate>
</Mission>

2025-05-12T20:34:38.879Z,1747082078.879 [MissionManager](INFO): DefineArg transit.MissionTimeout = 60.000000 min
2025-05-12T20:34:38.882Z,1747082078.882 [MissionManager](INFO): DefineArg transit.NeedCommsTime = 30.000000 min
2025-05-12T20:34:38.884Z,1747082078.884 [MissionManager](INFO): DefineArg transit.Latitude = nan arcdeg
2025-05-12T20:34:38.887Z,1747082078.887 [MissionManager](INFO): DefineArg transit.Longitude = nan arcdeg
2025-05-12T20:34:38.889Z,1747082078.889 [MissionManager](INFO): DefineArg transit.Northings = 0.000000 m
2025-05-12T20:34:38.891Z,1747082078.891 [MissionManager](INFO): DefineArg transit.Eastings = 0.000000 m
2025-05-12T20:34:38.893Z,1747082078.893 [MissionManager](INFO): DefineArg transit.Depth = 10.000000 m
2025-05-12T20:34:38.895Z,1747082078.895 [MissionManager](INFO): DefineArg transit.Speed = 1.000000 m/s
2025-05-12T20:34:38.898Z,1747082078.898 [MissionManager](INFO): DefineArg transit.MaxDepth = 20.000000 m
2025-05-12T20:34:38.900Z,1747082078.900 [MissionManager](INFO): DefineArg transit.MinOffshore = 1.000000 km
2025-05-12T20:34:38.902Z,1747082078.902 [MissionManager](INFO): DefineArg transit.MinAltitude = 7.000000 m
2025-05-12T20:34:38.904Z,1747082078.904 [MissionManager](INFO): DefineArg transit.MassHold = 1 bool
2025-05-12T20:34:38.906Z,1747082078.906 [MissionManager](INFO): DefineArg transit.BuoyancyHold = 1 bool
2025-05-12T20:34:38.906Z,1747082078.906 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-05-12T20:34:38.906Z,1747082078.907 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-05-12T20:34:38.908Z,1747082078.908 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-05-12T20:34:39.231Z,1747082079.231 [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>

2025-05-12T20:34:39.236Z,1747082079.236 [MissionManager](INFO): DefineArg transit:NeedComms.DiveInterval = 1.000000 h
2025-05-12T20:34:39.238Z,1747082079.238 [MissionManager](INFO): DefineArg transit:NeedComms.WaitForPitchUp = 10.000000 min
2025-05-12T20:34:39.241Z,1747082079.241 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-05-12T20:34:39.243Z,1747082079.243 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceDepthRate = nan m/s
2025-05-12T20:34:39.257Z,1747082079.257 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-05-12T20:34:39.259Z,1747082079.259 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacingTimeout = 1000.000000 s
2025-05-12T20:34:39.262Z,1747082079.262 [MissionManager](INFO): DefineArg transit:NeedComms.GPSTimeout = 7.000000 min
2025-05-12T20:34:39.264Z,1747082079.264 [MissionManager](INFO): DefineArg transit:NeedComms.CommsTimeout = 30.000000 min
2025-05-12T20:34:39.286Z,1747082079.286 [transit:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-05-12T20:34:39.343Z,1747082079.343 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-05-12T20:34:39.343Z,1747082079.343 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-05-12T20:34:39.349Z,1747082079.349 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-05-12T20:34:39.423Z,1747082079.423 [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>

2025-05-12T20:34:39.427Z,1747082079.427 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinAltitude = 5.000000 m
2025-05-12T20:34:39.429Z,1747082079.429 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-05-12T20:34:39.431Z,1747082079.431 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepth = 200.000000 m
2025-05-12T20:34:39.434Z,1747082079.434 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-05-12T20:34:39.435Z,1747082079.435 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-05-12T20:34:39.441Z,1747082079.441 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-05-12T20:34:39.447Z,1747082079.447 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-05-12T20:34:39.455Z,1747082079.455 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-05-12T20:34:39.456Z,1747082079.456 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-05-12T20:34:39.481Z,1747082079.481 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-05-12T20:34:39.512Z,1747082079.512 [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>

2025-05-12T20:34:39.515Z,1747082079.515 [MissionManager](INFO): DefineArg transit:BackseatDriver.EnableBackseat = 0 bool
2025-05-12T20:34:39.517Z,1747082079.517 [transit:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-05-12T20:34:39.520Z,1747082079.520 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-05-12T20:34:39.520Z,1747082079.520 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-05-12T20:34:39.521Z,1747082079.521 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-05-12T20:34:39.738Z,1747082079.738 [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>

2025-05-12T20:34:39.744Z,1747082079.744 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleAll = 0 bool
2025-05-12T20:34:39.747Z,1747082079.747 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad1 = 0 bool
2025-05-12T20:34:39.751Z,1747082079.751 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad2 = 0 bool
2025-05-12T20:34:39.754Z,1747082079.754 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad3 = 0 bool
2025-05-12T20:34:39.758Z,1747082079.758 [MissionManager](INFO): DefineArg transit:PowerOnly.EnabledPowerOnly = 1 bool
2025-05-12T20:34:39.801Z,1747082079.801 [transit:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-05-12T20:34:39.802Z,1747082079.802 [transit:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-05-12T20:34:39.810Z,1747082079.810 [transit:MassHold.Pitch](DEBUG): Construct.
2025-05-12T20:34:39.815Z,1747082079.815 [transit:Transit:A.Pitch](DEBUG): Construct.
2025-05-12T20:34:39.832Z,1747082079.832 [transit:Transit:B.SetSpeed](DEBUG): Construct.
2025-05-12T20:34:39.836Z,1747082079.836 [transit:Transit:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-05-12T20:34:39.851Z,1747082079.851 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

  timeout duration=MissionTimeout

  insert id="NeedComms" Insert/NeedComms.tl

  assign in sequence NeedComms:DiveInterval = NeedCommsTime

  assign in sequence NeedComms:WaitForPitchUp = 1 second

  insert Insert/StandardEnvelopes.tl

  assign in sequence StandardEnvelopes:MinAltitude = MinAltitude

  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth

  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

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

    set position = Control:VerticalControl.buoyancyNeutral
  }

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

    set massPosition = Control:VerticalControl.massDefault
  }

  aggregate Transit {
    run in sequence

    behavior Guidance:Pitch {
      run in parallel

      set depth = Depth
    }

    behavior Guidance:SetSpeed {
      run in parallel

      set speed = Speed
    }

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

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

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


2025-05-12T20:34:39.852Z,1747082079.852 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/transit.tl id=transit
2025-05-12T20:34:47.499Z,1747082087.499 [CommandExec](IMPORTANT): got command set transit.MissionTimeout 90 minute
2025-05-12T20:34:47.500Z,1747082087.500 [CommandExec](IMPORTANT): got command set transit.Latitude 36.797 degree
2025-05-12T20:34:47.501Z,1747082087.501 [CommandExec](IMPORTANT): got command set transit.Longitude -121.847 degree
2025-05-12T20:34:47.501Z,1747082087.501 [CommandExec](IMPORTANT): got command run
2025-05-12T20:34:47.506Z,1747082087.506 [CommandExec](IMPORTANT): Running 
2025-05-12T20:34:47.665Z,1747082087.665 [Default] Stopped
2025-05-12T20:34:47.666Z,1747082087.666 [Default](DEBUG): Aggregate::uninitialize Default
2025-05-12T20:34:47.666Z,1747082087.666 [Default:B.GoToSurface] Stopped
2025-05-12T20:34:47.666Z,1747082087.666 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-05-12T20:34:47.666Z,1747082087.666 [Default:CheckIn] Stopped
2025-05-12T20:34:47.666Z,1747082087.666 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-05-12T20:34:47.666Z,1747082087.666 [Default:CheckIn:C.Wait] Stopped
2025-05-12T20:34:47.666Z,1747082087.666 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-05-12T20:34:47.666Z,1747082087.666 [MissionManager](IMPORTANT): Started mission transit
2025-05-12T20:34:47.667Z,1747082087.667 [transit] Running Loop=1
2025-05-12T20:34:47.667Z,1747082087.667 [transit](DEBUG): Aggregate::initialize transit
2025-05-12T20:34:47.667Z,1747082087.667 [transit:StandardEnvelopes] Running Loop=1
2025-05-12T20:34:47.667Z,1747082087.667 [transit:StandardEnvelopes](DEBUG): Aggregate::initialize transit:StandardEnvelopes
2025-05-12T20:34:47.667Z,1747082087.667 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-05-12T20:34:47.667Z,1747082087.667 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-05-12T20:34:47.667Z,1747082087.667 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-05-12T20:34:47.667Z,1747082087.667 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-05-12T20:34:47.667Z,1747082087.667 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-05-12T20:34:47.667Z,1747082087.667 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-05-12T20:34:47.668Z,1747082087.668 [transit:BackseatDriver] Running Loop=1
2025-05-12T20:34:47.668Z,1747082087.668 [transit:BackseatDriver](DEBUG): Aggregate::initialize transit:BackseatDriver
2025-05-12T20:34:47.668Z,1747082087.668 [transit:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-05-12T20:34:47.668Z,1747082087.668 [transit:PowerOnly] Running Loop=1
2025-05-12T20:34:47.668Z,1747082087.668 [transit:PowerOnly](DEBUG): Aggregate::initialize transit:PowerOnly
2025-05-12T20:34:47.668Z,1747082087.668 [transit:PowerOnly:A] Running Loop=1
2025-05-12T20:34:47.668Z,1747082087.668 [transit:PowerOnly:B] Running Loop=1
2025-05-12T20:34:47.668Z,1747082087.668 [transit:PowerOnly:C] Running Loop=1
2025-05-12T20:34:47.668Z,1747082087.668 [transit:PowerOnly:D] Running Loop=1
2025-05-12T20:34:47.669Z,1747082087.669 [transit:PowerOnly:E.Wait] Running Loop=1
2025-05-12T20:34:47.669Z,1747082087.669 [transit:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-05-12T20:34:47.669Z,1747082087.669 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-05-12T20:34:47.669Z,1747082087.669 [transit:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-05-12T20:34:47.669Z,1747082087.669 [transit:MassHold.Pitch] Running Loop=1
2025-05-12T20:34:47.669Z,1747082087.669 [transit:MassHold.Pitch](DEBUG): Initialize.
2025-05-12T20:34:47.669Z,1747082087.669 [transit:B] Running Loop=1
2025-05-12T20:34:47.670Z,1747082087.670 [transit:MassHold.Pitch] Running Loop=1
2025-05-12T20:34:47.670Z,1747082087.670 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-05-12T20:34:47.670Z,1747082087.670 [transit:PowerOnly] Running Loop=1
2025-05-12T20:34:47.671Z,1747082087.671 [transit:PowerOnly:D] Stopped
2025-05-12T20:34:47.671Z,1747082087.671 [transit:PowerOnly:C] Stopped
2025-05-12T20:34:47.671Z,1747082087.671 [transit:PowerOnly:B] Stopped
2025-05-12T20:34:47.671Z,1747082087.671 [transit:PowerOnly:A] Stopped
2025-05-12T20:34:47.671Z,1747082087.671 [transit:BackseatDriver] Running Loop=1
2025-05-12T20:34:47.671Z,1747082087.671 [transit:StandardEnvelopes] Running Loop=1
2025-05-12T20:34:47.671Z,1747082087.671 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-05-12T20:34:47.672Z,1747082087.672 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-05-12T20:34:47.672Z,1747082087.672 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-05-12T20:34:47.673Z,1747082087.673 [transit:B] Stopped
2025-05-12T20:34:47.673Z,1747082087.673 [transit:C] Running Loop=1
2025-05-12T20:34:48.079Z,1747082088.079 [transit:C] Stopped
2025-05-12T20:34:48.079Z,1747082088.079 [transit:E] Running Loop=1
2025-05-12T20:34:48.455Z,1747082088.455 [transit:E] Stopped
2025-05-12T20:34:48.455Z,1747082088.455 [transit:F] Running Loop=1
2025-05-12T20:34:48.859Z,1747082088.859 [transit:F] Stopped
2025-05-12T20:34:48.860Z,1747082088.860 [transit:G] Running Loop=1
2025-05-12T20:34:49.292Z,1747082089.292 [transit:G] Stopped
2025-05-12T20:34:49.292Z,1747082089.292 [transit:Transit] Running Loop=1
2025-05-12T20:34:49.293Z,1747082089.293 [transit:Transit](DEBUG): Aggregate::initialize transit:Transit
2025-05-12T20:34:49.293Z,1747082089.293 [transit:Transit:A.Pitch] Running Loop=1
2025-05-12T20:34:49.293Z,1747082089.293 [transit:Transit:A.Pitch](DEBUG): Initialize.
2025-05-12T20:34:49.293Z,1747082089.293 [transit:Transit:B.SetSpeed] Running Loop=1
2025-05-12T20:34:49.294Z,1747082089.294 [transit:Transit:B.SetSpeed](DEBUG): Initialize.
2025-05-12T20:34:49.294Z,1747082089.294 [transit:Transit:Wpt1.Waypoint] Running Loop=1
2025-05-12T20:34:49.294Z,1747082089.294 [transit:Transit:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-05-12T20:34:49.296Z,1747082089.296 [transit:Transit:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.797001,-121.847000
2025-05-12T20:34:49.699Z,1747082089.699 [transit:Transit:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.797001,-121.847000
2025-05-12T20:34:49.700Z,1747082089.700 [transit:Transit:B.SetSpeed] Running Loop=1
2025-05-12T20:34:49.700Z,1747082089.700 [transit:Transit:A.Pitch] Running Loop=1
2025-05-12T20:36:17.727Z,1747082177.727 [DVL_micro](ERROR): Failed to parse:
:RD,+9999.99,+9999.99,+9999.99,+9999.99
2025-05-12T20:38:01.949Z,1747082281.949 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-12T20:38:28.477Z,1747082308.477 [Radio_Surface](INFO): Powering down
2025-05-12T20:38:33.093Z,1747082313.093 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-12T20:38:34.097Z,1747082314.097 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-05-12T20:40:10.502Z,1747082410.502 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.759598
2025-05-12T20:50:11.065Z,1747083011.065 [transit:Transit:Wpt1.Waypoint](IMPORTANT): Reached waypoint: 36.797001,-121.847000
2025-05-12T20:50:11.065Z,1747083011.065 [transit:Transit:Wpt1.Waypoint] Stopped
2025-05-12T20:50:11.065Z,1747083011.065 [transit:Transit:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-05-12T20:50:11.065Z,1747083011.065 [transit:Transit:PhoneHome] Running Loop=1
2025-05-12T20:50:11.065Z,1747083011.065 [transit:Transit:PhoneHome](DEBUG): Aggregate::initialize transit:Transit:PhoneHome
2025-05-12T20:50:11.455Z,1747083011.455 [transit:NeedComms] Running Loop=1
2025-05-12T20:50:11.456Z,1747083011.456 [transit:NeedComms](DEBUG): Aggregate::initialize transit:NeedComms
2025-05-12T20:50:11.456Z,1747083011.456 [transit:NeedComms:B.GoToSurface] Running Loop=1
2025-05-12T20:50:11.456Z,1747083011.456 [transit:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-05-12T20:50:11.456Z,1747083011.456 [transit:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-05-12T20:50:11.457Z,1747083011.457 [transit:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-05-12T20:50:11.457Z,1747083011.457 [transit:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-05-12T20:50:11.458Z,1747083011.458 [transit:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-05-12T20:50:11.458Z,1747083011.458 [transit:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-05-12T20:50:11.458Z,1747083011.458 [transit:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-05-12T20:50:11.458Z,1747083011.458 [transit:NeedComms:A] Running Loop=1
2025-05-12T20:50:11.460Z,1747083011.460 [transit:NeedComms:A](INFO): last time_fix was:  1747081830.000000 second since 1970/01/01T00:00:00Z 
2025-05-12T20:50:11.460Z,1747083011.460 [transit:NeedComms:A] Stopped
2025-05-12T20:50:41.396Z,1747083041.396 [transit:NeedComms:C] Running Loop=1
2025-05-12T20:50:41.827Z,1747083041.827 [transit:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-05-12T20:50:41.845Z,1747083041.845 [Radio_Surface](INFO): Powering up
2025-05-12T20:50:47.162Z,1747083047.162 [DataOverHttps](INFO): Radio surface powered ON.
2025-05-12T20:51:02.021Z,1747083062.021 [DVL_micro](ERROR): Failed to parse:
:SA,+25.35,+00.73,263.6
2025-05-12T20:51:17.281Z,1747083077.281 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-12T20:51:48.421Z,1747083108.421 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-12T20:52:19.553Z,1747083139.553 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-12T20:52:50.677Z,1747083170.677 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-12T20:52:59.337Z,1747083179.337 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003189
2025-05-12T20:53:27.016Z,1747083207.016 [NAL9602](INFO): SBD MO Status=2, MOMSN=20609, MT Status=2, MTMSN=0
2025-05-12T20:53:27.016Z,1747083207.016 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-05-12T20:55:09.233Z,1747083309.233 [DVL_micro](ERROR): Failed to parse:
:BI,-00968,-01701,+00408,+00000,A
2025-05-12T20:55:10.442Z,1747083310.442 [NAL9602](INFO): SBD MO Status=2, MOMSN=20609, MT Status=2, MTMSN=0
2025-05-12T20:55:10.442Z,1747083310.442 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-05-12T20:55:39.930Z,1747083339.930 [NAL9602](INFO): SBD MO Status=2, MOMSN=20609, MT Status=2, MTMSN=0
2025-05-12T20:55:39.930Z,1747083339.930 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-05-12T20:55:45.181Z,1747083345.181 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2025-05-12T20:55:46.430Z,1747083346.430 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,205545.00,A,3647.90466,N,12150.75311,W,0.369,291.54,120525,,,D*71
2025-05-12T20:55:46.433Z,1747083346.433 [NAL9602](INFO): GPS fix at 20250512T205545: (36.798411, -121.845885)
2025-05-12T20:55:46.445Z,1747083346.445 [UniversalFixResidualReporter](INFO): Fix residual: 21.8 %DT, over the last 926.5 m. Residual distance 202.3 m at bearing -140.4 degrees. Fix at (36.7984, -121.8459) with 734.2 m made good.
2025-05-12T20:55:46.448Z,1747083346.448 [transit:NeedComms:C] Stopped
2025-05-12T20:55:46.448Z,1747083346.448 [transit:NeedComms:D] Running Loop=1
2025-05-12T20:55:46.848Z,1747083346.848 [transit:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-05-12T20:55:54.278Z,1747083354.278 [DataOverHttps](INFO): Sending 98 bytes from file Logs/20250512T191822/Courier0033.lzma
2025-05-12T20:55:55.278Z,1747083355.278 [DataOverHttps](INFO): Moved sent file to Logs/20250512T191822/Courier0033.lzma.bak
2025-05-12T20:55:55.279Z,1747083355.279 [DataOverHttps](INFO): SBD MOMSN=24855894
2025-05-12T20:56:11.770Z,1747083371.770 [DataOverHttps](INFO): Sending 704 bytes from file Logs/20250512T191822/Express0034.lzma
2025-05-12T20:56:12.771Z,1747083372.771 [DataOverHttps](INFO): Moved sent file to Logs/20250512T191822/Express0034.lzma.bak
2025-05-12T20:56:12.771Z,1747083372.771 [DataOverHttps](INFO): SBD MOMSN=24855900
2025-05-12T20:56:18.343Z,1747083378.343 [NAL9602](INFO): Not Powering down - fast GPS
2025-05-12T20:56:28.988Z,1747083388.988 [DataOverHttps](INFO): Sending 63 bytes from file Logs/20250512T191822/Express0037.lzma
2025-05-12T20:56:29.991Z,1747083389.991 [DataOverHttps](INFO): Moved sent file to Logs/20250512T191822/Express0037.lzma.bak
2025-05-12T20:56:29.991Z,1747083389.991 [DataOverHttps](INFO): SBD MOMSN=24855919
2025-05-12T20:56:31.271Z,1747083391.271 [transit:NeedComms:D] Stopped
2025-05-12T20:56:31.271Z,1747083391.271 [transit:NeedComms:E] Running Loop=1
2025-05-12T20:56:31.684Z,1747083391.684 [transit:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-05-12T20:56:33.260Z,1747083393.260 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,205632.00,A,3647.90826,N,12150.74921,W,0.389,4.17,120525,,,D*75
2025-05-12T20:56:33.263Z,1747083393.263 [NAL9602](INFO): GPS fix at 20250512T205632: (36.798471, -121.845820)
2025-05-12T20:56:33.308Z,1747083393.308 [transit:NeedComms:E] Stopped
2025-05-12T20:56:33.317Z,1747083393.317 [transit:NeedComms](INFO): Completed transit:NeedComms
2025-05-12T20:56:33.317Z,1747083393.317 [transit:NeedComms] Stopped
2025-05-12T20:56:33.317Z,1747083393.317 [transit:NeedComms](DEBUG): Aggregate::uninitialize transit:NeedComms
2025-05-12T20:56:33.317Z,1747083393.317 [transit:NeedComms:B.GoToSurface] Stopped
2025-05-12T20:56:33.318Z,1747083393.318 [transit:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-05-12T20:56:33.717Z,1747083393.717 [transit:Transit:PhoneHome](INFO): Completed transit:Transit:PhoneHome
2025-05-12T20:56:33.717Z,1747083393.717 [transit:Transit:PhoneHome] Stopped
2025-05-12T20:56:33.718Z,1747083393.718 [transit:Transit:PhoneHome](DEBUG): Aggregate::uninitialize transit:Transit:PhoneHome
2025-05-12T20:56:33.718Z,1747083393.718 [transit:Transit](INFO): Completed transit:Transit
2025-05-12T20:56:33.718Z,1747083393.718 [transit:Transit] Stopped
2025-05-12T20:56:33.719Z,1747083393.719 [transit:Transit](DEBUG): Aggregate::uninitialize transit:Transit
2025-05-12T20:56:33.719Z,1747083393.719 [transit:Transit:A.Pitch] Stopped
2025-05-12T20:56:33.719Z,1747083393.719 [transit:Transit:B.SetSpeed] Stopped
2025-05-12T20:56:33.719Z,1747083393.719 [transit:Transit:B.SetSpeed](DEBUG): Uninitialize.
2025-05-12T20:56:33.730Z,1747083393.730 [transit](INFO): Completed transit
2025-05-12T20:56:33.730Z,1747083393.730 [MissionManager](INFO): transit is completed.
2025-05-12T20:56:33.731Z,1747083393.731 [MissionManager](INFO): Uninitializing Mission transit
2025-05-12T20:56:33.731Z,1747083393.731 [transit] Stopped
2025-05-12T20:56:33.731Z,1747083393.731 [transit](DEBUG): Aggregate::uninitialize transit
2025-05-12T20:56:33.731Z,1747083393.731 [transit:StandardEnvelopes] Stopped
2025-05-12T20:56:33.731Z,1747083393.731 [transit:StandardEnvelopes](DEBUG): Aggregate::uninitialize transit:StandardEnvelopes
2025-05-12T20:56:33.731Z,1747083393.731 [transit:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-05-12T20:56:33.731Z,1747083393.731 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-05-12T20:56:33.731Z,1747083393.731 [transit:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-05-12T20:56:33.731Z,1747083393.731 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-05-12T20:56:33.731Z,1747083393.731 [transit:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-05-12T20:56:33.731Z,1747083393.731 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-05-12T20:56:33.731Z,1747083393.731 [transit:BackseatDriver] Stopped
2025-05-12T20:56:33.732Z,1747083393.732 [transit:BackseatDriver](DEBUG): Aggregate::uninitialize transit:BackseatDriver
2025-05-12T20:56:33.732Z,1747083393.732 [transit:BackseatDriver:A.BackseatDriver] Stopped
2025-05-12T20:56:33.732Z,1747083393.732 [transit:PowerOnly] Stopped
2025-05-12T20:56:33.732Z,1747083393.732 [transit:PowerOnly](DEBUG): Aggregate::uninitialize transit:PowerOnly
2025-05-12T20:56:33.732Z,1747083393.732 [transit:PowerOnly:E.Wait] Stopped
2025-05-12T20:56:33.732Z,1747083393.732 [transit:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-05-12T20:56:33.732Z,1747083393.732 [transit:BuoyancyHold.Buoyancy] Stopped
2025-05-12T20:56:33.732Z,1747083393.732 [transit:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-05-12T20:56:33.732Z,1747083393.732 [transit:MassHold.Pitch] Stopped
2025-05-12T20:56:34.163Z,1747083394.163 [MissionManager](IMPORTANT): Started mission Default
2025-05-12T20:56:34.163Z,1747083394.163 [Default] Running Loop=1
2025-05-12T20:56:34.163Z,1747083394.163 [Default](DEBUG): Aggregate::initialize Default
2025-05-12T20:56:34.163Z,1747083394.163 [Default:B.GoToSurface] Running Loop=1
2025-05-12T20:56:34.163Z,1747083394.163 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-05-12T20:56:34.164Z,1747083394.164 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-05-12T20:56:34.164Z,1747083394.164 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-05-12T20:56:34.170Z,1747083394.170 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-05-12T20:56:34.170Z,1747083394.170 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-05-12T20:56:34.171Z,1747083394.171 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-05-12T20:56:34.171Z,1747083394.171 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-05-12T20:56:34.172Z,1747083394.172 [Default:A.Wait] Running Loop=1
2025-05-12T20:56:34.172Z,1747083394.172 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-05-12T20:56:47.410Z,1747083407.410 [Default:A.Wait](INFO): Done Waiting.
2025-05-12T20:56:47.410Z,1747083407.410 [Default:A.Wait] Stopped
2025-05-12T20:56:47.410Z,1747083407.410 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-05-12T20:56:47.829Z,1747083407.829 [Default:CheckIn] Running Loop=1
2025-05-12T20:56:47.829Z,1747083407.829 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-05-12T20:56:47.829Z,1747083407.829 [Default:CheckIn:Read_GPS] Running Loop=1
2025-05-12T20:57:03.967Z,1747083423.967 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2025-05-12T20:57:04.041Z,1747083424.041 [NAL9602](ERROR): received: 
+CSQ:0

OK609, 2, 0, 0, 0

OK
2025-05-12T20:57:16.087Z,1747083436.087 [NAL9602](INFO): SBD MO Status=0, MOMSN=20609, MT Status=0, MTMSN=0
2025-05-12T20:57:16.087Z,1747083436.087 [NAL9602](INFO): No messages in MT queue
2025-05-12T20:57:17.296Z,1747083437.296 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,205716.00,A,3647.91210,N,12150.74678,W,0.389,357.09,120525,,,D*75
2025-05-12T20:57:17.298Z,1747083437.298 [NAL9602](INFO): GPS fix at 20250512T205716: (36.798535, -121.845780)
2025-05-12T20:57:17.318Z,1747083437.318 [Default:CheckIn:Read_GPS] Stopped
2025-05-12T20:57:17.318Z,1747083437.318 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-05-12T20:57:25.224Z,1747083445.224 [DataOverHttps](INFO): Sending 74 bytes from file Logs/20250512T191822/Courier0039.lzma
2025-05-12T20:57:26.227Z,1747083446.227 [DataOverHttps](INFO): Moved sent file to Logs/20250512T191822/Courier0039.lzma.bak
2025-05-12T20:57:26.227Z,1747083446.227 [DataOverHttps](INFO): SBD MOMSN=24855921
2025-05-12T20:57:43.821Z,1747083463.821 [DataOverHttps](INFO): Sending 304 bytes from file Logs/20250512T191822/Express0040.lzma
2025-05-12T20:57:44.823Z,1747083464.823 [DataOverHttps](INFO): Moved sent file to Logs/20250512T191822/Express0040.lzma.bak
2025-05-12T20:57:44.823Z,1747083464.823 [DataOverHttps](INFO): SBD MOMSN=24855924
2025-05-12T20:57:46.023Z,1747083466.023 [Default:CheckIn:Read_Iridium] Stopped
2025-05-12T20:57:46.024Z,1747083466.024 [Default:CheckIn:C.Wait] Running Loop=1
2025-05-12T20:57:46.024Z,1747083466.024 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-05-12T20:57:49.218Z,1747083469.218 [NAL9602](INFO): Not Powering down - fast GPS
2025-05-12T20:58:00.938Z,1747083480.938 [DVL_micro](ERROR): Failed to parse:
:RD,+9999.99,+9999.99,+9999.99,+9999.99
2025-05-12T21:01:59.466Z,1747083719.466 [DataOverHttps](IMPORTANT): SBD MTMSN=20250512T210158
2025-05-12T21:02:07.089Z,1747083727.089 [DataOverHttps](INFO): Received command: schedule clear;schedule resume
2025-05-12T21:02:07.130Z,1747083727.130 [CommandExec](IMPORTANT): got command schedule clear
2025-05-12T21:02:07.130Z,1747083727.130 [CommandExec](IMPORTANT): Cleared 0 scheduled commands.
2025-05-12T21:02:07.130Z,1747083727.130 [CommandExec](IMPORTANT): got command schedule resume
2025-05-12T21:02:07.130Z,1747083727.130 [CommandExec](IMPORTANT): Scheduling is resumed
2025-05-12T21:02:39.098Z,1747083759.098 [DataOverHttps](IMPORTANT): SBD MTMSN=20250512T210238
2025-05-12T21:02:46.572Z,1747083766.572 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2025-05-12T21:02:46.572Z,1747083766.572 [Default:CheckIn:C.Wait] Stopped
2025-05-12T21:02:46.572Z,1747083766.572 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-05-12T21:02:46.572Z,1747083766.572 [Default:CheckIn:D] Running Loop=1
2025-05-12T21:02:46.661Z,1747083766.661 [DataOverHttps](INFO): Received command: load Transport/transit.tl;set transit.Latitude 36.797 degree;set transit.Longitude -121.847 degree;run
2025-05-12T21:02:46.688Z,1747083766.688 [CommandExec](IMPORTANT): got command load ./Missions/Transport/transit.tl
2025-05-12T21:02:46.689Z,1747083766.689 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/transit.tl
2025-05-12T21:02:46.689Z,1747083766.689 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/transit.tl
2025-05-12T21:02:46.690Z,1747083766.690 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/transit.tl
2025-05-12T21:02:47.410Z,1747083767.410 [MissionManager](DEBUG): TethyslAPI: ./Missions/Transport/transit.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="transit">
    <DefineArg Name="MissionTimeout">
        <Units:minute />
        <Value>60</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Northings">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="Eastings">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="Depth">
        <Units:meter />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="Speed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="MassHold">
        <True />
    </DefineArg>
    <DefineArg Name="BuoyancyHold">
        <True />
    </DefineArg>
    <Timeout Duration="MissionTimeout" />
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="NeedCommsTime" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:WaitForPitchUp" />
        <Units:second />
        <Value>1</Value>
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Guidance:Buoyancy Id="BuoyancyHold">
        <While>
            <Arg Name="BuoyancyHold" />
        </While>
        <Setting>
            <Guidance:Buoyancy.position />
            <Control:VerticalControl.buoyancyNeutral />
        </Setting>
    </Guidance:Buoyancy>
    <Guidance:Pitch Id="MassHold">
        <While>
            <Arg Name="MassHold" />
        </While>
        <Setting>
            <Guidance:Pitch.massPosition />
            <Control:VerticalControl.massDefault />
        </Setting>
    </Guidance:Pitch>
    <Aggregate Id="Transit">
        <Sequence />
        <Guidance:Pitch>
            <Parallel />
            <Setting>
                <Guidance:Pitch.depth />
                <Arg Name="Depth" />
            </Setting>
        </Guidance:Pitch>
        <Guidance:SetSpeed>
            <Parallel />
            <Setting>
                <Guidance:SetSpeed.speed />
                <Arg Name="Speed" />
            </Setting>
        </Guidance:SetSpeed>
        <Guidance:Waypoint Id="Wpt1">
            <Sequence />
            <Setting>
                <Guidance:Waypoint.latitude />
                <Arg Name="Latitude" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.longitude />
                <Arg Name="Longitude" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.northingsDelta />
                <Arg Name="Northings" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.eastingsDelta />
                <Arg Name="Eastings" />
            </Setting>
        </Guidance:Waypoint>
        <Call RefId="NeedComms" Id="PhoneHome" PriorityHere="false" />
    </Aggregate>
</Mission>

2025-05-12T21:02:47.424Z,1747083767.424 [MissionManager](INFO): DefineArg transit.MissionTimeout = 60.000000 min
2025-05-12T21:02:47.428Z,1747083767.428 [MissionManager](INFO): DefineArg transit.NeedCommsTime = 30.000000 min
2025-05-12T21:02:47.448Z,1747083767.448 [MissionManager](INFO): DefineArg transit.Latitude = nan arcdeg
2025-05-12T21:02:47.467Z,1747083767.467 [MissionManager](INFO): DefineArg transit.Longitude = nan arcdeg
2025-05-12T21:02:47.471Z,1747083767.471 [MissionManager](INFO): DefineArg transit.Northings = 0.000000 m
2025-05-12T21:02:47.475Z,1747083767.475 [MissionManager](INFO): DefineArg transit.Eastings = 0.000000 m
2025-05-12T21:02:47.488Z,1747083767.488 [MissionManager](INFO): DefineArg transit.Depth = 10.000000 m
2025-05-12T21:02:47.503Z,1747083767.503 [MissionManager](INFO): DefineArg transit.Speed = 1.000000 m/s
2025-05-12T21:02:47.509Z,1747083767.509 [MissionManager](INFO): DefineArg transit.MaxDepth = 20.000000 m
2025-05-12T21:02:47.511Z,1747083767.511 [MissionManager](INFO): DefineArg transit.MinOffshore = 1.000000 km
2025-05-12T21:02:47.514Z,1747083767.514 [MissionManager](INFO): DefineArg transit.MinAltitude = 7.000000 m
2025-05-12T21:02:47.516Z,1747083767.516 [MissionManager](INFO): DefineArg transit.MassHold = 1 bool
2025-05-12T21:02:47.530Z,1747083767.530 [MissionManager](INFO): DefineArg transit.BuoyancyHold = 1 bool
2025-05-12T21:02:47.530Z,1747083767.530 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-05-12T21:02:47.531Z,1747083767.531 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-05-12T21:02:47.532Z,1747083767.532 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-05-12T21:02:47.662Z,1747083767.662 [DataOverHttps](IMPORTANT): SBD MTMSN=20250512T210246
2025-05-12T21:02:47.866Z,1747083767.866 [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>

2025-05-12T21:02:47.871Z,1747083767.871 [MissionManager](INFO): DefineArg transit:NeedComms.DiveInterval = 1.000000 h
2025-05-12T21:02:47.873Z,1747083767.873 [MissionManager](INFO): DefineArg transit:NeedComms.WaitForPitchUp = 10.000000 min
2025-05-12T21:02:47.875Z,1747083767.875 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-05-12T21:02:47.878Z,1747083767.878 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceDepthRate = nan m/s
2025-05-12T21:02:47.880Z,1747083767.880 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-05-12T21:02:47.882Z,1747083767.882 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacingTimeout = 1000.000000 s
2025-05-12T21:02:47.884Z,1747083767.884 [MissionManager](INFO): DefineArg transit:NeedComms.GPSTimeout = 7.000000 min
2025-05-12T21:02:47.887Z,1747083767.887 [MissionManager](INFO): DefineArg transit:NeedComms.CommsTimeout = 30.000000 min
2025-05-12T21:02:47.893Z,1747083767.893 [transit:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-05-12T21:02:47.939Z,1747083767.939 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-05-12T21:02:47.939Z,1747083767.939 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-05-12T21:02:47.940Z,1747083767.940 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-05-12T21:02:48.033Z,1747083768.033 [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>

2025-05-12T21:02:48.036Z,1747083768.036 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinAltitude = 5.000000 m
2025-05-12T21:02:48.038Z,1747083768.038 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-05-12T21:02:48.041Z,1747083768.041 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepth = 200.000000 m
2025-05-12T21:02:48.043Z,1747083768.043 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-05-12T21:02:48.044Z,1747083768.044 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-05-12T21:02:48.051Z,1747083768.051 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-05-12T21:02:48.057Z,1747083768.057 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-05-12T21:02:48.090Z,1747083768.090 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-05-12T21:02:48.090Z,1747083768.090 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-05-12T21:02:48.091Z,1747083768.091 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-05-12T21:02:48.123Z,1747083768.123 [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>

2025-05-12T21:02:48.126Z,1747083768.126 [MissionManager](INFO): DefineArg transit:BackseatDriver.EnableBackseat = 0 bool
2025-05-12T21:02:48.129Z,1747083768.129 [transit:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-05-12T21:02:48.131Z,1747083768.131 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-05-12T21:02:48.131Z,1747083768.131 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-05-12T21:02:48.133Z,1747083768.133 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-05-12T21:02:48.310Z,1747083768.310 [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>

2025-05-12T21:02:48.313Z,1747083768.313 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleAll = 0 bool
2025-05-12T21:02:48.315Z,1747083768.315 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad1 = 0 bool
2025-05-12T21:02:48.317Z,1747083768.317 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad2 = 0 bool
2025-05-12T21:02:48.319Z,1747083768.319 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad3 = 0 bool
2025-05-12T21:02:48.322Z,1747083768.322 [MissionManager](INFO): DefineArg transit:PowerOnly.EnabledPowerOnly = 1 bool
2025-05-12T21:02:48.350Z,1747083768.350 [transit:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-05-12T21:02:48.352Z,1747083768.352 [transit:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-05-12T21:02:48.360Z,1747083768.360 [transit:MassHold.Pitch](DEBUG): Construct.
2025-05-12T21:02:48.394Z,1747083768.394 [transit:Transit:A.Pitch](DEBUG): Construct.
2025-05-12T21:02:48.399Z,1747083768.399 [transit:Transit:B.SetSpeed](DEBUG): Construct.
2025-05-12T21:02:48.405Z,1747083768.405 [transit:Transit:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-05-12T21:02:48.421Z,1747083768.421 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

  timeout duration=MissionTimeout

  insert id="NeedComms" Insert/NeedComms.tl

  assign in sequence NeedComms:DiveInterval = NeedCommsTime

  assign in sequence NeedComms:WaitForPitchUp = 1 second

  insert Insert/StandardEnvelopes.tl

  assign in sequence StandardEnvelopes:MinAltitude = MinAltitude

  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth

  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

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

    set position = Control:VerticalControl.buoyancyNeutral
  }

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

    set massPosition = Control:VerticalControl.massDefault
  }

  aggregate Transit {
    run in sequence

    behavior Guidance:Pitch {
      run in parallel

      set depth = Depth
    }

    behavior Guidance:SetSpeed {
      run in parallel

      set speed = Speed
    }

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

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

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


2025-05-12T21:02:48.421Z,1747083768.421 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/transit.tl id=transit
2025-05-12T21:02:48.608Z,1747083768.608 [Default:CheckIn:D] Stopped
2025-05-12T21:02:48.608Z,1747083768.608 [Default:CheckIn:E] Running Loop=1
2025-05-12T21:02:49.074Z,1747083769.074 [Default:CheckIn:E](IMPORTANT): Default mission has been running for  6.240750 min 
2025-05-12T21:02:49.074Z,1747083769.074 [Default:CheckIn:E] Stopped
2025-05-12T21:02:49.074Z,1747083769.074 [Default:CheckIn](INFO): Completed Default:CheckIn
2025-05-12T21:02:49.074Z,1747083769.074 [Default:CheckIn] Stopped
2025-05-12T21:02:49.074Z,1747083769.074 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-05-12T21:02:49.074Z,1747083769.074 [Default:CheckIn](INFO): Running loop #2
2025-05-12T21:02:49.074Z,1747083769.074 [Default:CheckIn] Running Loop=2
2025-05-12T21:02:49.074Z,1747083769.074 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-05-12T21:02:49.075Z,1747083769.075 [Default:CheckIn:Read_GPS] Running Loop=1
2025-05-12T21:02:51.051Z,1747083771.051 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,210250.00,A,3647.93899,N,12150.72278,W,0.136,348.44,120525,,,D*7C
2025-05-12T21:02:51.062Z,1747083771.062 [NAL9602](INFO): GPS fix at 20250512T210250: (36.798983, -121.845380)
2025-05-12T21:02:51.108Z,1747083771.108 [Default:CheckIn:Read_GPS] Stopped
2025-05-12T21:02:51.108Z,1747083771.108 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-05-12T21:02:56.121Z,1747083776.121 [CommandExec](IMPORTANT): got command set transit.Latitude 36.797 degree
2025-05-12T21:02:56.121Z,1747083776.121 [CommandExec](IMPORTANT): got command set transit.Longitude -121.847 degree
2025-05-12T21:02:56.122Z,1747083776.122 [CommandExec](IMPORTANT): got command run
2025-05-12T21:02:56.124Z,1747083776.124 [CommandExec](IMPORTANT): Running 
2025-05-12T21:02:56.242Z,1747083776.242 [Default] Stopped
2025-05-12T21:02:56.242Z,1747083776.242 [Default](DEBUG): Aggregate::uninitialize Default
2025-05-12T21:02:56.242Z,1747083776.242 [Default:B.GoToSurface] Stopped
2025-05-12T21:02:56.242Z,1747083776.242 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-05-12T21:02:56.242Z,1747083776.242 [Default:CheckIn] Stopped
2025-05-12T21:02:56.242Z,1747083776.242 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-05-12T21:02:56.242Z,1747083776.242 [Default:CheckIn:Read_Iridium] Stopped
2025-05-12T21:02:56.242Z,1747083776.242 [MissionManager](IMPORTANT): Started mission transit
2025-05-12T21:02:56.243Z,1747083776.243 [transit] Running Loop=1
2025-05-12T21:02:56.243Z,1747083776.243 [transit](DEBUG): Aggregate::initialize transit
2025-05-12T21:02:56.243Z,1747083776.243 [transit:StandardEnvelopes] Running Loop=1
2025-05-12T21:02:56.243Z,1747083776.243 [transit:StandardEnvelopes](DEBUG): Aggregate::initialize transit:StandardEnvelopes
2025-05-12T21:02:56.243Z,1747083776.243 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-05-12T21:02:56.243Z,1747083776.243 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-05-12T21:02:56.243Z,1747083776.243 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-05-12T21:02:56.243Z,1747083776.243 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-05-12T21:02:56.243Z,1747083776.243 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-05-12T21:02:56.243Z,1747083776.243 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-05-12T21:02:56.244Z,1747083776.244 [transit:BackseatDriver] Running Loop=1
2025-05-12T21:02:56.244Z,1747083776.244 [transit:BackseatDriver](DEBUG): Aggregate::initialize transit:BackseatDriver
2025-05-12T21:02:56.244Z,1747083776.244 [transit:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-05-12T21:02:56.244Z,1747083776.244 [transit:PowerOnly] Running Loop=1
2025-05-12T21:02:56.244Z,1747083776.244 [transit:PowerOnly](DEBUG): Aggregate::initialize transit:PowerOnly
2025-05-12T21:02:56.244Z,1747083776.244 [transit:PowerOnly:A] Running Loop=1
2025-05-12T21:02:56.244Z,1747083776.244 [transit:PowerOnly:B] Running Loop=1
2025-05-12T21:02:56.244Z,1747083776.244 [transit:PowerOnly:C] Running Loop=1
2025-05-12T21:02:56.244Z,1747083776.244 [transit:PowerOnly:D] Running Loop=1
2025-05-12T21:02:56.265Z,1747083776.265 [transit:PowerOnly:E.Wait] Running Loop=1
2025-05-12T21:02:56.265Z,1747083776.265 [transit:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-05-12T21:02:56.265Z,1747083776.265 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-05-12T21:02:56.265Z,1747083776.265 [transit:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-05-12T21:02:56.265Z,1747083776.265 [transit:MassHold.Pitch] Running Loop=1
2025-05-12T21:02:56.265Z,1747083776.265 [transit:MassHold.Pitch](DEBUG): Initialize.
2025-05-12T21:02:56.265Z,1747083776.265 [transit:B] Running Loop=1
2025-05-12T21:02:56.266Z,1747083776.266 [transit:MassHold.Pitch] Running Loop=1
2025-05-12T21:02:56.266Z,1747083776.266 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-05-12T21:02:56.266Z,1747083776.266 [transit:PowerOnly] Running Loop=1
2025-05-12T21:02:56.267Z,1747083776.267 [transit:PowerOnly:D] Stopped
2025-05-12T21:02:56.267Z,1747083776.267 [transit:PowerOnly:C] Stopped
2025-05-12T21:02:56.267Z,1747083776.267 [transit:PowerOnly:B] Stopped
2025-05-12T21:02:56.267Z,1747083776.267 [transit:PowerOnly:A] Stopped
2025-05-12T21:02:56.267Z,1747083776.267 [transit:BackseatDriver] Running Loop=1
2025-05-12T21:02:56.267Z,1747083776.267 [transit:StandardEnvelopes] Running Loop=1
2025-05-12T21:02:56.267Z,1747083776.267 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-05-12T21:02:56.268Z,1747083776.268 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-05-12T21:02:56.268Z,1747083776.268 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-05-12T21:02:56.279Z,1747083776.279 [transit:B] Stopped
2025-05-12T21:02:56.283Z,1747083776.283 [transit:C] Running Loop=1
2025-05-12T21:02:56.651Z,1747083776.651 [transit:C] Stopped
2025-05-12T21:02:56.651Z,1747083776.651 [transit:E] Running Loop=1
2025-05-12T21:02:57.081Z,1747083777.081 [transit:E] Stopped
2025-05-12T21:02:57.081Z,1747083777.081 [transit:F] Running Loop=1
2025-05-12T21:02:57.468Z,1747083777.468 [transit:F] Stopped
2025-05-12T21:02:57.469Z,1747083777.469 [transit:G] Running Loop=1
2025-05-12T21:02:57.850Z,1747083777.850 [transit:G] Stopped
2025-05-12T21:02:57.851Z,1747083777.851 [transit:Transit] Running Loop=1
2025-05-12T21:02:57.851Z,1747083777.851 [transit:Transit](DEBUG): Aggregate::initialize transit:Transit
2025-05-12T21:02:57.851Z,1747083777.851 [transit:Transit:A.Pitch] Running Loop=1
2025-05-12T21:02:57.851Z,1747083777.851 [transit:Transit:A.Pitch](DEBUG): Initialize.
2025-05-12T21:02:57.851Z,1747083777.851 [transit:Transit:B.SetSpeed] Running Loop=1
2025-05-12T21:02:57.851Z,1747083777.851 [transit:Transit:B.SetSpeed](DEBUG): Initialize.
2025-05-12T21:02:57.851Z,1747083777.851 [transit:Transit:Wpt1.Waypoint] Running Loop=1
2025-05-12T21:02:57.851Z,1747083777.851 [transit:Transit:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-05-12T21:02:57.853Z,1747083777.853 [transit:Transit:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.797001,-121.847000
2025-05-12T21:02:58.261Z,1747083778.261 [transit:Transit:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.797001,-121.847000
2025-05-12T21:02:58.261Z,1747083778.261 [transit:Transit:B.SetSpeed] Running Loop=1
2025-05-12T21:02:58.262Z,1747083778.262 [transit:Transit:A.Pitch] Running Loop=1
2025-05-12T21:02:58.400Z,1747083778.400 [DataOverHttps](INFO): Received command: sched "run Maintenance/ballast_and_trim.tl"
2025-05-12T21:02:58.416Z,1747083778.416 [CommandExec](IMPORTANT): got command schedule "run Maintenance/ballast_and_trim.tl"
2025-05-12T21:02:58.417Z,1747083778.417 [CommandExec](IMPORTANT): Scheduled #1: "run Maintenance/ballast_and_trim.tl", AFTER MISSION
2025-05-12T21:02:59.402Z,1747083779.402 [DataOverHttps](IMPORTANT): SBD MTMSN=20250512T210258
2025-05-12T21:03:07.601Z,1747083787.601 [DataOverHttps](INFO): Received command: sched "run Maintenance/calibrate_sparton_compass.tl"
2025-05-12T21:03:07.681Z,1747083787.681 [CommandExec](IMPORTANT): got command schedule "run Maintenance/calibrate_sparton_compass.tl"
2025-05-12T21:03:07.681Z,1747083787.681 [CommandExec](IMPORTANT): Scheduled #2: "run Maintenance/calibrate_sparton_compass.tl", AFTER MISSION
2025-05-12T21:03:08.602Z,1747083788.602 [DataOverHttps](IMPORTANT): SBD MTMSN=20250512T210307
2025-05-12T21:03:16.652Z,1747083796.652 [DataOverHttps](INFO): Received command: schedule list
2025-05-12T21:03:16.743Z,1747083796.743 [CommandExec](IMPORTANT): got command schedule list
2025-05-12T21:03:16.743Z,1747083796.743 [CommandExec](IMPORTANT): Scheduled #1: "run Maintenance/ballast_and_trim.tl", AFTER MISSION
2025-05-12T21:03:16.744Z,1747083796.744 [CommandExec](IMPORTANT): Scheduled #2: "run Maintenance/calibrate_sparton_compass.tl", AFTER MISSION
2025-05-12T21:03:22.909Z,1747083802.909 [NAL9602](INFO): SBD MO Status=2, MOMSN=20610, MT Status=2, MTMSN=0
2025-05-12T21:03:22.909Z,1747083802.909 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-05-12T21:05:40.782Z,1747083940.782 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-12T21:06:11.906Z,1747083971.906 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-12T21:06:43.029Z,1747084003.029 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-12T21:07:14.153Z,1747084034.153 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-12T21:07:45.281Z,1747084065.281 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-12T21:07:49.297Z,1747084069.297 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.742706
2025-05-12T21:07:53.344Z,1747084073.344 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2025-05-12T21:07:59.830Z,1747084079.830 [DVL_micro](ERROR): Failed to parse:
:WI,+00088,+00890,+00176,+00000,A
2025-05-12T21:08:01.854Z,1747084081.854 [DVL_micro](ERROR): Failed to parse:
:RD,+9999.99,+9999.99,+9999.99,+9999.99
2025-05-12T21:08:03.854Z,1747084083.854 [DVL_micro](ERROR): Failed to parse:
:SA,-08.69,-10.20,210.9
2025-05-12T21:08:18.005Z,1747084098.005 [transit:Transit:Wpt1.Waypoint](IMPORTANT): Reached waypoint: 36.797001,-121.847000
2025-05-12T21:08:18.005Z,1747084098.005 [transit:Transit:Wpt1.Waypoint] Stopped
2025-05-12T21:08:18.005Z,1747084098.005 [transit:Transit:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-05-12T21:08:18.006Z,1747084098.006 [transit:Transit:PhoneHome] Running Loop=1
2025-05-12T21:08:18.006Z,1747084098.006 [transit:Transit:PhoneHome](DEBUG): Aggregate::initialize transit:Transit:PhoneHome
2025-05-12T21:08:18.459Z,1747084098.459 [transit:NeedComms] Running Loop=1
2025-05-12T21:08:18.460Z,1747084098.460 [transit:NeedComms](DEBUG): Aggregate::initialize transit:NeedComms
2025-05-12T21:08:18.460Z,1747084098.460 [transit:NeedComms:B.GoToSurface] Running Loop=1
2025-05-12T21:08:18.460Z,1747084098.460 [transit:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-05-12T21:08:18.460Z,1747084098.460 [transit:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-05-12T21:08:18.465Z,1747084098.465 [transit:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-05-12T21:08:18.465Z,1747084098.465 [transit:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-05-12T21:08:18.466Z,1747084098.466 [transit:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-05-12T21:08:18.466Z,1747084098.466 [transit:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-05-12T21:08:18.466Z,1747084098.466 [transit:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-05-12T21:08:18.466Z,1747084098.466 [transit:NeedComms:A] Running Loop=1
2025-05-12T21:08:18.468Z,1747084098.468 [transit:NeedComms:A](INFO): last time_fix was:  1747083770.000000 second since 1970/01/01T00:00:00Z 
2025-05-12T21:08:18.468Z,1747084098.468 [transit:NeedComms:A] Stopped
2025-05-12T21:08:18.809Z,1747084098.809 [transit:NeedComms:C] Running Loop=1
2025-05-12T21:08:19.218Z,1747084099.218 [transit:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-05-12T21:08:20.816Z,1747084100.816 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,210820.00,A,3647.85259,N,12150.80844,W,1.691,224.04,120525,,,D*7C
2025-05-12T21:08:20.826Z,1747084100.826 [NAL9602](INFO): GPS fix at 20250512T210820: (36.797543, -121.846807)
2025-05-12T21:08:20.852Z,1747084100.852 [transit:NeedComms:C] Stopped
2025-05-12T21:08:20.852Z,1747084100.852 [transit:NeedComms:D] Running Loop=1
2025-05-12T21:08:21.271Z,1747084101.271 [transit:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-05-12T21:08:25.686Z,1747084105.686 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003638
2025-05-12T21:08:34.155Z,1747084114.155 [DataOverHttps](INFO): Sending 75 bytes from file Logs/20250512T191822/Courier0042.lzma
2025-05-12T21:08:35.151Z,1747084115.151 [DataOverHttps](INFO): Moved sent file to Logs/20250512T191822/Courier0042.lzma.bak
2025-05-12T21:08:35.151Z,1747084115.151 [DataOverHttps](INFO): SBD MOMSN=24855966
2025-05-12T21:08:51.418Z,1747084131.418 [NAL9602](ERROR): Queried for signal strength and failed to receive proper response. 
2025-05-12T21:08:51.493Z,1747084131.493 [NAL9602](ERROR): received: 
+CSQ:0

OK610, 2, 0, 0, 0

OK
2025-05-12T21:09:04.342Z,1747084144.342 [DVL_micro](ERROR): Failed to parse:
:RD,+9999.99,+9999.99,+9999.99,+9999.99
2025-05-12T21:09:22.126Z,1747084162.126 [NAL9602](INFO): Not Powering down - fast GPS
2025-05-12T21:09:31.661Z,1747084171.661 [DataOverHttps](INFO): Sending 74 bytes from file Logs/20250512T191822/Courier0045.lzma
2025-05-12T21:09:32.663Z,1747084172.663 [DataOverHttps](INFO): Moved sent file to Logs/20250512T191822/Courier0045.lzma.bak
2025-05-12T21:09:32.663Z,1747084172.663 [DataOverHttps](INFO): SBD MOMSN=24855976
2025-05-12T21:09:49.100Z,1747084189.100 [DataOverHttps](INFO): Sending 40 bytes from file Logs/20250512T191822/Courier0048.lzma
2025-05-12T21:09:50.103Z,1747084190.103 [DataOverHttps](INFO): Moved sent file to Logs/20250512T191822/Courier0048.lzma.bak
2025-05-12T21:09:50.103Z,1747084190.103 [DataOverHttps](INFO): SBD MOMSN=24855979
2025-05-12T21:10:06.433Z,1747084206.433 [DataOverHttps](INFO): Sending 378 bytes from file Logs/20250512T191822/Express0043.lzma
2025-05-12T21:10:07.435Z,1747084207.435 [DataOverHttps](INFO): Moved sent file to Logs/20250512T191822/Express0043.lzma.bak
2025-05-12T21:10:07.435Z,1747084207.435 [DataOverHttps](INFO): SBD MOMSN=24855981
2025-05-12T21:10:23.850Z,1747084223.850 [DataOverHttps](INFO): Sending 573 bytes from file Logs/20250512T191822/Express0046.lzma
2025-05-12T21:10:24.851Z,1747084224.851 [DataOverHttps](INFO): Moved sent file to Logs/20250512T191822/Express0046.lzma.bak
2025-05-12T21:10:24.851Z,1747084224.851 [DataOverHttps](INFO): SBD MOMSN=24855993
2025-05-12T21:10:41.240Z,1747084241.240 [DataOverHttps](INFO): Sending 63 bytes from file Logs/20250512T191822/Express0049.lzma
2025-05-12T21:10:42.243Z,1747084242.243 [DataOverHttps](INFO): Moved sent file to Logs/20250512T191822/Express0049.lzma.bak
2025-05-12T21:10:42.243Z,1747084242.243 [DataOverHttps](INFO): SBD MOMSN=24856012
2025-05-12T21:10:43.327Z,1747084243.327 [transit:NeedComms:D] Stopped
2025-05-12T21:10:43.327Z,1747084243.327 [transit:NeedComms:E] Running Loop=1
2025-05-12T21:10:43.735Z,1747084243.735 [transit:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-05-12T21:10:45.363Z,1747084245.363 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,211044.00,A,3647.85521,N,12150.81121,W,0.583,327.64,120525,,,D*71
2025-05-12T21:10:45.369Z,1747084245.369 [NAL9602](INFO): GPS fix at 20250512T211044: (36.797587, -121.846853)
2025-05-12T21:10:45.416Z,1747084245.416 [transit:StandardEnvelopes:A.AltitudeEnvelope](IMPORTANT): Altitude envelope ACTIVE. Altitude:0.650000m. At depth:0.302683m.
2025-05-12T21:10:45.425Z,1747084245.425 [transit:NeedComms:E] Stopped
2025-05-12T21:10:45.426Z,1747084245.426 [transit:NeedComms](INFO): Completed transit:NeedComms
2025-05-12T21:10:45.426Z,1747084245.426 [transit:NeedComms] Stopped
2025-05-12T21:10:45.426Z,1747084245.426 [transit:NeedComms](DEBUG): Aggregate::uninitialize transit:NeedComms
2025-05-12T21:10:45.426Z,1747084245.426 [transit:NeedComms:B.GoToSurface] Stopped
2025-05-12T21:10:45.426Z,1747084245.426 [transit:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-05-12T21:10:45.777Z,1747084245.777 [transit:Transit:PhoneHome](INFO): Completed transit:Transit:PhoneHome
2025-05-12T21:10:45.778Z,1747084245.778 [transit:Transit:PhoneHome] Stopped
2025-05-12T21:10:45.778Z,1747084245.778 [transit:Transit:PhoneHome](DEBUG): Aggregate::uninitialize transit:Transit:PhoneHome
2025-05-12T21:10:45.778Z,1747084245.778 [transit:Transit](INFO): Completed transit:Transit
2025-05-12T21:10:45.778Z,1747084245.778 [transit:Transit] Stopped
2025-05-12T21:10:45.779Z,1747084245.779 [transit:Transit](DEBUG): Aggregate::uninitialize transit:Transit
2025-05-12T21:10:45.779Z,1747084245.779 [transit:Transit:A.Pitch] Stopped
2025-05-12T21:10:45.779Z,1747084245.779 [transit:Transit:B.SetSpeed] Stopped
2025-05-12T21:10:45.779Z,1747084245.779 [transit:Transit:B.SetSpeed](DEBUG): Uninitialize.
2025-05-12T21:10:45.785Z,1747084245.785 [transit](INFO): Completed transit
2025-05-12T21:10:45.786Z,1747084245.786 [MissionManager](INFO): transit is completed.
2025-05-12T21:10:45.786Z,1747084245.786 [MissionManager](INFO): Uninitializing Mission transit
2025-05-12T21:10:45.786Z,1747084245.786 [transit] Stopped
2025-05-12T21:10:45.786Z,1747084245.786 [transit](DEBUG): Aggregate::uninitialize transit
2025-05-12T21:10:45.786Z,1747084245.786 [transit:StandardEnvelopes] Stopped
2025-05-12T21:10:45.786Z,1747084245.786 [transit:StandardEnvelopes](DEBUG): Aggregate::uninitialize transit:StandardEnvelopes
2025-05-12T21:10:45.786Z,1747084245.786 [transit:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-05-12T21:10:45.786Z,1747084245.786 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-05-12T21:10:45.786Z,1747084245.786 [transit:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-05-12T21:10:45.786Z,1747084245.786 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-05-12T21:10:45.786Z,1747084245.786 [transit:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-05-12T21:10:45.786Z,1747084245.786 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-05-12T21:10:45.787Z,1747084245.787 [transit:BackseatDriver] Stopped
2025-05-12T21:10:45.787Z,1747084245.787 [transit:BackseatDriver](DEBUG): Aggregate::uninitialize transit:BackseatDriver
2025-05-12T21:10:45.787Z,1747084245.787 [transit:BackseatDriver:A.BackseatDriver] Stopped
2025-05-12T21:10:45.787Z,1747084245.787 [transit:PowerOnly] Stopped
2025-05-12T21:10:45.787Z,1747084245.787 [transit:PowerOnly](DEBUG): Aggregate::uninitialize transit:PowerOnly
2025-05-12T21:10:45.787Z,1747084245.787 [transit:PowerOnly:E.Wait] Stopped
2025-05-12T21:10:45.787Z,1747084245.787 [transit:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-05-12T21:10:45.787Z,1747084245.787 [transit:BuoyancyHold.Buoyancy] Stopped
2025-05-12T21:10:45.787Z,1747084245.787 [transit:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-05-12T21:10:45.787Z,1747084245.787 [transit:MassHold.Pitch] Stopped
2025-05-12T21:10:45.827Z,1747084245.827 [CommandExec](IMPORTANT): got command run ./Missions/Maintenance/ballast_and_trim.tl
2025-05-12T21:10:45.879Z,1747084245.879 [MissionManager](INFO): Loading Mission from file: ./Missions/Maintenance/ballast_and_trim.tl
2025-05-12T21:10:45.879Z,1747084245.879 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Maintenance/ballast_and_trim.tl
2025-05-12T21:10:45.885Z,1747084245.885 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Maintenance/ballast_and_trim.tl
2025-05-12T21:10:54.342Z,1747084254.342 [MissionManager](DEBUG): TethyslAPI: ./Missions/Maintenance/ballast_and_trim.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="ballast_and_trim">
    <DefineArg Name="MissionTimeout">
        <Units:minute />
        <Value>90</Value>
    </DefineArg>
    <DefineArg Name="SkipComms">
        <False />
    </DefineArg>
    <DefineArg Name="Depth1">
        <Units:meter />
        <Value>35</Value>
    </DefineArg>
    <DefineArg Name="Depth2">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DepthDeadband">
        <Units:meter />
        <Value>0.1</Value>
    </DefineArg>
    <DefineArg Name="ApproachSpeed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepthTimeout">
        <Units:minute />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepthRate">
        <Units:meter_per_second />
        <Value>0.4</Value>
    </DefineArg>
    <DefineArg Name="ApproachPitchLimit">
        <Units:degree />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="ApproachSettleTimePreDive">
        <Units:minute />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="SettleTime">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="EstimationTimeout">
        <Units:minute />
        <Value>45</Value>
    </DefineArg>
    <DefineArg Name="MinEstimationTime">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="MassEstimationErrorBound">
        <Units:millimeter />
        <Value>0.5</Value>
    </DefineArg>
    <DefineArg Name="BuoyEstimationErrorBound">
        <Units:cubic_centimeter />
        <Value>25</Value>
    </DefineArg>
    <DefineArg Name="EstimationConfidence">
        <Units:percent />
        <Value>98.0</Value>
    </DefineArg>
    <DefineArg Name="massDeadband">
        <Units:millimeter />
        <Value>0.25</Value>
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>52</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="CheckDepths">
        <Units:bool />
        <Value>1</Value>
    </DefineArg>
    <Timeout Duration="MissionTimeout" />
    <Insert Filename="Insert/Science.tl" />
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="MissionTimeout" />
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Aggregate Id="CheckTargetDepths">
        <Sequence />
        <Break>
            <Not>
                <Arg Name="CheckDepths" />
            </Not>
        </Break>
        <Aggregate Id="CheckDepth1">
            <Sequence />
            <Break>
                <Not>
                    <Arg Name="Depth1" />
                    <Gt>
                        <Arg Name="MaxDepth" />
                    </Gt>
                </Not>
            </Break>
            <Syslog Severity="Important">Aborting ballast and trim mission. Target depth Depth1 exceeds the mission&apos;s MaxDepth setting (review mission parameters).</Syslog>
            <Guidance:Execute>
                <Sequence />
                <Setting>
                    <Guidance:Execute.command />
                    <String>stop</String>
                </Setting>
            </Guidance:Execute>
        </Aggregate>
        <Aggregate Id="CheckDepth2">
            <Sequence />
            <Break>
                <Not>
                    <Arg Name="Depth2" />
                    <Gt>
                        <Arg Name="MaxDepth" />
                    </Gt>
                </Not>
            </Break>
            <Syslog Severity="Important">Aborting ballast and trim mission. Target depth Depth2 exceeds the mission&apos;s MaxDepth setting (review mission parameters).</Syslog>
            <Guidance:Execute>
                <Sequence />
                <Setting>
                    <Guidance:Execute.command />
                    <String>stop</String>
                </Setting>
            </Guidance:Execute>
        </Aggregate>
        <Assign>
            <Sequence />
            <Arg Name="CheckDepths" />
            <Units:bool />
            <Value>0</Value>
        </Assign>
    </Aggregate>
    <Aggregate Id="StartingMission">
        <Sequence />
        <Break>
            <Arg Name="SkipComms" />
        </Break>
        <Syslog Severity="Info">Checking for additional instructions before submerging.</Syslog>
        <Call RefId="NeedComms" Id="StartingMission" PriorityHere="false" />
    </Aggregate>
    <Aggregate Id="RunBallastAndTrim">
        <Sequence />
        <Insert Filename="Insert/BallastAndTrim.tl">
            <RedefineArg Name="InsertDepthDeadband">
                <Arg Name="DepthDeadband" />
            </RedefineArg>
            <RedefineArg Name="InsertApproachSpeed">
                <Arg Name="ApproachSpeed" />
            </RedefineArg>
            <RedefineArg Name="InsertApproachDepthRate">
                <Arg Name="ApproachDepthRate" />
            </RedefineArg>
            <RedefineArg Name="InsertApproachPitchLimit">
                <Arg Name="ApproachPitchLimit" />
            </RedefineArg>
            <RedefineArg Name="InsertApproachSettleTimePreDive">
                <Arg Name="ApproachSettleTimePreDive" />
            </RedefineArg>
            <RedefineArg Name="InsertApproachDepthTimeout">
                <Arg Name="ApproachDepthTimeout" />
            </RedefineArg>
            <RedefineArg Name="InsertSettleTime">
                <Arg Name="SettleTime" />
            </RedefineArg>
            <RedefineArg Name="EstTimeout">
                <Arg Name="EstimationTimeout" />
            </RedefineArg>
            <RedefineArg Name="MinEstTime">
                <Arg Name="MinEstimationTime" />
            </RedefineArg>
            <RedefineArg Name="MassEstErrorBound">
                <Arg Name="MassEstimationErrorBound" />
            </RedefineArg>
            <RedefineArg Name="BuoyEstErrorBound">
                <Arg Name="BuoyEstimationErrorBound" />
            </RedefineArg>
            <RedefineArg Name="EstConfidence">
                <Arg Name="EstimationConfidence" />
            </RedefineArg>
            <RedefineArg Name="InsertMassDeadband">
                <Arg Name="massDeadband" />
            </RedefineArg>
        </Insert>
        <Aggregate Id="RunDepth1">
            <Sequence />
            <Break>
                <IsNaN>
                    <Arg Name="Depth1" />
                </IsNaN>
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="BallastAndTrim:InsertDepth" />
                <Arg Name="Depth1" />
            </Assign>
            <Call RefId="BallastAndTrim" PriorityHere="false" />
        </Aggregate>
        <Aggregate Id="RunDepth2">
            <Sequence />
            <Break>
                <IsNaN>
                    <Arg Name="Depth2" />
                </IsNaN>
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="BallastAndTrim:InsertDepth" />
                <Arg Name="Depth2" />
            </Assign>
            <Call RefId="BallastAndTrim" PriorityHere="false" />
        </Aggregate>
    </Aggregate>
    <Call RefId="NeedComms" Id="EndingMission" PriorityHere="false" />
</Mission>

2025-05-12T21:10:54.354Z,1747084254.354 [MissionManager](INFO): DefineArg ballast_and_trim.MissionTimeout = 90.000000 min
2025-05-12T21:10:54.357Z,1747084254.357 [MissionManager](INFO): DefineArg ballast_and_trim.SkipComms = 0 bool
2025-05-12T21:10:54.361Z,1747084254.361 [MissionManager](INFO): DefineArg ballast_and_trim.Depth1 = 35.000000 m
2025-05-12T21:10:54.364Z,1747084254.364 [MissionManager](INFO): DefineArg ballast_and_trim.Depth2 = nan m
2025-05-12T21:10:54.367Z,1747084254.367 [MissionManager](INFO): DefineArg ballast_and_trim.DepthDeadband = 0.100000 m
2025-05-12T21:10:54.370Z,1747084254.370 [MissionManager](INFO): DefineArg ballast_and_trim.ApproachSpeed = 1.000000 m/s
2025-05-12T21:10:54.373Z,1747084254.373 [MissionManager](INFO): DefineArg ballast_and_trim.ApproachDepthTimeout = 20.000000 min
2025-05-12T21:10:54.377Z,1747084254.377 [MissionManager](INFO): DefineArg ballast_and_trim.ApproachDepthRate = 0.400000 m/s
2025-05-12T21:10:54.380Z,1747084254.380 [MissionManager](INFO): DefineArg ballast_and_trim.ApproachPitchLimit = 20.000000 arcdeg
2025-05-12T21:10:54.383Z,1747084254.383 [MissionManager](INFO): DefineArg ballast_and_trim.ApproachSettleTimePreDive = 0.000000 min
2025-05-12T21:10:54.386Z,1747084254.386 [MissionManager](INFO): DefineArg ballast_and_trim.SettleTime = 10.000000 min
2025-05-12T21:10:54.389Z,1747084254.389 [MissionManager](INFO): DefineArg ballast_and_trim.EstimationTimeout = 45.000000 min
2025-05-12T21:10:54.393Z,1747084254.393 [MissionManager](INFO): DefineArg ballast_and_trim.MinEstimationTime = 10.000000 min
2025-05-12T21:10:54.396Z,1747084254.396 [MissionManager](INFO): DefineArg ballast_and_trim.MassEstimationErrorBound = 0.500000 mm
2025-05-12T21:10:54.423Z,1747084254.423 [MissionManager](INFO): DefineArg ballast_and_trim.BuoyEstimationErrorBound = 25.000000 cc
2025-05-12T21:10:54.437Z,1747084254.437 [MissionManager](INFO): DefineArg ballast_and_trim.EstimationConfidence = 98.000000 %
2025-05-12T21:10:54.440Z,1747084254.440 [MissionManager](INFO): DefineArg ballast_and_trim.massDeadband = 0.250000 mm
2025-05-12T21:10:54.455Z,1747084254.455 [MissionManager](INFO): DefineArg ballast_and_trim.MinAltitude = 5.000000 m
2025-05-12T21:10:54.462Z,1747084254.462 [MissionManager](INFO): DefineArg ballast_and_trim.MaxDepth = 52.000000 m
2025-05-12T21:10:54.469Z,1747084254.469 [MissionManager](INFO): DefineArg ballast_and_trim.MinOffshore = 2.000000 km
2025-05-12T21:10:54.472Z,1747084254.472 [MissionManager](INFO): DefineArg ballast_and_trim.CheckDepths = 1.000000 bool
2025-05-12T21:10:54.477Z,1747084254.477 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-05-12T21:10:54.477Z,1747084254.477 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-05-12T21:10:54.486Z,1747084254.486 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-05-12T21:10:58.093Z,1747084258.093 [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>

2025-05-12T21:10:58.120Z,1747084258.120 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectChlActive = 0 bool
2025-05-12T21:10:58.123Z,1747084258.123 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EdgeDetectChlActive = 0 bool
2025-05-12T21:10:58.126Z,1747084258.126 [MissionManager](INFO): DefineArg ballast_and_trim:Science.TimeWindowPeakReport = nan min
2025-05-12T21:10:58.145Z,1747084258.145 [MissionManager](INFO): DefineArg ballast_and_trim:Science.HighestChlPeakReportActive = 0 bool
2025-05-12T21:10:58.157Z,1747084258.157 [MissionManager](INFO): DefineArg ballast_and_trim:Science.HighestSaltPeakReportActive = 0 bool
2025-05-12T21:10:58.165Z,1747084258.165 [MissionManager](INFO): DefineArg ballast_and_trim:Science.HighestOilPeakReportActive = 0 bool
2025-05-12T21:10:58.167Z,1747084258.167 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PatchTracking = 0 bool
2025-05-12T21:10:58.175Z,1747084258.175 [MissionManager](INFO): DefineArg ballast_and_trim:Science.FilterWidthHorizontal = 3.000000 count
2025-05-12T21:10:58.182Z,1747084258.182 [MissionManager](INFO): DefineArg ballast_and_trim:Science.NumProfilesSlidingwindow = 100.000000 count
2025-05-12T21:10:58.197Z,1747084258.197 [MissionManager](INFO): DefineArg ballast_and_trim:Science.OffPeakFractionHorizontal = 80.000000 %
2025-05-12T21:10:58.202Z,1747084258.202 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectNO3Active = 0 bool
2025-05-12T21:10:58.213Z,1747084258.213 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectOilActive = 0 bool
2025-05-12T21:10:58.219Z,1747084258.219 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectFDOMActive = 0 bool
2025-05-12T21:10:58.223Z,1747084258.223 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectSalinityActive = 0 bool
2025-05-12T21:10:58.265Z,1747084258.265 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-05-12T21:10:58.268Z,1747084258.268 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-05-12T21:10:58.275Z,1747084258.275 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-05-12T21:10:58.286Z,1747084258.286 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EdgeDetectPlanktivoreHMavgROIActive = 0 bool
2025-05-12T21:10:58.290Z,1747084258.290 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-05-12T21:10:58.305Z,1747084258.305 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EdgeDetectPlanktivoreDiatomsActive = 0 bool
2025-05-12T21:10:58.307Z,1747084258.307 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-05-12T21:10:58.319Z,1747084258.319 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EdgeDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-05-12T21:10:58.338Z,1747084258.338 [MissionManager](INFO): DefineArg ballast_and_trim:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-05-12T21:10:58.350Z,1747084258.350 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EnabledAanderaaO2 = 0 bool
2025-05-12T21:10:58.373Z,1747084258.373 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EnabledNeilBrown = 0 bool
2025-05-12T21:10:58.377Z,1747084258.377 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EnabledSeabird = 1 bool
2025-05-12T21:10:58.391Z,1747084258.391 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EnabledWetLabsBB2FL = 1 bool
2025-05-12T21:10:58.403Z,1747084258.403 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-05-12T21:10:58.407Z,1747084258.407 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EnabledWetLabsUBAT = 0 bool
2025-05-12T21:10:58.410Z,1747084258.410 [MissionManager](INFO): DefineArg ballast_and_trim:Science.LowPassWindowLength = 20.000000 count
2025-05-12T21:10:58.421Z,1747084258.421 [MissionManager](INFO): DefineArg ballast_and_trim:Science.MedianFilterLen = 5.000000 count
2025-05-12T21:10:58.429Z,1747084258.429 [MissionManager](INFO): DefineArg ballast_and_trim:Science.ShallowBound = nan m
2025-05-12T21:10:58.432Z,1747084258.432 [MissionManager](INFO): DefineArg ballast_and_trim:Science.DeepBound = nan m
2025-05-12T21:10:58.440Z,1747084258.440 [MissionManager](INFO): DefineArg ballast_and_trim:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-05-12T21:10:58.447Z,1747084258.447 [MissionManager](INFO): DefineArg ballast_and_trim:Science.OffPeakFractionVertical = nan %
2025-05-12T21:10:58.450Z,1747084258.450 [MissionManager](INFO): DefineArg ballast_and_trim:Science.ChlPeakThresh = 0.000000 ug/l
2025-05-12T21:10:58.465Z,1747084258.465 [MissionManager](INFO): DefineArg ballast_and_trim:Science.ChlThreshTriggerActive = 0 bool
2025-05-12T21:10:58.474Z,1747084258.474 [MissionManager](INFO): DefineArg ballast_and_trim:Science.ChlLowerThresh = nan ug/l
2025-05-12T21:10:58.478Z,1747084258.478 [MissionManager](INFO): DefineArg ballast_and_trim:Science.ChlUpperThresh = nan ug/l
2025-05-12T21:10:58.485Z,1747084258.485 [MissionManager](INFO): DefineArg ballast_and_trim:Science.NumProfilesThresh = 5.000000 count
2025-05-12T21:10:58.488Z,1747084258.488 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-05-12T21:10:58.495Z,1747084258.495 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PlanktivoreHMavgROIPeakThresh = 0.000000 count/s
2025-05-12T21:10:58.507Z,1747084258.507 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PlanktivoreDiatomsPeakThresh = 0.000000 count/ml
2025-05-12T21:10:58.510Z,1747084258.510 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PlanktivoreDinoflagellatesPeakThresh = 0.000000 count/ml
2025-05-12T21:10:58.513Z,1747084258.513 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.GoDown = 1 bool
2025-05-12T21:10:58.530Z,1747084258.530 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakChl = nan ug/l
2025-05-12T21:10:58.537Z,1747084258.537 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakChlDepth = nan m
2025-05-12T21:10:58.540Z,1747084258.540 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakChlTemperature = nan degC
2025-05-12T21:10:58.561Z,1747084258.561 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakChlLatitude = nan arcdeg
2025-05-12T21:10:58.569Z,1747084258.569 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakChlLongitude = nan arcdeg
2025-05-12T21:10:58.572Z,1747084258.572 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgeChl = nan ug/l
2025-05-12T21:10:58.583Z,1747084258.583 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgeChlDepth = nan m
2025-05-12T21:10:58.587Z,1747084258.587 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgeChlTemperature = nan degC
2025-05-12T21:10:58.598Z,1747084258.598 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgeChlLatitude = nan arcdeg
2025-05-12T21:10:58.602Z,1747084258.602 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgeChlLongitude = nan arcdeg
2025-05-12T21:10:58.614Z,1747084258.614 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakNO3 = nan umol/l
2025-05-12T21:10:58.625Z,1747084258.625 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakNO3Depth = nan m
2025-05-12T21:10:58.633Z,1747084258.633 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakNO3Latitude = nan arcdeg
2025-05-12T21:10:58.636Z,1747084258.636 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakNO3Longitude = nan arcdeg
2025-05-12T21:10:58.671Z,1747084258.671 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakOil = nan kg/m3
2025-05-12T21:10:58.679Z,1747084258.679 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakOilDepth = nan m
2025-05-12T21:10:58.694Z,1747084258.694 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakOilLatitude = nan arcdeg
2025-05-12T21:10:58.702Z,1747084258.702 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakOilLongitude = nan arcdeg
2025-05-12T21:10:58.725Z,1747084258.725 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakFDOM = nan ppb
2025-05-12T21:10:58.731Z,1747084258.731 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakFDOMDepth = nan m
2025-05-12T21:10:58.735Z,1747084258.735 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakFDOMTemperature = nan degC
2025-05-12T21:10:58.746Z,1747084258.746 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakFDOMLatitude = nan arcdeg
2025-05-12T21:10:58.750Z,1747084258.750 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakFDOMLongitude = nan arcdeg
2025-05-12T21:10:58.766Z,1747084258.766 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakSalt = nan psu
2025-05-12T21:10:58.773Z,1747084258.773 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakSaltDepth = nan m
2025-05-12T21:10:58.781Z,1747084258.781 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakSaltTemperature = nan degC
2025-05-12T21:10:58.784Z,1747084258.784 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakSaltLatitude = nan arcdeg
2025-05-12T21:10:58.792Z,1747084258.792 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakSaltLongitude = nan arcdeg
2025-05-12T21:10:58.807Z,1747084258.807 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-05-12T21:10:58.820Z,1747084258.820 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-05-12T21:10:58.833Z,1747084258.833 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-05-12T21:10:58.838Z,1747084258.838 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-05-12T21:10:58.855Z,1747084258.855 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-05-12T21:10:58.870Z,1747084258.870 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-05-12T21:10:58.887Z,1747084258.887 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-05-12T21:10:58.892Z,1747084258.892 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-05-12T21:10:58.915Z,1747084258.915 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-05-12T21:10:58.923Z,1747084258.923 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-05-12T21:10:58.926Z,1747084258.926 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-05-12T21:10:58.942Z,1747084258.942 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-05-12T21:10:58.950Z,1747084258.950 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-05-12T21:10:58.954Z,1747084258.954 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-05-12T21:10:58.967Z,1747084258.967 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-05-12T21:10:58.985Z,1747084258.985 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreHMavgROI = nan count/s
2025-05-12T21:10:58.993Z,1747084258.993 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreHMavgROIDepth = nan m
2025-05-12T21:10:58.996Z,1747084258.996 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreHMavgROITemperature = nan degC
2025-05-12T21:10:59.004Z,1747084259.004 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreHMavgROILatitude = nan arcdeg
2025-05-12T21:10:59.008Z,1747084259.008 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreHMavgROILongitude = nan arcdeg
2025-05-12T21:10:59.019Z,1747084259.019 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-05-12T21:10:59.027Z,1747084259.027 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-05-12T21:10:59.038Z,1747084259.038 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-05-12T21:10:59.078Z,1747084259.078 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-05-12T21:10:59.089Z,1747084259.089 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-05-12T21:10:59.101Z,1747084259.101 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreDiatoms = nan count/ml
2025-05-12T21:10:59.104Z,1747084259.104 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreDiatomsDepth = nan m
2025-05-12T21:10:59.123Z,1747084259.123 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreDiatomsTemperature = nan degC
2025-05-12T21:10:59.131Z,1747084259.131 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreDiatomsLatitude = nan arcdeg
2025-05-12T21:10:59.138Z,1747084259.138 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreDiatomsLongitude = nan arcdeg
2025-05-12T21:10:59.157Z,1747084259.157 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-05-12T21:10:59.164Z,1747084259.164 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-05-12T21:10:59.179Z,1747084259.179 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-05-12T21:10:59.184Z,1747084259.184 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-05-12T21:10:59.203Z,1747084259.203 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-05-12T21:10:59.208Z,1747084259.208 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreDinoflagellates = nan count/ml
2025-05-12T21:10:59.219Z,1747084259.219 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreDinoflagellatesDepth = nan m
2025-05-12T21:10:59.224Z,1747084259.224 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreDinoflagellatesTemperature = nan degC
2025-05-12T21:10:59.236Z,1747084259.236 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-05-12T21:10:59.249Z,1747084259.249 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-05-12T21:10:59.257Z,1747084259.257 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchChl = nan ug/l
2025-05-12T21:10:59.260Z,1747084259.260 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchChlDepth = nan m
2025-05-12T21:10:59.272Z,1747084259.272 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchChlLatitude = nan arcdeg
2025-05-12T21:10:59.275Z,1747084259.275 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchChlLongitude = nan arcdeg
2025-05-12T21:10:59.280Z,1747084259.280 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchChlDistance = nan m
2025-05-12T21:10:59.291Z,1747084259.291 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchSalt = nan psu
2025-05-12T21:10:59.295Z,1747084259.295 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchSaltDepth = nan m
2025-05-12T21:10:59.310Z,1747084259.310 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchSaltLatitude = nan arcdeg
2025-05-12T21:10:59.315Z,1747084259.315 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchSaltLongitude = nan arcdeg
2025-05-12T21:10:59.327Z,1747084259.327 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchSaltDistance = nan m
2025-05-12T21:10:59.331Z,1747084259.331 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchOil = nan psu
2025-05-12T21:10:59.346Z,1747084259.346 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchOilDepth = nan m
2025-05-12T21:10:59.350Z,1747084259.350 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchOilLatitude = nan arcdeg
2025-05-12T21:10:59.361Z,1747084259.361 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchOilLongitude = nan arcdeg
2025-05-12T21:10:59.369Z,1747084259.369 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchOilDistance = nan m
2025-05-12T21:10:59.374Z,1747084259.374 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.TriggeredOnChl = 0 bool
2025-05-12T21:10:59.378Z,1747084259.378 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.ChlTriggering = nan ug/l
2025-05-12T21:10:59.498Z,1747084259.498 [ballast_and_trim:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-05-12T21:10:59.532Z,1747084259.532 [ballast_and_trim:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-05-12T21:10:59.591Z,1747084259.591 [ballast_and_trim:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-05-12T21:10:59.619Z,1747084259.619 [ballast_and_trim:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-05-12T21:10:59.647Z,1747084259.647 [ballast_and_trim:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-05-12T21:10:59.683Z,1747084259.683 [ballast_and_trim:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-05-12T21:10:59.730Z,1747084259.730 [ballast_and_trim:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-05-12T21:10:59.755Z,1747084259.755 [ballast_and_trim:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-05-12T21:10:59.784Z,1747084259.784 [ballast_and_trim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-05-12T21:10:59.815Z,1747084259.815 [ballast_and_trim:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-05-12T21:10:59.848Z,1747084259.848 [ballast_and_trim:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-05-12T21:10:59.966Z,1747084259.966 [ballast_and_trim:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-05-12T21:10:59.997Z,1747084259.997 [ballast_and_trim:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-05-12T21:11:00.043Z,1747084260.043 [ballast_and_trim:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-05-12T21:11:00.079Z,1747084260.079 [ballast_and_trim:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-05-12T21:11:00.150Z,1747084260.150 [ballast_and_trim:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-05-12T21:11:00.172Z,1747084260.172 [ballast_and_trim:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-05-12T21:11:00.218Z,1747084260.218 [ballast_and_trim:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-05-12T21:11:00.238Z,1747084260.238 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-05-12T21:11:00.238Z,1747084260.238 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-05-12T21:11:00.239Z,1747084260.239 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-05-12T21:11:00.748Z,1747084260.748 [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>

2025-05-12T21:11:00.793Z,1747084260.793 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.DiveInterval = 1.000000 h
2025-05-12T21:11:00.796Z,1747084260.796 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.WaitForPitchUp = 10.000000 min
2025-05-12T21:11:00.803Z,1747084260.803 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-05-12T21:11:00.818Z,1747084260.818 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.SurfaceDepthRate = nan m/s
2025-05-12T21:11:00.825Z,1747084260.825 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-05-12T21:11:00.828Z,1747084260.828 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.SurfacingTimeout = 1000.000000 s
2025-05-12T21:11:00.836Z,1747084260.836 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.GPSTimeout = 7.000000 min
2025-05-12T21:11:00.847Z,1747084260.847 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.CommsTimeout = 30.000000 min
2025-05-12T21:11:00.863Z,1747084260.863 [ballast_and_trim:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-05-12T21:11:00.916Z,1747084260.916 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-05-12T21:11:00.916Z,1747084260.916 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-05-12T21:11:00.922Z,1747084260.922 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-05-12T21:11:01.059Z,1747084261.059 [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>

2025-05-12T21:11:01.099Z,1747084261.099 [MissionManager](INFO): DefineArg ballast_and_trim:StandardEnvelopes.MinAltitude = 5.000000 m
2025-05-12T21:11:01.103Z,1747084261.103 [MissionManager](INFO): DefineArg ballast_and_trim:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-05-12T21:11:01.122Z,1747084261.122 [MissionManager](INFO): DefineArg ballast_and_trim:StandardEnvelopes.MaxDepth = 200.000000 m
2025-05-12T21:11:01.134Z,1747084261.134 [MissionManager](INFO): DefineArg ballast_and_trim:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-05-12T21:11:01.135Z,1747084261.135 [ballast_and_trim:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-05-12T21:11:01.166Z,1747084261.166 [ballast_and_trim:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-05-12T21:11:01.224Z,1747084261.224 [ballast_and_trim:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-05-12T21:11:01.244Z,1747084261.244 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-05-12T21:11:01.249Z,1747084261.249 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-05-12T21:11:01.250Z,1747084261.250 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-05-12T21:11:01.289Z,1747084261.289 [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>

2025-05-12T21:11:01.297Z,1747084261.297 [MissionManager](INFO): DefineArg ballast_and_trim:BackseatDriver.EnableBackseat = 0 bool
2025-05-12T21:11:01.299Z,1747084261.299 [ballast_and_trim:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-05-12T21:11:01.311Z,1747084261.311 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-05-12T21:11:01.311Z,1747084261.311 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-05-12T21:11:01.312Z,1747084261.312 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-05-12T21:11:01.571Z,1747084261.571 [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>

2025-05-12T21:11:01.580Z,1747084261.580 [MissionManager](INFO): DefineArg ballast_and_trim:PowerOnly.SampleAll = 0 bool
2025-05-12T21:11:01.588Z,1747084261.588 [MissionManager](INFO): DefineArg ballast_and_trim:PowerOnly.SampleLoad1 = 0 bool
2025-05-12T21:11:01.595Z,1747084261.595 [MissionManager](INFO): DefineArg ballast_and_trim:PowerOnly.SampleLoad2 = 0 bool
2025-05-12T21:11:01.599Z,1747084261.599 [MissionManager](INFO): DefineArg ballast_and_trim:PowerOnly.SampleLoad3 = 0 bool
2025-05-12T21:11:01.611Z,1747084261.611 [MissionManager](INFO): DefineArg ballast_and_trim:PowerOnly.EnabledPowerOnly = 1 bool
2025-05-12T21:11:01.627Z,1747084261.626 [ballast_and_trim:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-05-12T21:11:01.636Z,1747084261.636 [ballast_and_trim:CheckTargetDepths:CheckDepth1:B.Execute](DEBUG): Construct Execute.
2025-05-12T21:11:01.649Z,1747084261.649 [ballast_and_trim:CheckTargetDepths:CheckDepth2:B.Execute](DEBUG): Construct Execute.
2025-05-12T21:11:01.665Z,1747084261.665 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BallastAndTrim.tl
2025-05-12T21:11:01.666Z,1747084261.666 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BallastAndTrim.tl
2025-05-12T21:11:01.667Z,1747084261.667 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BallastAndTrim.tl
2025-05-12T21:11:02.571Z,1747084262.571 [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>

2025-05-12T21:11:02.597Z,1747084262.597 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertDepth = 25.000000 m
2025-05-12T21:11:02.602Z,1747084262.602 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachSpeed = 0.000000 m/s
2025-05-12T21:11:02.606Z,1747084262.606 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachDepthRate = 0.400000 m/s
2025-05-12T21:11:02.613Z,1747084262.613 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachPitchLimit = 20.000000 arcdeg
2025-05-12T21:11:02.621Z,1747084262.621 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachSettleTimePreDive = 0.000000 min
2025-05-12T21:11:02.624Z,1747084262.624 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachDepthTimeout = 20.000000 min
2025-05-12T21:11:02.631Z,1747084262.631 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertSettleTime = 10.000000 min
2025-05-12T21:11:02.646Z,1747084262.646 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.EstTimeout = 45.000000 min
2025-05-12T21:11:02.653Z,1747084262.653 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.MinEstTime = 10.000000 min
2025-05-12T21:11:02.661Z,1747084262.661 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.MassEstErrorBound = 0.250000 mm
2025-05-12T21:11:02.664Z,1747084262.664 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.BuoyEstErrorBound = 15.000000 cc
2025-05-12T21:11:02.671Z,1747084262.671 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.EstConfidence = 99.900002 %
2025-05-12T21:11:02.675Z,1747084262.675 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertDepthDeadband = 1.000000 m
2025-05-12T21:11:02.714Z,1747084262.714 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertMassDeadband = 0.250000 mm
2025-05-12T21:11:02.774Z,1747084262.774 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point](DEBUG): Construct.
2025-05-12T21:11:02.797Z,1747084262.797 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy](DEBUG): Construct Buoyancy.
2025-05-12T21:11:02.807Z,1747084262.807 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch](DEBUG): Construct.
2025-05-12T21:11:02.840Z,1747084262.840 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait](DEBUG): Construct Wait.
2025-05-12T21:11:02.854Z,1747084262.854 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed](DEBUG): Construct.
2025-05-12T21:11:02.863Z,1747084262.863 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch](DEBUG): Construct.
2025-05-12T21:11:02.885Z,1747084262.885 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2025-05-12T21:11:02.888Z,1747084262.888 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed](DEBUG): Construct.
2025-05-12T21:11:02.896Z,1747084262.896 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch](DEBUG): Construct.
2025-05-12T21:11:02.911Z,1747084262.911 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait](DEBUG): Construct Wait.
2025-05-12T21:11:02.929Z,1747084262.929 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:E.Execute](DEBUG): Construct Execute.
2025-05-12T21:11:02.938Z,1747084262.938 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](DEBUG): Construct BallastAndTrim.
2025-05-12T21:11:02.977Z,1747084262.977 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertDepthDeadband = reader:ballast_and_trim.DepthDeadband
2025-05-12T21:11:02.979Z,1747084262.979 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachSpeed = reader:ballast_and_trim.ApproachSpeed
2025-05-12T21:11:02.985Z,1747084262.985 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachDepthRate = reader:ballast_and_trim.ApproachDepthRate
2025-05-12T21:11:02.987Z,1747084262.987 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachPitchLimit = reader:ballast_and_trim.ApproachPitchLimit
2025-05-12T21:11:02.993Z,1747084262.993 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachSettleTimePreDive = reader:ballast_and_trim.ApproachSettleTimePreDive
2025-05-12T21:11:02.995Z,1747084262.995 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachDepthTimeout = reader:ballast_and_trim.ApproachDepthTimeout
2025-05-12T21:11:03.001Z,1747084263.001 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertSettleTime = reader:ballast_and_trim.SettleTime
2025-05-12T21:11:03.003Z,1747084263.003 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.EstTimeout = reader:ballast_and_trim.EstimationTimeout
2025-05-12T21:11:03.009Z,1747084263.009 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.MinEstTime = reader:ballast_and_trim.MinEstimationTime
2025-05-12T21:11:03.011Z,1747084263.011 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.MassEstErrorBound = reader:ballast_and_trim.MassEstimationErrorBound
2025-05-12T21:11:03.017Z,1747084263.017 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.BuoyEstErrorBound = reader:ballast_and_trim.BuoyEstimationErrorBound
2025-05-12T21:11:03.022Z,1747084263.022 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.EstConfidence = reader:ballast_and_trim.EstimationConfidence
2025-05-12T21:11:03.023Z,1747084263.023 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertMassDeadband = reader:ballast_and_trim.massDeadband
2025-05-12T21:11:03.208Z,1747084263.208 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

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

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

    Depth1 = 35 meter

    Depth2 = NaN meter

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

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

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

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

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

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

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

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

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

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

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

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

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

    MinAltitude = 5 meter

    MaxDepth = 52 meter

    MinOffshore = 2 kilometer

    CheckDepths = 1 bool
  }

  timeout duration=MissionTimeout

  insert Insert/Science.tl

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

  insert Insert/StandardEnvelopes.tl

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

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

  aggregate CheckTargetDepths {
    run in sequence

    break if ( not ( CheckDepths ) )

    aggregate CheckDepth1 {
      run in sequence

      break if ( not ( Depth1 > MaxDepth ) )

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

      behavior Guidance:Execute {
        run in sequence

        set command = "stop"
      }
    }

    aggregate CheckDepth2 {
      run in sequence

      break if ( not ( Depth2 > MaxDepth ) )

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

      behavior Guidance:Execute {
        run in sequence

        set command = "stop"
      }
    }

    assign in sequence CheckDepths = 0 bool
  }

  aggregate StartingMission {
    run in sequence

    break if ( SkipComms )

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

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

  aggregate RunBallastAndTrim {
    run in sequence

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

    aggregate RunDepth1 {
      run in sequence

      break if ( isNaN ( Depth1 ) )

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

    aggregate RunDepth2 {
      run in sequence

      break if ( isNaN ( Depth2 ) )

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

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


2025-05-12T21:11:03.222Z,1747084263.222 [CommandExec](IMPORTANT): Running ./Missions/Maintenance/ballast_and_trim.tl
2025-05-12T21:11:03.544Z,1747084263.544 [MissionManager](IMPORTANT): Started mission ballast_and_trim
2025-05-12T21:11:03.549Z,1747084263.549 [ballast_and_trim] Running Loop=1
2025-05-12T21:11:03.549Z,1747084263.549 [ballast_and_trim](DEBUG): Aggregate::initialize ballast_and_trim
2025-05-12T21:11:03.549Z,1747084263.549 [ballast_and_trim:Science] Running Loop=1
2025-05-12T21:11:03.549Z,1747084263.549 [ballast_and_trim:Science](DEBUG): Aggregate::initialize ballast_and_trim:Science
2025-05-12T21:11:03.549Z,1747084263.549 [ballast_and_trim:Science:A] Running Loop=1
2025-05-12T21:11:03.549Z,1747084263.549 [ballast_and_trim:Science:B] Running Loop=1
2025-05-12T21:11:03.549Z,1747084263.549 [ballast_and_trim:Science:C] Running Loop=1
2025-05-12T21:11:03.549Z,1747084263.549 [ballast_and_trim:Science:D] Running Loop=1
2025-05-12T21:11:03.549Z,1747084263.549 [ballast_and_trim:Science:E] Running Loop=1
2025-05-12T21:11:03.549Z,1747084263.549 [ballast_and_trim:Science:F] Running Loop=1
2025-05-12T21:11:03.549Z,1747084263.549 [ballast_and_trim:Science:Read_Oil] Running Loop=1
2025-05-12T21:11:03.549Z,1747084263.549 [ballast_and_trim:Science:PeakDetectChl] Running Loop=1
2025-05-12T21:11:03.550Z,1747084263.550 [ballast_and_trim:Science:PeakDetectChl](DEBUG): Aggregate::initialize ballast_and_trim:Science:PeakDetectChl
2025-05-12T21:11:03.550Z,1747084263.550 [ballast_and_trim:Science:PeakDetectChl:A] Running Loop=1
2025-05-12T21:11:03.550Z,1747084263.550 [ballast_and_trim:Science:EdgeDetectChl] Running Loop=1
2025-05-12T21:11:03.550Z,1747084263.550 [ballast_and_trim:Science:EdgeDetectChl](DEBUG): Aggregate::initialize ballast_and_trim:Science:EdgeDetectChl
2025-05-12T21:11:03.550Z,1747084263.550 [ballast_and_trim:Science:EdgeDetectChl:A] Running Loop=1
2025-05-12T21:11:03.550Z,1747084263.550 [ballast_and_trim:Science:HighestChlPeakReport] Running Loop=1
2025-05-12T21:11:03.550Z,1747084263.550 [ballast_and_trim:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize ballast_and_trim:Science:HighestChlPeakReport
2025-05-12T21:11:03.550Z,1747084263.550 [ballast_and_trim:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-05-12T21:11:03.550Z,1747084263.550 [ballast_and_trim:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-05-12T21:11:03.551Z,1747084263.551 [ballast_and_trim:Science:PeakDetectNO3] Running Loop=1
2025-05-12T21:11:03.551Z,1747084263.551 [ballast_and_trim:Science:PeakDetectNO3](DEBUG): Aggregate::initialize ballast_and_trim:Science:PeakDetectNO3
2025-05-12T21:11:03.552Z,1747084263.552 [ballast_and_trim:Science:PeakDetectNO3:A] Running Loop=1
2025-05-12T21:11:03.552Z,1747084263.552 [ballast_and_trim:Science:PeakDetectOil] Running Loop=1
2025-05-12T21:11:03.552Z,1747084263.552 [ballast_and_trim:Science:PeakDetectOil](DEBUG): Aggregate::initialize ballast_and_trim:Science:PeakDetectOil
2025-05-12T21:11:03.552Z,1747084263.552 [ballast_and_trim:Science:PeakDetectOil:A] Running Loop=1
2025-05-12T21:11:03.552Z,1747084263.552 [ballast_and_trim:Science:HighestOilPeakReport] Running Loop=1
2025-05-12T21:11:03.552Z,1747084263.552 [ballast_and_trim:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize ballast_and_trim:Science:HighestOilPeakReport
2025-05-12T21:11:03.552Z,1747084263.552 [ballast_and_trim:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-05-12T21:11:03.552Z,1747084263.552 [ballast_and_trim:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-05-12T21:11:03.557Z,1747084263.557 [ballast_and_trim:Science:PeakDetectFDOM] Running Loop=1
2025-05-12T21:11:03.557Z,1747084263.557 [ballast_and_trim:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize ballast_and_trim:Science:PeakDetectFDOM
2025-05-12T21:11:03.558Z,1747084263.558 [ballast_and_trim:Science:PeakDetectFDOM:A] Running Loop=1
2025-05-12T21:11:03.558Z,1747084263.558 [ballast_and_trim:Science:PeakDetectSalinity] Running Loop=1
2025-05-12T21:11:03.558Z,1747084263.558 [ballast_and_trim:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize ballast_and_trim:Science:PeakDetectSalinity
2025-05-12T21:11:03.558Z,1747084263.558 [ballast_and_trim:Science:PeakDetectSalinity:A] Running Loop=1
2025-05-12T21:11:03.558Z,1747084263.558 [ballast_and_trim:Science:HighestSaltPeakReport] Running Loop=1
2025-05-12T21:11:03.558Z,1747084263.558 [ballast_and_trim:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize ballast_and_trim:Science:HighestSaltPeakReport
2025-05-12T21:11:03.558Z,1747084263.558 [ballast_and_trim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-05-12T21:11:03.558Z,1747084263.558 [ballast_and_trim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-05-12T21:11:03.559Z,1747084263.559 [ballast_and_trim:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-05-12T21:11:03.559Z,1747084263.559 [ballast_and_trim:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize ballast_and_trim:Science:PeakDetectPlanktivoreLMavgROI
2025-05-12T21:11:03.559Z,1747084263.559 [ballast_and_trim:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-05-12T21:11:03.559Z,1747084263.559 [ballast_and_trim:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2025-05-12T21:11:03.559Z,1747084263.559 [ballast_and_trim:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize ballast_and_trim:Science:EdgeDetectPlanktivoreLMavgROI
2025-05-12T21:11:03.559Z,1747084263.559 [ballast_and_trim:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-05-12T21:11:03.559Z,1747084263.559 [ballast_and_trim:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-05-12T21:11:03.559Z,1747084263.559 [ballast_and_trim:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize ballast_and_trim:Science:PeakDetectPlanktivoreHMavgROI
2025-05-12T21:11:03.560Z,1747084263.560 [ballast_and_trim:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-05-12T21:11:03.560Z,1747084263.560 [ballast_and_trim:Science:EdgeDetectPlanktivoreHMavgROI] Running Loop=1
2025-05-12T21:11:03.560Z,1747084263.560 [ballast_and_trim:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize ballast_and_trim:Science:EdgeDetectPlanktivoreHMavgROI
2025-05-12T21:11:03.560Z,1747084263.560 [ballast_and_trim:Science:EdgeDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-05-12T21:11:03.560Z,1747084263.560 [ballast_and_trim:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-05-12T21:11:03.560Z,1747084263.560 [ballast_and_trim:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize ballast_and_trim:Science:PeakDetectPlanktivoreDiatoms
2025-05-12T21:11:03.560Z,1747084263.560 [ballast_and_trim:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2025-05-12T21:11:03.560Z,1747084263.560 [ballast_and_trim:Science:EdgeDetectPlanktivoreDiatoms] Running Loop=1
2025-05-12T21:11:03.565Z,1747084263.565 [ballast_and_trim:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize ballast_and_trim:Science:EdgeDetectPlanktivoreDiatoms
2025-05-12T21:11:03.565Z,1747084263.565 [ballast_and_trim:Science:EdgeDetectPlanktivoreDiatoms:A] Running Loop=1
2025-05-12T21:11:03.565Z,1747084263.565 [ballast_and_trim:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-05-12T21:11:03.565Z,1747084263.565 [ballast_and_trim:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize ballast_and_trim:Science:PeakDetectPlanktivoreDinoflagellates
2025-05-12T21:11:03.565Z,1747084263.565 [ballast_and_trim:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-05-12T21:11:03.565Z,1747084263.565 [ballast_and_trim:Science:EdgeDetectPlanktivoreDinoflagellates] Running Loop=1
2025-05-12T21:11:03.565Z,1747084263.565 [ballast_and_trim:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize ballast_and_trim:Science:EdgeDetectPlanktivoreDinoflagellates
2025-05-12T21:11:03.565Z,1747084263.565 [ballast_and_trim:Science:EdgeDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-05-12T21:11:03.565Z,1747084263.565 [ballast_and_trim:Science:ChlThreshTrigger] Running Loop=1
2025-05-12T21:11:03.566Z,1747084263.566 [ballast_and_trim:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize ballast_and_trim:Science:ChlThreshTrigger
2025-05-12T21:11:03.566Z,1747084263.566 [ballast_and_trim:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-05-12T21:11:03.566Z,1747084263.566 [ballast_and_trim:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-05-12T21:11:03.566Z,1747084263.566 [ballast_and_trim:Science:OceanCurrent] Running Loop=1
2025-05-12T21:11:03.566Z,1747084263.566 [ballast_and_trim:Science:OceanCurrent](DEBUG): Aggregate::initialize ballast_and_trim:Science:OceanCurrent
2025-05-12T21:11:03.567Z,1747084263.567 [ballast_and_trim:Science:OceanCurrent:A.] Running Loop=1
2025-05-12T21:11:03.567Z,1747084263.567 [ballast_and_trim:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-05-12T21:11:03.567Z,1747084263.567 [ballast_and_trim:StandardEnvelopes] Running Loop=1
2025-05-12T21:11:03.567Z,1747084263.567 [ballast_and_trim:StandardEnvelopes](DEBUG): Aggregate::initialize ballast_and_trim:StandardEnvelopes
2025-05-12T21:11:03.567Z,1747084263.567 [ballast_and_trim:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-05-12T21:11:03.567Z,1747084263.567 [ballast_and_trim:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-05-12T21:11:03.567Z,1747084263.567 [ballast_and_trim:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-05-12T21:11:03.567Z,1747084263.567 [ballast_and_trim:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-05-12T21:11:03.567Z,1747084263.567 [ballast_and_trim:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-05-12T21:11:03.567Z,1747084263.567 [ballast_and_trim:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-05-12T21:11:03.568Z,1747084263.568 [ballast_and_trim:BackseatDriver] Running Loop=1
2025-05-12T21:11:03.568Z,1747084263.568 [ballast_and_trim:BackseatDriver](DEBUG): Aggregate::initialize ballast_and_trim:BackseatDriver
2025-05-12T21:11:03.568Z,1747084263.568 [ballast_and_trim:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-05-12T21:11:03.568Z,1747084263.568 [ballast_and_trim:PowerOnly] Running Loop=1
2025-05-12T21:11:03.568Z,1747084263.568 [ballast_and_trim:PowerOnly](DEBUG): Aggregate::initialize ballast_and_trim:PowerOnly
2025-05-12T21:11:03.568Z,1747084263.568 [ballast_and_trim:PowerOnly:A] Running Loop=1
2025-05-12T21:11:03.568Z,1747084263.568 [ballast_and_trim:PowerOnly:B] Running Loop=1
2025-05-12T21:11:03.568Z,1747084263.568 [ballast_and_trim:PowerOnly:C] Running Loop=1
2025-05-12T21:11:03.568Z,1747084263.568 [ballast_and_trim:PowerOnly:D] Running Loop=1
2025-05-12T21:11:03.573Z,1747084263.573 [ballast_and_trim:PowerOnly:E.Wait] Running Loop=1
2025-05-12T21:11:03.573Z,1747084263.573 [ballast_and_trim:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-05-12T21:11:03.573Z,1747084263.573 [ballast_and_trim:C] Running Loop=1
2025-05-12T21:11:03.574Z,1747084263.574 [ballast_and_trim:PowerOnly] Running Loop=1
2025-05-12T21:11:03.574Z,1747084263.574 [ballast_and_trim:PowerOnly:D] Stopped
2025-05-12T21:11:03.575Z,1747084263.575 [ballast_and_trim:PowerOnly:C] Stopped
2025-05-12T21:11:03.575Z,1747084263.575 [ballast_and_trim:PowerOnly:B] Stopped
2025-05-12T21:11:03.575Z,1747084263.575 [ballast_and_trim:PowerOnly:A] Stopped
2025-05-12T21:11:03.575Z,1747084263.575 [ballast_and_trim:BackseatDriver] Running Loop=1
2025-05-12T21:11:03.575Z,1747084263.575 [ballast_and_trim:StandardEnvelopes] Running Loop=1
2025-05-12T21:11:03.575Z,1747084263.575 [ballast_and_trim:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-05-12T21:11:03.575Z,1747084263.575 [ballast_and_trim:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-05-12T21:11:03.576Z,1747084263.576 [ballast_and_trim:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-05-12T21:11:03.581Z,1747084263.581 [ballast_and_trim:StandardEnvelopes:A.AltitudeEnvelope](IMPORTANT): Altitude envelope ACTIVE. Altitude:0.580000m. At depth:0.168053m.
2025-05-12T21:11:03.581Z,1747084263.581 [ballast_and_trim:C] Stopped
2025-05-12T21:11:03.582Z,1747084263.582 [ballast_and_trim:E] Running Loop=1
2025-05-12T21:11:03.582Z,1747084263.582 [ballast_and_trim:Science] Running Loop=1
2025-05-12T21:11:03.583Z,1747084263.583 [ballast_and_trim:Science:ChlThreshTrigger] Stopped
2025-05-12T21:11:03.583Z,1747084263.583 [ballast_and_trim:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:ChlThreshTrigger
2025-05-12T21:11:03.583Z,1747084263.583 [ballast_and_trim:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-05-12T21:11:03.583Z,1747084263.583 [ballast_and_trim:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-05-12T21:11:03.584Z,1747084263.584 [ballast_and_trim:Science:EdgeDetectPlanktivoreDinoflagellates] Stopped
2025-05-12T21:11:03.584Z,1747084263.584 [ballast_and_trim:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:EdgeDetectPlanktivoreDinoflagellates
2025-05-12T21:11:03.584Z,1747084263.584 [ballast_and_trim:Science:EdgeDetectPlanktivoreDinoflagellates:A] Stopped
2025-05-12T21:11:03.584Z,1747084263.584 [ballast_and_trim:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-05-12T21:11:03.584Z,1747084263.584 [ballast_and_trim:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:PeakDetectPlanktivoreDinoflagellates
2025-05-12T21:11:03.584Z,1747084263.584 [ballast_and_trim:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2025-05-12T21:11:03.584Z,1747084263.584 [ballast_and_trim:Science:EdgeDetectPlanktivoreDiatoms] Stopped
2025-05-12T21:11:03.584Z,1747084263.584 [ballast_and_trim:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:EdgeDetectPlanktivoreDiatoms
2025-05-12T21:11:03.584Z,1747084263.584 [ballast_and_trim:Science:EdgeDetectPlanktivoreDiatoms:A] Stopped
2025-05-12T21:11:03.584Z,1747084263.584 [ballast_and_trim:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-05-12T21:11:03.589Z,1747084263.589 [ballast_and_trim:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:PeakDetectPlanktivoreDiatoms
2025-05-12T21:11:03.589Z,1747084263.589 [ballast_and_trim:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2025-05-12T21:11:03.589Z,1747084263.589 [ballast_and_trim:Science:EdgeDetectPlanktivoreHMavgROI] Stopped
2025-05-12T21:11:03.589Z,1747084263.589 [ballast_and_trim:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:EdgeDetectPlanktivoreHMavgROI
2025-05-12T21:11:03.589Z,1747084263.589 [ballast_and_trim:Science:EdgeDetectPlanktivoreHMavgROI:A] Stopped
2025-05-12T21:11:03.589Z,1747084263.589 [ballast_and_trim:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-05-12T21:11:03.589Z,1747084263.589 [ballast_and_trim:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:PeakDetectPlanktivoreHMavgROI
2025-05-12T21:11:03.589Z,1747084263.589 [ballast_and_trim:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2025-05-12T21:11:03.589Z,1747084263.589 [ballast_and_trim:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2025-05-12T21:11:03.589Z,1747084263.589 [ballast_and_trim:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:EdgeDetectPlanktivoreLMavgROI
2025-05-12T21:11:03.589Z,1747084263.589 [ballast_and_trim:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2025-05-12T21:11:03.589Z,1747084263.589 [ballast_and_trim:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-05-12T21:11:03.590Z,1747084263.590 [ballast_and_trim:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:PeakDetectPlanktivoreLMavgROI
2025-05-12T21:11:03.590Z,1747084263.590 [ballast_and_trim:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2025-05-12T21:11:03.590Z,1747084263.590 [ballast_and_trim:Science:HighestSaltPeakReport] Stopped
2025-05-12T21:11:03.590Z,1747084263.590 [ballast_and_trim:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:HighestSaltPeakReport
2025-05-12T21:11:03.590Z,1747084263.590 [ballast_and_trim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-05-12T21:11:03.590Z,1747084263.590 [ballast_and_trim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-05-12T21:11:03.590Z,1747084263.590 [ballast_and_trim:Science:PeakDetectSalinity] Stopped
2025-05-12T21:11:03.590Z,1747084263.590 [ballast_and_trim:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:PeakDetectSalinity
2025-05-12T21:11:03.590Z,1747084263.590 [ballast_and_trim:Science:PeakDetectSalinity:A] Stopped
2025-05-12T21:11:03.590Z,1747084263.590 [ballast_and_trim:Science:PeakDetectFDOM] Stopped
2025-05-12T21:11:03.590Z,1747084263.590 [ballast_and_trim:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:PeakDetectFDOM
2025-05-12T21:11:03.590Z,1747084263.590 [ballast_and_trim:Science:PeakDetectFDOM:A] Stopped
2025-05-12T21:11:03.590Z,1747084263.590 [ballast_and_trim:Science:HighestOilPeakReport] Stopped
2025-05-12T21:11:03.591Z,1747084263.591 [ballast_and_trim:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:HighestOilPeakReport
2025-05-12T21:11:03.591Z,1747084263.591 [ballast_and_trim:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-05-12T21:11:03.591Z,1747084263.591 [ballast_and_trim:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-05-12T21:11:03.591Z,1747084263.591 [ballast_and_trim:Science:PeakDetectOil] Stopped
2025-05-12T21:11:03.591Z,1747084263.591 [ballast_and_trim:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:PeakDetectOil
2025-05-12T21:11:03.591Z,1747084263.591 [ballast_and_trim:Science:PeakDetectOil:A] Stopped
2025-05-12T21:11:03.591Z,1747084263.591 [ballast_and_trim:Science:PeakDetectNO3] Stopped
2025-05-12T21:11:03.591Z,1747084263.591 [ballast_and_trim:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:PeakDetectNO3
2025-05-12T21:11:03.591Z,1747084263.591 [ballast_and_trim:Science:PeakDetectNO3:A] Stopped
2025-05-12T21:11:03.591Z,1747084263.591 [ballast_and_trim:Science:HighestChlPeakReport] Stopped
2025-05-12T21:11:03.591Z,1747084263.591 [ballast_and_trim:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:HighestChlPeakReport
2025-05-12T21:11:03.591Z,1747084263.591 [ballast_and_trim:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-05-12T21:11:03.591Z,1747084263.591 [ballast_and_trim:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-05-12T21:11:03.592Z,1747084263.592 [ballast_and_trim:Science:EdgeDetectChl] Stopped
2025-05-12T21:11:03.592Z,1747084263.592 [ballast_and_trim:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:EdgeDetectChl
2025-05-12T21:11:03.592Z,1747084263.592 [ballast_and_trim:Science:EdgeDetectChl:A] Stopped
2025-05-12T21:11:03.592Z,1747084263.592 [ballast_and_trim:Science:PeakDetectChl] Stopped
2025-05-12T21:11:03.592Z,1747084263.592 [ballast_and_trim:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:PeakDetectChl
2025-05-12T21:11:03.592Z,1747084263.592 [ballast_and_trim:Science:PeakDetectChl:A] Stopped
2025-05-12T21:11:03.592Z,1747084263.592 [ballast_and_trim:Science:OceanCurrent:A.] Running Loop=1
2025-05-12T21:11:03.599Z,1747084263.599 [ballast_and_trim:Science:Read_Oil] Stopped
2025-05-12T21:11:03.599Z,1747084263.599 [ballast_and_trim:Science:F] Stopped
2025-05-12T21:11:03.599Z,1747084263.599 [ballast_and_trim:Science:E] Running Loop=1
2025-05-12T21:11:03.600Z,1747084263.600 [ballast_and_trim:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2025-05-12T21:11:03.600Z,1747084263.600 [ballast_and_trim:Science:D] Stopped
2025-05-12T21:11:03.600Z,1747084263.600 [ballast_and_trim:Science:C] Running Loop=1
2025-05-12T21:11:03.605Z,1747084263.605 [ballast_and_trim:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2025-05-12T21:11:03.605Z,1747084263.605 [ballast_and_trim:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2025-05-12T21:11:03.605Z,1747084263.605 [ballast_and_trim:Science:B] Running Loop=1
2025-05-12T21:11:03.606Z,1747084263.606 [ballast_and_trim:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2025-05-12T21:11:03.607Z,1747084263.607 [ballast_and_trim:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2025-05-12T21:11:03.607Z,1747084263.607 [ballast_and_trim:Science:A] Stopped
2025-05-12T21:11:03.622Z,1747084263.622 [WetLabsBB2FL](INFO): Powering up
2025-05-12T21:11:03.930Z,1747084263.930 [ballast_and_trim:E] Stopped
2025-05-12T21:11:03.930Z,1747084263.930 [ballast_and_trim:F] Running Loop=1
2025-05-12T21:11:04.334Z,1747084264.334 [ballast_and_trim:F] Stopped
2025-05-12T21:11:04.334Z,1747084264.334 [ballast_and_trim:G] Running Loop=1
2025-05-12T21:11:04.738Z,1747084264.738 [ballast_and_trim:G] Stopped
2025-05-12T21:11:04.738Z,1747084264.738 [ballast_and_trim:CheckTargetDepths] Running Loop=1
2025-05-12T21:11:04.738Z,1747084264.738 [ballast_and_trim:CheckTargetDepths](DEBUG): Aggregate::initialize ballast_and_trim:CheckTargetDepths
2025-05-12T21:11:04.739Z,1747084264.739 [ballast_and_trim:CheckTargetDepths:CheckDepth1] Running Loop=1
2025-05-12T21:11:04.739Z,1747084264.739 [ballast_and_trim:CheckTargetDepths:CheckDepth1](DEBUG): Aggregate::initialize ballast_and_trim:CheckTargetDepths:CheckDepth1
2025-05-12T21:11:04.739Z,1747084264.739 [ballast_and_trim:CheckTargetDepths:CheckDepth1:A] Running Loop=1
2025-05-12T21:11:05.163Z,1747084265.163 [ballast_and_trim:CheckTargetDepths:CheckDepth1] Stopped
2025-05-12T21:11:05.163Z,1747084265.163 [ballast_and_trim:CheckTargetDepths:CheckDepth1](DEBUG): Aggregate::uninitialize ballast_and_trim:CheckTargetDepths:CheckDepth1
2025-05-12T21:11:05.163Z,1747084265.163 [ballast_and_trim:CheckTargetDepths:CheckDepth1:A] Stopped
2025-05-12T21:11:05.163Z,1747084265.163 [ballast_and_trim:CheckTargetDepths:CheckDepth2] Running Loop=1
2025-05-12T21:11:05.163Z,1747084265.163 [ballast_and_trim:CheckTargetDepths:CheckDepth2](DEBUG): Aggregate::initialize ballast_and_trim:CheckTargetDepths:CheckDepth2
2025-05-12T21:11:05.164Z,1747084265.164 [ballast_and_trim:CheckTargetDepths:CheckDepth2:A] Running Loop=1
2025-05-12T21:11:05.553Z,1747084265.553 [ballast_and_trim:CheckTargetDepths:CheckDepth2] Stopped
2025-05-12T21:11:05.554Z,1747084265.554 [ballast_and_trim:CheckTargetDepths:CheckDepth2](DEBUG): Aggregate::uninitialize ballast_and_trim:CheckTargetDepths:CheckDepth2
2025-05-12T21:11:05.554Z,1747084265.554 [ballast_and_trim:CheckTargetDepths:CheckDepth2:A] Stopped
2025-05-12T21:11:05.554Z,1747084265.554 [ballast_and_trim:CheckTargetDepths:C] Running Loop=1
2025-05-12T21:11:05.962Z,1747084265.962 [ballast_and_trim:CheckTargetDepths:C] Stopped
2025-05-12T21:11:05.963Z,1747084265.963 [ballast_and_trim:CheckTargetDepths](INFO): Completed ballast_and_trim:CheckTargetDepths
2025-05-12T21:11:05.963Z,1747084265.963 [ballast_and_trim:CheckTargetDepths] Stopped
2025-05-12T21:11:05.963Z,1747084265.963 [ballast_and_trim:CheckTargetDepths](DEBUG): Aggregate::uninitialize ballast_and_trim:CheckTargetDepths
2025-05-12T21:11:05.963Z,1747084265.963 [ballast_and_trim:StartingMission] Running Loop=1
2025-05-12T21:11:05.963Z,1747084265.963 [ballast_and_trim:StartingMission](DEBUG): Aggregate::initialize ballast_and_trim:StartingMission
2025-05-12T21:11:05.963Z,1747084265.963 [ballast_and_trim:StartingMission:A] Running Loop=1
2025-05-12T21:11:06.367Z,1747084266.367 [ballast_and_trim:StartingMission:A](INFO): Checking for additional instructions before submerging.
2025-05-12T21:11:06.367Z,1747084266.367 [ballast_and_trim:StartingMission:A] Stopped
2025-05-12T21:11:06.367Z,1747084266.367 [ballast_and_trim:StartingMission:StartingMission] Running Loop=1
2025-05-12T21:11:06.367Z,1747084266.367 [ballast_and_trim:StartingMission:StartingMission](DEBUG): Aggregate::initialize ballast_and_trim:StartingMission:StartingMission
2025-05-12T21:11:06.781Z,1747084266.781 [ballast_and_trim:NeedComms] Running Loop=1
2025-05-12T21:11:06.781Z,1747084266.781 [ballast_and_trim:NeedComms](DEBUG): Aggregate::initialize ballast_and_trim:NeedComms
2025-05-12T21:11:06.782Z,1747084266.782 [ballast_and_trim:NeedComms:B.GoToSurface] Running Loop=1
2025-05-12T21:11:06.782Z,1747084266.782 [ballast_and_trim:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-05-12T21:11:06.782Z,1747084266.782 [ballast_and_trim:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-05-12T21:11:06.783Z,1747084266.783 [ballast_and_trim:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-05-12T21:11:06.784Z,1747084266.784 [ballast_and_trim:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-05-12T21:11:06.789Z,1747084266.789 [ballast_and_trim:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-05-12T21:11:06.790Z,1747084266.790 [ballast_and_trim:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-05-12T21:11:06.790Z,1747084266.790 [ballast_and_trim:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-05-12T21:11:06.791Z,1747084266.791 [ballast_and_trim:NeedComms:A] Running Loop=1
2025-05-12T21:11:06.798Z,1747084266.798 [ballast_and_trim:NeedComms:A](INFO): last time_fix was:  1747084244.000000 second since 1970/01/01T00:00:00Z 
2025-05-12T21:11:06.799Z,1747084266.799 [ballast_and_trim:NeedComms:A] Stopped
2025-05-12T21:11:07.225Z,1747084267.225 [ballast_and_trim:NeedComms:C] Running Loop=1
2025-05-12T21:11:07.230Z,1747084267.230 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2025-05-12T21:11:07.579Z,1747084267.579 [ballast_and_trim:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-05-12T21:11:19.302Z,1747084279.302 [NAL9602](INFO): SBD MO Status=2, MOMSN=20610, MT Status=2, MTMSN=0
2025-05-12T21:11:19.302Z,1747084279.302 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-05-12T21:11:35.033Z,1747084295.033 [NAL9602](INFO): SBD MO Status=2, MOMSN=20610, MT Status=2, MTMSN=0
2025-05-12T21:11:35.034Z,1747084295.034 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-05-12T21:13:05.933Z,1747084385.933 [NAL9602](INFO): SBD MO Status=2, MOMSN=20610, MT Status=2, MTMSN=0
2025-05-12T21:13:05.933Z,1747084385.933 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-05-12T21:13:38.668Z,1747084418.668 [NAL9602](INFO): SBD MO Status=0, MOMSN=20610, MT Status=0, MTMSN=0
2025-05-12T21:13:38.668Z,1747084418.668 [NAL9602](INFO): No messages in MT queue
2025-05-12T21:13:39.865Z,1747084419.865 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,211339.00,A,3647.86730,N,12150.80781,W,0.369,15.84,120525,,,D*4A
2025-05-12T21:13:39.867Z,1747084419.867 [NAL9602](INFO): GPS fix at 20250512T211339: (36.797788, -121.846797)
2025-05-12T21:13:39.879Z,1747084419.879 [ballast_and_trim:NeedComms:C] Stopped
2025-05-12T21:13:39.880Z,1747084419.880 [ballast_and_trim:NeedComms:D] Running Loop=1
2025-05-12T21:13:40.305Z,1747084420.305 [ballast_and_trim:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-05-12T21:13:47.712Z,1747084427.712 [DataOverHttps](INFO): Sending 75 bytes from file Logs/20250512T191822/Courier0051.lzma
2025-05-12T21:13:48.715Z,1747084428.715 [DataOverHttps](INFO): Moved sent file to Logs/20250512T191822/Courier0051.lzma.bak
2025-05-12T21:13:48.715Z,1747084428.715 [DataOverHttps](INFO): SBD MOMSN=24856020
2025-05-12T21:14:05.342Z,1747084445.342 [DataOverHttps](INFO): Sending 723 bytes from file Logs/20250512T191822/Express0052.lzma
2025-05-12T21:14:06.343Z,1747084446.343 [DataOverHttps](INFO): Moved sent file to Logs/20250512T191822/Express0052.lzma.bak
2025-05-12T21:14:06.343Z,1747084446.343 [DataOverHttps](INFO): SBD MOMSN=24856024
2025-05-12T21:14:07.765Z,1747084447.765 [DVL_micro](ERROR): Failed to parse:
:BD,+00000000.00,+00000000.00,+00000000.00,9999.99,000.00
2025-05-12T21:14:07.777Z,1747084447.777 [ballast_and_trim:NeedComms:D] Stopped
2025-05-12T21:14:07.778Z,1747084447.778 [ballast_and_trim:NeedComms:E] Running Loop=1
2025-05-12T21:14:08.164Z,1747084448.164 [ballast_and_trim:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-05-12T21:14:09.808Z,1747084449.808 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,211409.00,A,3647.86932,N,12150.80701,W,0.778,24.98,120525,,,D*41
2025-05-12T21:14:09.830Z,1747084449.830 [NAL9602](INFO): GPS fix at 20250512T211409: (36.797822, -121.846784)
2025-05-12T21:14:09.855Z,1747084449.855 [ballast_and_trim:NeedComms:E] Stopped
2025-05-12T21:14:09.856Z,1747084449.856 [ballast_and_trim:NeedComms](INFO): Completed ballast_and_trim:NeedComms
2025-05-12T21:14:09.856Z,1747084449.856 [ballast_and_trim:NeedComms] Stopped
2025-05-12T21:14:09.861Z,1747084449.861 [ballast_and_trim:NeedComms](DEBUG): Aggregate::uninitialize ballast_and_trim:NeedComms
2025-05-12T21:14:09.861Z,1747084449.861 [ballast_and_trim:NeedComms:B.GoToSurface] Stopped
2025-05-12T21:14:09.861Z,1747084449.861 [ballast_and_trim:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-05-12T21:14:10.205Z,1747084450.205 [ballast_and_trim:StartingMission:StartingMission](INFO): Completed ballast_and_trim:StartingMission:StartingMission
2025-05-12T21:14:10.206Z,1747084450.206 [ballast_and_trim:StartingMission:StartingMission] Stopped
2025-05-12T21:14:10.206Z,1747084450.206 [ballast_and_trim:StartingMission:StartingMission](DEBUG): Aggregate::uninitialize ballast_and_trim:StartingMission:StartingMission
2025-05-12T21:14:10.206Z,1747084450.206 [ballast_and_trim:StartingMission](INFO): Completed ballast_and_trim:StartingMission
2025-05-12T21:14:10.206Z,1747084450.206 [ballast_and_trim:StartingMission] Stopped
2025-05-12T21:14:10.206Z,1747084450.206 [ballast_and_trim:StartingMission](DEBUG): Aggregate::uninitialize ballast_and_trim:StartingMission
2025-05-12T21:14:10.206Z,1747084450.206 [ballast_and_trim:RunBallastAndTrim] Running Loop=1
2025-05-12T21:14:10.206Z,1747084450.206 [ballast_and_trim:RunBallastAndTrim](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim
2025-05-12T21:14:10.206Z,1747084450.206 [ballast_and_trim:RunBallastAndTrim:RunDepth1] Running Loop=1
2025-05-12T21:14:10.206Z,1747084450.206 [ballast_and_trim:RunBallastAndTrim:RunDepth1](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim:RunDepth1
2025-05-12T21:14:10.207Z,1747084450.207 [ballast_and_trim:RunBallastAndTrim:RunDepth1:A] Running Loop=1
2025-05-12T21:14:10.614Z,1747084450.614 [ballast_and_trim:RunBallastAndTrim:RunDepth1:A] Stopped
2025-05-12T21:14:10.614Z,1747084450.614 [ballast_and_trim:RunBallastAndTrim:RunDepth1:B] Running Loop=1
2025-05-12T21:14:10.614Z,1747084450.614 [ballast_and_trim:RunBallastAndTrim:RunDepth1:B](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim:RunDepth1:B
2025-05-12T21:14:11.008Z,1747084451.008 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim] Running Loop=1
2025-05-12T21:14:11.008Z,1747084451.008 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim
2025-05-12T21:14:11.008Z,1747084451.008 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:A] Running Loop=1
2025-05-12T21:14:11.008Z,1747084451.008 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:B] Running Loop=1
2025-05-12T21:14:11.008Z,1747084451.008 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:C] Running Loop=1
2025-05-12T21:14:11.008Z,1747084451.008 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:D] Running Loop=1
2025-05-12T21:14:11.042Z,1747084451.042 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:E] Running Loop=1
2025-05-12T21:14:11.042Z,1747084451.042 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:F] Running Loop=1
2025-05-12T21:14:11.049Z,1747084451.049 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:F](INFO): Going to target depth. Speed set to  1.000000 m/s 
2025-05-12T21:14:11.050Z,1747084451.050 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:F] Stopped
2025-05-12T21:14:11.050Z,1747084451.050 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth] Running Loop=1
2025-05-12T21:14:11.050Z,1747084451.050 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth
2025-05-12T21:14:11.050Z,1747084451.050 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:A] Running Loop=1
2025-05-12T21:14:11.050Z,1747084451.050 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold] Running Loop=1
2025-05-12T21:14:11.050Z,1747084451.050 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold
2025-05-12T21:14:11.050Z,1747084451.050 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point] Running Loop=1
2025-05-12T21:14:11.050Z,1747084451.050 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point](DEBUG): Initialize.
2025-05-12T21:14:11.050Z,1747084451.050 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy] Running Loop=1
2025-05-12T21:14:11.050Z,1747084451.050 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-05-12T21:14:11.050Z,1747084451.050 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch] Running Loop=1
2025-05-12T21:14:11.051Z,1747084451.051 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch](DEBUG): Initialize.
2025-05-12T21:14:11.051Z,1747084451.051 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive] Running Loop=1
2025-05-12T21:14:11.051Z,1747084451.051 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive
2025-05-12T21:14:11.051Z,1747084451.051 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive:A] Running Loop=1
2025-05-12T21:14:11.051Z,1747084451.051 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:E] Running Loop=1
2025-05-12T21:14:11.051Z,1747084451.051 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:D] Running Loop=1
2025-05-12T21:14:11.052Z,1747084451.052 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:C] Running Loop=1
2025-05-12T21:14:11.052Z,1747084451.052 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:B] Running Loop=1
2025-05-12T21:14:11.052Z,1747084451.052 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:A] Running Loop=1
2025-05-12T21:14:11.411Z,1747084451.411 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive:A](INFO): Waiting for  0.000000 min while pumping down to neutral.
2025-05-12T21:14:11.411Z,1747084451.411 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive:A] Stopped
2025-05-12T21:14:11.411Z,1747084451.411 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait] Running Loop=1
2025-05-12T21:14:11.411Z,1747084451.411 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait](DEBUG): Initialize Wait Component.
2025-05-12T21:14:11.411Z,1747084451.411 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold] Running Loop=1
2025-05-12T21:14:11.411Z,1747084451.411 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch] Running Loop=1
2025-05-12T21:14:11.412Z,1747084451.412 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy] Running Loop=1
2025-05-12T21:14:11.412Z,1747084451.412 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point] Running Loop=1
2025-05-12T21:14:11.417Z,1747084451.417 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:A] Running Loop=1
2025-05-12T21:14:11.876Z,1747084451.876 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait](INFO): Done Waiting.
2025-05-12T21:14:11.876Z,1747084451.876 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait] Stopped
2025-05-12T21:14:11.876Z,1747084451.876 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait](DEBUG): Uninitialize Wait Component.
2025-05-12T21:14:11.885Z,1747084451.885 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive](INFO): Completed ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive
2025-05-12T21:14:11.885Z,1747084451.885 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive] Stopped
2025-05-12T21:14:11.885Z,1747084451.885 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive](DEBUG): Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive
2025-05-12T21:14:11.885Z,1747084451.885 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth] Running Loop=1
2025-05-12T21:14:11.886Z,1747084451.886 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth
2025-05-12T21:14:11.886Z,1747084451.886 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed] Running Loop=1
2025-05-12T21:14:11.886Z,1747084451.886 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed](DEBUG): Initialize.
2025-05-12T21:14:11.886Z,1747084451.886 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:A] Running Loop=1
2025-05-12T21:14:12.238Z,1747084452.238 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed] Running Loop=1
2025-05-12T21:14:12.239Z,1747084452.239 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:A](INFO): Moving to  35.000000 m 
2025-05-12T21:14:12.239Z,1747084452.239 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:A] Stopped
2025-05-12T21:14:12.239Z,1747084452.239 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch] Running Loop=1
2025-05-12T21:14:12.239Z,1747084452.239 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch](DEBUG): Initialize.
2025-05-12T21:14:42.487Z,1747084482.487 [NAL9602](INFO): Not Powering down - fast GPS
2025-05-12T21:15:00.670Z,1747084500.670 [DVL_micro](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00000000000000,35.0,+12..00,+00000000.00,+00000000.00,9999.99,000.00
2025-05-12T21:15:00.671Z,1747084500.671 [DVL_micro](ERROR): Failed to parse:
:TS,00000000000000,35.0,+12..00,+00000000.00,+00000000.00,9999.99,000.00
2025-05-12T21:15:31.327Z,1747084531.327 [CTD_Seabird](ERROR): Salinity reading out of range: 26.424034 psu
2025-05-12T21:15:31.328Z,1747084531.328 [CTD_Seabird](INFO): some bad data, not updating bins
2025-05-12T21:15:38.629Z,1747084538.629 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-12T21:16:41.050Z,1747084601.050 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-12T21:18:14.006Z,1747084694.006 [CTD_Seabird](ERROR): Failed to parse device response: 0.0517,4448.05
2025-05-12T21:19:43.526Z,1747084783.526 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-12T21:19:53.419Z,1747084793.419 [CTD_Seabird](ERROR): Salinity reading out of range: 22.503443 psu
2025-05-12T21:19:53.420Z,1747084793.420 [CTD_Seabird](INFO): some bad data, not updating bins
2025-05-12T21:20:07.475Z,1747084807.475 [CTD_Seabird](ERROR): Salinity reading out of range: 17.890251 psu
2025-05-12T21:20:07.476Z,1747084807.476 [CTD_Seabird](INFO): some bad data, not updating bins
2025-05-12T21:20:13.499Z,1747084813.499 [CTD_Seabird](ERROR): Salinity reading out of range: 21.710159 psu
2025-05-12T21:20:13.500Z,1747084813.500 [CTD_Seabird](INFO): some bad data, not updating bins
2025-05-12T21:20:14.649Z,1747084814.649 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-12T21:23:26.935Z,1747085006.935 [DVL_micro](ERROR): Failed to parse:
+9999.99,+9999.99
2025-05-12T21:26:22.349Z,1747085182.349 [ElevatorServo](FAULT): Overload Error
2025-05-12T21:26:22.349Z,1747085182.349 [ElevatorServo] Hardware Fault, FailCount= 1
2025-05-12T21:26:22.350Z,1747085182.350 [ElevatorServo](ERROR): Hardware Fault
2025-05-12T21:26:22.470Z,1747085182.470 [CBIT](ERROR): Hardware Fault in component: ElevatorServo
2025-05-12T21:26:22.707Z,1747085182.707 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2025-05-12T21:26:22.708Z,1747085182.708 [ElevatorServo](INFO): Powering down
2025-05-12T21:26:23.521Z,1747085183.521 [ElevatorServo](DEBUG): Initializing EZServoServo.
2025-05-12T21:26:23.638Z,1747085183.638 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2025-05-12T21:26:23.764Z,1747085183.764 [CBIT](INFO): Clearing failed state for component ElevatorServo
2025-05-12T21:26:23.764Z,1747085183.764 [ElevatorServo] No Fault, FailCount= 1
2025-05-12T21:26:46.292Z,1747085206.292 [DVL_micro](ERROR): Failed to parse:
:BI,-00747,+00943,-00247,+00000,I
2025-05-12T21:29:27.920Z,1747085367.920 [DVL_micro](ERROR): Failed to parse:
:BD,+00000000.00,+00000000.00,+00000000.00,9999.99,000.00
2025-05-12T21:29:52.143Z,1747085392.143 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-12T21:30:23.265Z,1747085423.265 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-12T21:30:54.401Z,1747085454.401 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-12T21:31:25.537Z,1747085485.537 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-12T21:31:34.339Z,1747085494.339 [CTD_Seabird](ERROR): Salinity reading out of range: 25.369345 psu
2025-05-12T21:31:34.340Z,1747085494.340 [CTD_Seabird](INFO): some bad data, not updating bins
2025-05-12T21:31:56.673Z,1747085516.673 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-12T21:32:00.689Z,1747085520.689 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.791595
2025-05-12T21:32:40.901Z,1747085560.901 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003279
2025-05-12T21:34:12.346Z,1747085652.346 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch](INFO): Timed out from 2025-05-12T21:14:12.2Z
2025-05-12T21:34:12.346Z,1747085652.346 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch:A_Timeout] Running Loop=1
2025-05-12T21:34:12.346Z,1747085652.346 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch:A_Timeout](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch:A_Timeout
2025-05-12T21:34:12.347Z,1747085652.347 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch:A_Timeout:A] Running Loop=1
2025-05-12T21:34:12.351Z,1747085652.351 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch:A_Timeout:A](IMPORTANT): Timed out trying to reach the target depth. Stopping mission at current depth of  0.138884 m 
2025-05-12T21:34:12.353Z,1747085652.353 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch:A_Timeout:A] Stopped
2025-05-12T21:34:12.360Z,1747085652.360 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch:A_Timeout:B.Execute] Running Loop=1
2025-05-12T21:34:12.755Z,1747085652.755 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch:A_Timeout:B.Execute](INFO): Executing command stop
2025-05-12T21:34:12.755Z,1747085652.755 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch:A_Timeout:B.Execute] Stopped
2025-05-12T21:34:12.755Z,1747085652.755 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch:A_Timeout](INFO): Completed ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch:A_Timeout
2025-05-12T21:34:12.755Z,1747085652.755 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch] Stopped
2025-05-12T21:34:12.756Z,1747085652.756 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth](INFO): Completed ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth
2025-05-12T21:34:12.756Z,1747085652.756 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth] Stopped
2025-05-12T21:34:12.756Z,1747085652.756 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth](DEBUG): Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth
2025-05-12T21:34:12.756Z,1747085652.756 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed] Stopped
2025-05-12T21:34:12.756Z,1747085652.756 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed](DEBUG): Uninitialize.
2025-05-12T21:34:12.757Z,1747085652.757 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth](INFO): Completed ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth
2025-05-12T21:34:12.758Z,1747085652.758 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth] Stopped
2025-05-12T21:34:12.758Z,1747085652.758 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth](DEBUG): Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth
2025-05-12T21:34:12.758Z,1747085652.758 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:A] Stopped
2025-05-12T21:34:12.758Z,1747085652.758 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold] Stopped
2025-05-12T21:34:12.758Z,1747085652.758 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold](DEBUG): Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold
2025-05-12T21:34:12.758Z,1747085652.758 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point] Stopped
2025-05-12T21:34:12.758Z,1747085652.758 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy] Stopped
2025-05-12T21:34:12.758Z,1747085652.758 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-05-12T21:34:12.758Z,1747085652.758 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch] Stopped
2025-05-12T21:34:12.758Z,1747085652.758 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth] Running Loop=1
2025-05-12T21:34:12.758Z,1747085652.758 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth
2025-05-12T21:34:12.758Z,1747085652.758 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed] Running Loop=1
2025-05-12T21:34:12.759Z,1747085652.759 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed](DEBUG): Initialize.
2025-05-12T21:34:12.759Z,1747085652.759 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch] Running Loop=1
2025-05-12T21:34:12.759Z,1747085652.759 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch](DEBUG): Initialize.
2025-05-12T21:34:12.759Z,1747085652.759 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:C] Running Loop=1
2025-05-12T21:34:12.843Z,1747085652.843 [CommandExec](IMPORTANT): got command stop
2025-05-12T21:34:12.844Z,1747085652.844 [CommandExec](IMPORTANT): Scheduling is paused for 1 commands
2025-05-12T21:34:12.845Z,1747085652.845 [Supervisor](INFO): Stop Mission called by CommandExec::commandStop
2025-05-12T21:34:13.175Z,1747085653.175 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:C](INFO): Waiting for the vehicle to settle. Depth =  0.162220 m 
2025-05-12T21:34:13.175Z,1747085653.175 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:C] Stopped
2025-05-12T21:34:13.175Z,1747085653.175 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait] Running Loop=1
2025-05-12T21:34:13.175Z,1747085653.175 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait](DEBUG): Initialize Wait Component.
2025-05-12T21:34:13.175Z,1747085653.175 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch] Running Loop=1
2025-05-12T21:34:13.175Z,1747085653.175 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed] Running Loop=1
2025-05-12T21:34:13.182Z,1747085653.182 [MissionManager](INFO): MissionManager is completed.
2025-05-12T21:34:13.182Z,1747085653.182 [MissionManager](INFO): Uninitializing Mission ballast_and_trim
2025-05-12T21:34:13.182Z,1747085653.182 [ballast_and_trim] Stopped
2025-05-12T21:34:13.182Z,1747085653.182 [ballast_and_trim](DEBUG): Aggregate::uninitialize ballast_and_trim
2025-05-12T21:34:13.182Z,1747085653.182 [ballast_and_trim:Science] Stopped
2025-05-12T21:34:13.182Z,1747085653.182 [ballast_and_trim:Science](DEBUG): Aggregate::uninitialize ballast_and_trim:Science
2025-05-12T21:34:13.182Z,1747085653.182 [ballast_and_trim:Science:B] Stopped
2025-05-12T21:34:13.182Z,1747085653.182 [ballast_and_trim:Science:C] Stopped
2025-05-12T21:34:13.182Z,1747085653.182 [ballast_and_trim:Science:E] Stopped
2025-05-12T21:34:13.182Z,1747085653.182 [ballast_and_trim:Science:OceanCurrent] Stopped
2025-05-12T21:34:13.183Z,1747085653.183 [ballast_and_trim:Science:OceanCurrent](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:OceanCurrent
2025-05-12T21:34:13.183Z,1747085653.183 [ballast_and_trim:Science:OceanCurrent:A.] Stopped
2025-05-12T21:34:13.183Z,1747085653.183 [ballast_and_trim:StandardEnvelopes] Stopped
2025-05-12T21:34:13.183Z,1747085653.183 [ballast_and_trim:StandardEnvelopes](DEBUG): Aggregate::uninitialize ballast_and_trim:StandardEnvelopes
2025-05-12T21:34:13.183Z,1747085653.183 [ballast_and_trim:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-05-12T21:34:13.183Z,1747085653.183 [ballast_and_trim:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-05-12T21:34:13.183Z,1747085653.183 [ballast_and_trim:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-05-12T21:34:13.183Z,1747085653.183 [ballast_and_trim:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-05-12T21:34:13.183Z,1747085653.183 [ballast_and_trim:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-05-12T21:34:13.183Z,1747085653.183 [ballast_and_trim:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-05-12T21:34:13.183Z,1747085653.183 [ballast_and_trim:BackseatDriver] Stopped
2025-05-12T21:34:13.183Z,1747085653.183 [ballast_and_trim:BackseatDriver](DEBUG): Aggregate::uninitialize ballast_and_trim:BackseatDriver
2025-05-12T21:34:13.183Z,1747085653.183 [ballast_and_trim:BackseatDriver:A.BackseatDriver] Stopped
2025-05-12T21:34:13.184Z,1747085653.184 [ballast_and_trim:PowerOnly] Stopped
2025-05-12T21:34:13.184Z,1747085653.184 [ballast_and_trim:PowerOnly](DEBUG): Aggregate::uninitialize ballast_and_trim:PowerOnly
2025-05-12T21:34:13.184Z,1747085653.184 [ballast_and_trim:PowerOnly:E.Wait] Stopped
2025-05-12T21:34:13.184Z,1747085653.184 [ballast_and_trim:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-05-12T21:34:13.184Z,1747085653.184 [ballast_and_trim:RunBallastAndTrim] Stopped
2025-05-12T21:34:13.184Z,1747085653.184 [ballast_and_trim:RunBallastAndTrim](DEBUG): Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim
2025-05-12T21:34:13.184Z,1747085653.184 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim] Stopped
2025-05-12T21:34:13.184Z,1747085653.184 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim](DEBUG): Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim
2025-05-12T21:34:13.184Z,1747085653.184 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:A] Stopped
2025-05-12T21:34:13.184Z,1747085653.184 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:B] Stopped
2025-05-12T21:34:13.185Z,1747085653.185 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:C] Stopped
2025-05-12T21:34:13.185Z,1747085653.185 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:D] Stopped
2025-05-12T21:34:13.185Z,1747085653.185 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:E] Stopped
2025-05-12T21:34:13.185Z,1747085653.185 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth] Stopped
2025-05-12T21:34:13.185Z,1747085653.185 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth](DEBUG): Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth
2025-05-12T21:34:13.185Z,1747085653.185 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed] Stopped
2025-05-12T21:34:13.185Z,1747085653.185 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed](DEBUG): Uninitialize.
2025-05-12T21:34:13.185Z,1747085653.185 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch] Stopped
2025-05-12T21:34:13.185Z,1747085653.185 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait] Stopped
2025-05-12T21:34:13.185Z,1747085653.185 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait](DEBUG): Uninitialize Wait Component.
2025-05-12T21:34:13.185Z,1747085653.185 [ballast_and_trim:RunBallastAndTrim:RunDepth1] Stopped
2025-05-12T21:34:13.185Z,1747085653.185 [ballast_and_trim:RunBallastAndTrim:RunDepth1](DEBUG): Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim:RunDepth1
2025-05-12T21:34:13.185Z,1747085653.185 [ballast_and_trim:RunBallastAndTrim:RunDepth1:B] Stopped
2025-05-12T21:34:13.186Z,1747085653.186 [ballast_and_trim:RunBallastAndTrim:RunDepth1:B](DEBUG): Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim:RunDepth1:B
2025-05-12T21:34:13.353Z,1747085653.353 [WetLabsBB2FL](INFO): Powering down
2025-05-12T21:34:13.575Z,1747085653.575 [MissionManager](IMPORTANT): Started mission Default
2025-05-12T21:34:13.575Z,1747085653.575 [Default] Running Loop=1
2025-05-12T21:34:13.575Z,1747085653.575 [Default](DEBUG): Aggregate::initialize Default
2025-05-12T21:34:13.575Z,1747085653.575 [Default:B.GoToSurface] Running Loop=1
2025-05-12T21:34:13.575Z,1747085653.575 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-05-12T21:34:13.576Z,1747085653.576 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-05-12T21:34:13.576Z,1747085653.576 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-05-12T21:34:13.580Z,1747085653.580 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-05-12T21:34:13.581Z,1747085653.581 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-05-12T21:34:13.581Z,1747085653.581 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-05-12T21:34:13.581Z,1747085653.581 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-05-12T21:34:13.582Z,1747085653.582 [Default:A.Wait] Running Loop=1
2025-05-12T21:34:13.582Z,1747085653.582 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-05-12T21:34:26.927Z,1747085666.927 [Default:A.Wait](INFO): Done Waiting.
2025-05-12T21:34:26.927Z,1747085666.927 [Default:A.Wait] Stopped
2025-05-12T21:34:26.928Z,1747085666.928 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-05-12T21:34:27.294Z,1747085667.294 [Default:CheckIn] Running Loop=1
2025-05-12T21:34:27.294Z,1747085667.294 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-05-12T21:34:27.294Z,1747085667.294 [Default:CheckIn:Read_GPS] Running Loop=1
2025-05-12T21:34:31.773Z,1747085671.773 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -13.00 mm (2 active estimators).
2025-05-12T21:34:32.975Z,1747085672.975 [Default:B.GoToSurface](ERROR): Altitude too low: 0.49
2025-05-12T21:34:33.360Z,1747085673.360 [Default:B.GoToSurface](ERROR): Altitude too low: 0.49
2025-05-12T21:34:33.782Z,1747085673.782 [Default:B.GoToSurface](ERROR): Altitude too low: 0.49
2025-05-12T21:34:34.172Z,1747085674.172 [Default:B.GoToSurface](ERROR): Altitude too low: 0.49
2025-05-12T21:34:34.568Z,1747085674.568 [Default:B.GoToSurface](ERROR): Altitude too low: 0.49
2025-05-12T21:34:35.010Z,1747085675.010 [Default:B.GoToSurface](ERROR): No valid altitude, but last altitude 0.49 too low. Waiting for 600.000000 seconds.
2025-05-12T21:34:39.043Z,1747085679.043 [Default:B.GoToSurface](ERROR): Altitude too low: 0.68
2025-05-12T21:34:39.417Z,1747085679.417 [Default:B.GoToSurface](ERROR): Altitude too low: 0.68
2025-05-12T21:34:39.823Z,1747085679.823 [Default:B.GoToSurface](ERROR): Altitude too low: 0.68
2025-05-12T21:34:40.250Z,1747085680.250 [Default:B.GoToSurface](ERROR): Altitude too low: 0.68
2025-05-12T21:34:40.653Z,1747085680.653 [Default:B.GoToSurface](ERROR): Altitude too low: 0.68
2025-05-12T21:34:41.079Z,1747085681.079 [Default:B.GoToSurface](ERROR): No valid altitude, but last altitude 0.68 too low. Waiting for 600.000000 seconds.
2025-05-12T21:34:58.981Z,1747085698.981 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-12T21:35:15.775Z,1747085715.775 [NAL9602](INFO): SBD MO Status=0, MOMSN=20611, MT Status=0, MTMSN=0
2025-05-12T21:35:15.775Z,1747085715.775 [NAL9602](INFO): No messages in MT queue
2025-05-12T21:35:16.975Z,1747085716.975 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,213516.00,A,3647.95681,N,12150.78779,W,0.389,12.79,120525,,,D*41
2025-05-12T21:35:16.978Z,1747085716.978 [NAL9602](INFO): GPS fix at 20250512T213516: (36.799280, -121.846463)
2025-05-12T21:35:17.010Z,1747085717.010 [UniversalFixResidualReporter](INFO): Fix residual: 5.9 %DT, over the last 2060.3 m. Residual distance 121.3 m at bearing 72.9 degrees. Fix at (36.7993, -121.8465) with 164.6 m made good.
2025-05-12T21:35:17.010Z,1747085717.010 [Default:CheckIn:Read_GPS] Stopped
2025-05-12T21:35:17.011Z,1747085717.011 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-05-12T21:35:24.792Z,1747085724.792 [DataOverHttps](INFO): Sending 84 bytes from file Logs/20250512T191822/Courier0054.lzma
2025-05-12T21:35:25.795Z,1747085725.795 [DataOverHttps](INFO): Moved sent file to Logs/20250512T191822/Courier0054.lzma.bak
2025-05-12T21:35:25.795Z,1747085725.795 [DataOverHttps](INFO): SBD MOMSN=24856120
2025-05-12T21:35:44.219Z,1747085744.219 [DataOverHttps](INFO): Sending 966 bytes from file Logs/20250512T191822/Express0055.lzma
2025-05-12T21:35:45.220Z,1747085745.220 [DataOverHttps](INFO): Moved sent file to Logs/20250512T191822/Express0055.lzma.bak
2025-05-12T21:35:45.220Z,1747085745.220 [DataOverHttps](INFO): SBD MOMSN=24856124
2025-05-12T21:35:46.482Z,1747085746.482 [Default:CheckIn:Read_Iridium] Stopped
2025-05-12T21:35:46.482Z,1747085746.482 [Default:CheckIn:C.Wait] Running Loop=1
2025-05-12T21:35:46.482Z,1747085746.482 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-05-12T21:35:49.321Z,1747085749.321 [NAL9602](INFO): Not Powering down - fast GPS
2025-05-12T21:40:47.060Z,1747086047.060 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2025-05-12T21:40:47.060Z,1747086047.060 [Default:CheckIn:C.Wait] Stopped
2025-05-12T21:40:47.060Z,1747086047.060 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-05-12T21:40:47.060Z,1747086047.060 [Default:CheckIn:D] Running Loop=1
2025-05-12T21:40:47.472Z,1747086047.472 [Default:CheckIn:D] Stopped
2025-05-12T21:40:47.473Z,1747086047.473 [Default:CheckIn:E] Running Loop=1
2025-05-12T21:40:47.887Z,1747086047.887 [Default:CheckIn:E](IMPORTANT): Default mission has been running for  6.564950 min 
2025-05-12T21:40:47.888Z,1747086047.888 [Default:CheckIn:E] Stopped
2025-05-12T21:40:47.888Z,1747086047.888 [Default:CheckIn](INFO): Completed Default:CheckIn
2025-05-12T21:40:47.888Z,1747086047.888 [Default:CheckIn] Stopped
2025-05-12T21:40:47.888Z,1747086047.888 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-05-12T21:40:47.889Z,1747086047.889 [Default:CheckIn](INFO): Running loop #2
2025-05-12T21:40:47.889Z,1747086047.889 [Default:CheckIn] Running Loop=2
2025-05-12T21:40:47.889Z,1747086047.889 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-05-12T21:40:47.889Z,1747086047.889 [Default:CheckIn:Read_GPS] Running Loop=1
2025-05-12T21:40:49.903Z,1747086049.903 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,214049.00,A,3648.00604,N,12150.77294,W,0.369,53.05,120525,,,D*4E
2025-05-12T21:40:49.906Z,1747086049.906 [NAL9602](INFO): GPS fix at 20250512T214049: (36.800101, -121.846216)
2025-05-12T21:40:49.924Z,1747086049.924 [UniversalFixResidualReporter](INFO): Fix residual: 29.4 %DT, over the last 1439.3 m. Residual distance 423.4 m at bearing 170.7 degrees. Fix at (36.8001, -121.8462) with 93.9 m made good.
2025-05-12T21:40:49.924Z,1747086049.924 [Default:CheckIn:Read_GPS] Stopped
2025-05-12T21:40:49.924Z,1747086049.924 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-05-12T21:40:57.508Z,1747086057.508 [DataOverHttps](INFO): Sending 85 bytes from file Logs/20250512T191822/Courier0057.lzma
2025-05-12T21:40:58.511Z,1747086058.511 [DataOverHttps](INFO): Moved sent file to Logs/20250512T191822/Courier0057.lzma.bak
2025-05-12T21:40:58.511Z,1747086058.511 [DataOverHttps](INFO): SBD MOMSN=24856139
2025-05-12T21:41:03.671Z,1747086063.671 [BPC1](ERROR): Battery stick #2 (s/n: 0124) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-05-12T21:41:03.672Z,1747086063.672 [BPC1](ERROR): Battery stick #4 (s/n: 017A) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-05-12T21:41:03.677Z,1747086063.677 [BPC1](INFO): Calculating totals. Valid battery stick count: 54. Valid reserve battery stick count: 6.
2025-05-12T21:41:03.685Z,1747086063.685 [BPC1](INFO): Received data from all battery sticks.
2025-05-12T21:41:06.453Z,1747086066.453 [NAL9602](INFO): SBD MO Status=0, MOMSN=20612, MT Status=0, MTMSN=0
2025-05-12T21:41:06.453Z,1747086066.453 [NAL9602](INFO): No messages in MT queue
2025-05-12T21:41:14.989Z,1747086074.989 [DataOverHttps](INFO): Sending 334 bytes from file Logs/20250512T191822/Express0058.lzma
2025-05-12T21:41:15.991Z,1747086075.991 [DataOverHttps](INFO): Moved sent file to Logs/20250512T191822/Express0058.lzma.bak
2025-05-12T21:41:15.991Z,1747086075.991 [DataOverHttps](INFO): SBD MOMSN=24856142
2025-05-12T21:41:17.375Z,1747086077.375 [Default:CheckIn:Read_Iridium] Stopped
2025-05-12T21:41:17.375Z,1747086077.375 [Default:CheckIn:C.Wait] Running Loop=1
2025-05-12T21:41:17.375Z,1747086077.375 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-05-12T21:41:37.150Z,1747086097.150 [NAL9602](INFO): Not Powering down - fast GPS
2025-05-12T21:46:17.937Z,1747086377.937 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2025-05-12T21:46:17.937Z,1747086377.937 [Default:CheckIn:C.Wait] Stopped
2025-05-12T21:46:17.937Z,1747086377.937 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-05-12T21:46:17.937Z,1747086377.937 [Default:CheckIn:D] Running Loop=1
2025-05-12T21:46:18.366Z,1747086378.366 [Default:CheckIn:D] Stopped
2025-05-12T21:46:18.366Z,1747086378.366 [Default:CheckIn:E] Running Loop=1
2025-05-12T21:46:18.759Z,1747086378.759 [Default:CheckIn:E](IMPORTANT): Default mission has been running for  12.079848 min 
2025-05-12T21:46:18.759Z,1747086378.759 [Default:CheckIn:E] Stopped
2025-05-12T21:46:18.759Z,1747086378.759 [Default:CheckIn](INFO): Completed Default:CheckIn
2025-05-12T21:46:18.759Z,1747086378.759 [Default:CheckIn] Stopped
2025-05-12T21:46:18.760Z,1747086378.760 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-05-12T21:46:18.760Z,1747086378.760 [Default:CheckIn](INFO): Running loop #3
2025-05-12T21:46:18.760Z,1747086378.760 [Default:CheckIn] Running Loop=3
2025-05-12T21:46:18.760Z,1747086378.760 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-05-12T21:46:18.760Z,1747086378.760 [Default:CheckIn:Read_GPS] Running Loop=1
2025-05-12T21:46:20.758Z,1747086380.758 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,214620.00,A,3648.04967,N,12150.75540,W,0.641,17.52,120525,,,D*48
2025-05-12T21:46:20.761Z,1747086380.761 [NAL9602](INFO): GPS fix at 20250512T214620: (36.800828, -121.845923)
2025-05-12T21:46:20.773Z,1747086380.773 [UniversalFixResidualReporter](INFO): Fix residual: 57.9 %DT, over the last 1715.8 m. Residual distance 993.5 m at bearing -80.7 degrees. Fix at (36.8008, -121.8459) with 84.9 m made good.
2025-05-12T21:46:20.774Z,1747086380.774 [Default:CheckIn:Read_GPS] Stopped
2025-05-12T21:46:20.774Z,1747086380.774 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-05-12T21:46:28.126Z,1747086388.126 [DataOverHttps](INFO): Sending 97 bytes from file Logs/20250512T191822/Courier0060.lzma
2025-05-12T21:46:29.127Z,1747086389.127 [DataOverHttps](INFO): Moved sent file to Logs/20250512T191822/Courier0060.lzma.bak
2025-05-12T21:46:29.128Z,1747086389.128 [DataOverHttps](INFO): SBD MOMSN=24856152
2025-05-12T21:46:47.247Z,1747086407.247 [DataOverHttps](INFO): Sending 376 bytes from file Logs/20250512T191822/Express0061.lzma
2025-05-12T21:46:48.248Z,1747086408.248 [DataOverHttps](INFO): Moved sent file to Logs/20250512T191822/Express0061.lzma.bak
2025-05-12T21:46:48.248Z,1747086408.248 [DataOverHttps](INFO): SBD MOMSN=24856155
2025-05-12T21:46:49.465Z,1747086409.465 [Default:CheckIn:Read_Iridium] Stopped
2025-05-12T21:46:49.465Z,1747086409.465 [Default:CheckIn:C.Wait] Running Loop=1
2025-05-12T21:46:49.465Z,1747086409.465 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-05-12T21:46:51.476Z,1747086411.476 [NAL9602](INFO): SBD MO Status=2, MOMSN=20613, MT Status=2, MTMSN=0
2025-05-12T21:46:51.476Z,1747086411.476 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-05-12T21:47:27.023Z,1747086447.023 [NAL9602](INFO): SBD MO Status=2, MOMSN=20613, MT Status=2, MTMSN=0
2025-05-12T21:47:27.023Z,1747086447.023 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-05-12T21:47:53.725Z,1747086473.725 [NAL9602](INFO): SBD MO Status=0, MOMSN=20613, MT Status=0, MTMSN=0
2025-05-12T21:47:53.726Z,1747086473.726 [NAL9602](INFO): No messages in MT queue
2025-05-12T21:48:24.390Z,1747086504.390 [NAL9602](INFO): Not Powering down - fast GPS
2025-05-12T21:49:30.726Z,1747086570.726 [DataOverHttps](IMPORTANT): SBD MTMSN=20250512T214929
2025-05-12T21:49:38.745Z,1747086578.745 [DataOverHttps](INFO): Received command: configSet VerticalControl.buoyancyNeutral 100 cc persist
2025-05-12T21:49:39.303Z,1747086579.303 [CommandExec](IMPORTANT): got command configSet VerticalControl.buoyancyNeutral 100 cubic_centimeter persist
2025-05-12T21:49:39.746Z,1747086579.746 [DataOverHttps](IMPORTANT): SBD MTMSN=20250512T214938
2025-05-12T21:49:47.693Z,1747086587.693 [DataOverHttps](INFO): Received command: schedule clear
2025-05-12T21:49:47.750Z,1747086587.750 [CommandExec](IMPORTANT): got command schedule clear
2025-05-12T21:49:47.751Z,1747086587.751 [CommandExec](IMPORTANT): Cleared 1 scheduled commands.
2025-05-12T21:50:18.382Z,1747086618.382 [DataOverHttps](IMPORTANT): SBD MTMSN=20250512T215017
2025-05-12T21:50:26.069Z,1747086626.069 [DataOverHttps](INFO): Received command: load Maintenance/ballast_and_trim.tl;set ballast_and_trim.ApproachDepthTimeout 10 min;run
2025-05-12T21:50:26.131Z,1747086626.131 [CommandExec](IMPORTANT): got command load ./Missions/Maintenance/ballast_and_trim.tl
2025-05-12T21:50:26.132Z,1747086626.132 [MissionManager](INFO): Loading Mission from file: ./Missions/Maintenance/ballast_and_trim.tl
2025-05-12T21:50:26.132Z,1747086626.132 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Maintenance/ballast_and_trim.tl
2025-05-12T21:50:26.134Z,1747086626.134 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Maintenance/ballast_and_trim.tl
2025-05-12T21:50:30.956Z,1747086630.956 [MissionManager](DEBUG): TethyslAPI: ./Missions/Maintenance/ballast_and_trim.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="ballast_and_trim">
    <DefineArg Name="MissionTimeout">
        <Units:minute />
        <Value>90</Value>
    </DefineArg>
    <DefineArg Name="SkipComms">
        <False />
    </DefineArg>
    <DefineArg Name="Depth1">
        <Units:meter />
        <Value>35</Value>
    </DefineArg>
    <DefineArg Name="Depth2">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DepthDeadband">
        <Units:meter />
        <Value>0.1</Value>
    </DefineArg>
    <DefineArg Name="ApproachSpeed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepthTimeout">
        <Units:minute />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepthRate">
        <Units:meter_per_second />
        <Value>0.4</Value>
    </DefineArg>
    <DefineArg Name="ApproachPitchLimit">
        <Units:degree />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="ApproachSettleTimePreDive">
        <Units:minute />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="SettleTime">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="EstimationTimeout">
        <Units:minute />
        <Value>45</Value>
    </DefineArg>
    <DefineArg Name="MinEstimationTime">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="MassEstimationErrorBound">
        <Units:millimeter />
        <Value>0.5</Value>
    </DefineArg>
    <DefineArg Name="BuoyEstimationErrorBound">
        <Units:cubic_centimeter />
        <Value>25</Value>
    </DefineArg>
    <DefineArg Name="EstimationConfidence">
        <Units:percent />
        <Value>98.0</Value>
    </DefineArg>
    <DefineArg Name="massDeadband">
        <Units:millimeter />
        <Value>0.25</Value>
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>52</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="CheckDepths">
        <Units:bool />
        <Value>1</Value>
    </DefineArg>
    <Timeout Duration="MissionTimeout" />
    <Insert Filename="Insert/Science.tl" />
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="MissionTimeout" />
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Aggregate Id="CheckTargetDepths">
        <Sequence />
        <Break>
            <Not>
                <Arg Name="CheckDepths" />
            </Not>
        </Break>
        <Aggregate Id="CheckDepth1">
            <Sequence />
            <Break>
                <Not>
                    <Arg Name="Depth1" />
                    <Gt>
                        <Arg Name="MaxDepth" />
                    </Gt>
                </Not>
            </Break>
            <Syslog Severity="Important">Aborting ballast and trim mission. Target depth Depth1 exceeds the mission&apos;s MaxDepth setting (review mission parameters).</Syslog>
            <Guidance:Execute>
                <Sequence />
                <Setting>
                    <Guidance:Execute.command />
                    <String>stop</String>
                </Setting>
            </Guidance:Execute>
        </Aggregate>
        <Aggregate Id="CheckDepth2">
            <Sequence />
            <Break>
                <Not>
                    <Arg Name="Depth2" />
                    <Gt>
                        <Arg Name="MaxDepth" />
                    </Gt>
                </Not>
            </Break>
            <Syslog Severity="Important">Aborting ballast and trim mission. Target depth Depth2 exceeds the mission&apos;s MaxDepth setting (review mission parameters).</Syslog>
            <Guidance:Execute>
                <Sequence />
                <Setting>
                    <Guidance:Execute.command />
                    <String>stop</String>
                </Setting>
            </Guidance:Execute>
        </Aggregate>
        <Assign>
            <Sequence />
            <Arg Name="CheckDepths" />
            <Units:bool />
            <Value>0</Value>
        </Assign>
    </Aggregate>
    <Aggregate Id="StartingMission">
        <Sequence />
        <Break>
            <Arg Name="SkipComms" />
        </Break>
        <Syslog Severity="Info">Checking for additional instructions before submerging.</Syslog>
        <Call RefId="NeedComms" Id="StartingMission" PriorityHere="false" />
    </Aggregate>
    <Aggregate Id="RunBallastAndTrim">
        <Sequence />
        <Insert Filename="Insert/BallastAndTrim.tl">
            <RedefineArg Name="InsertDepthDeadband">
                <Arg Name="DepthDeadband" />
            </RedefineArg>
            <RedefineArg Name="InsertApproachSpeed">
                <Arg Name="ApproachSpeed" />
            </RedefineArg>
            <RedefineArg Name="InsertApproachDepthRate">
                <Arg Name="ApproachDepthRate" />
            </RedefineArg>
            <RedefineArg Name="InsertApproachPitchLimit">
                <Arg Name="ApproachPitchLimit" />
            </RedefineArg>
            <RedefineArg Name="InsertApproachSettleTimePreDive">
                <Arg Name="ApproachSettleTimePreDive" />
            </RedefineArg>
            <RedefineArg Name="InsertApproachDepthTimeout">
                <Arg Name="ApproachDepthTimeout" />
            </RedefineArg>
            <RedefineArg Name="InsertSettleTime">
                <Arg Name="SettleTime" />
            </RedefineArg>
            <RedefineArg Name="EstTimeout">
                <Arg Name="EstimationTimeout" />
            </RedefineArg>
            <RedefineArg Name="MinEstTime">
                <Arg Name="MinEstimationTime" />
            </RedefineArg>
            <RedefineArg Name="MassEstErrorBound">
                <Arg Name="MassEstimationErrorBound" />
            </RedefineArg>
            <RedefineArg Name="BuoyEstErrorBound">
                <Arg Name="BuoyEstimationErrorBound" />
            </RedefineArg>
            <RedefineArg Name="EstConfidence">
                <Arg Name="EstimationConfidence" />
            </RedefineArg>
            <RedefineArg Name="InsertMassDeadband">
                <Arg Name="massDeadband" />
            </RedefineArg>
        </Insert>
        <Aggregate Id="RunDepth1">
            <Sequence />
            <Break>
                <IsNaN>
                    <Arg Name="Depth1" />
                </IsNaN>
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="BallastAndTrim:InsertDepth" />
                <Arg Name="Depth1" />
            </Assign>
            <Call RefId="BallastAndTrim" PriorityHere="false" />
        </Aggregate>
        <Aggregate Id="RunDepth2">
            <Sequence />
            <Break>
                <IsNaN>
                    <Arg Name="Depth2" />
                </IsNaN>
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="BallastAndTrim:InsertDepth" />
                <Arg Name="Depth2" />
            </Assign>
            <Call RefId="BallastAndTrim" PriorityHere="false" />
        </Aggregate>
    </Aggregate>
    <Call RefId="NeedComms" Id="EndingMission" PriorityHere="false" />
</Mission>

2025-05-12T21:50:30.963Z,1747086630.963 [MissionManager](INFO): DefineArg ballast_and_trim.MissionTimeout = 90.000000 min
2025-05-12T21:50:30.965Z,1747086630.965 [MissionManager](INFO): DefineArg ballast_and_trim.SkipComms = 0 bool
2025-05-12T21:50:30.968Z,1747086630.968 [MissionManager](INFO): DefineArg ballast_and_trim.Depth1 = 35.000000 m
2025-05-12T21:50:30.970Z,1747086630.970 [MissionManager](INFO): DefineArg ballast_and_trim.Depth2 = nan m
2025-05-12T21:50:30.972Z,1747086630.972 [MissionManager](INFO): DefineArg ballast_and_trim.DepthDeadband = 0.100000 m
2025-05-12T21:50:30.974Z,1747086630.974 [MissionManager](INFO): DefineArg ballast_and_trim.ApproachSpeed = 1.000000 m/s
2025-05-12T21:50:30.977Z,1747086630.977 [MissionManager](INFO): DefineArg ballast_and_trim.ApproachDepthTimeout = 20.000000 min
2025-05-12T21:50:30.979Z,1747086630.979 [MissionManager](INFO): DefineArg ballast_and_trim.ApproachDepthRate = 0.400000 m/s
2025-05-12T21:50:30.981Z,1747086630.981 [MissionManager](INFO): DefineArg ballast_and_trim.ApproachPitchLimit = 20.000000 arcdeg
2025-05-12T21:50:30.983Z,1747086630.983 [MissionManager](INFO): DefineArg ballast_and_trim.ApproachSettleTimePreDive = 0.000000 min
2025-05-12T21:50:30.986Z,1747086630.986 [MissionManager](INFO): DefineArg ballast_and_trim.SettleTime = 10.000000 min
2025-05-12T21:50:30.988Z,1747086630.988 [MissionManager](INFO): DefineArg ballast_and_trim.EstimationTimeout = 45.000000 min
2025-05-12T21:50:30.990Z,1747086630.990 [MissionManager](INFO): DefineArg ballast_and_trim.MinEstimationTime = 10.000000 min
2025-05-12T21:50:30.992Z,1747086630.992 [MissionManager](INFO): DefineArg ballast_and_trim.MassEstimationErrorBound = 0.500000 mm
2025-05-12T21:50:30.995Z,1747086630.995 [MissionManager](INFO): DefineArg ballast_and_trim.BuoyEstimationErrorBound = 25.000000 cc
2025-05-12T21:50:30.997Z,1747086630.997 [MissionManager](INFO): DefineArg ballast_and_trim.EstimationConfidence = 98.000000 %
2025-05-12T21:50:30.999Z,1747086630.999 [MissionManager](INFO): DefineArg ballast_and_trim.massDeadband = 0.250000 mm
2025-05-12T21:50:31.110Z,1747086631.110 [MissionManager](INFO): DefineArg ballast_and_trim.MinAltitude = 5.000000 m
2025-05-12T21:50:31.130Z,1747086631.130 [MissionManager](INFO): DefineArg ballast_and_trim.MaxDepth = 52.000000 m
2025-05-12T21:50:31.142Z,1747086631.142 [MissionManager](INFO): DefineArg ballast_and_trim.MinOffshore = 2.000000 km
2025-05-12T21:50:31.144Z,1747086631.144 [MissionManager](INFO): DefineArg ballast_and_trim.CheckDepths = 1.000000 bool
2025-05-12T21:50:31.161Z,1747086631.161 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-05-12T21:50:31.161Z,1747086631.161 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-05-12T21:50:31.174Z,1747086631.174 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-05-12T21:50:37.055Z,1747086637.055 [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>

2025-05-12T21:50:37.108Z,1747086637.108 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectChlActive = 0 bool
2025-05-12T21:50:37.116Z,1747086637.116 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EdgeDetectChlActive = 0 bool
2025-05-12T21:50:37.119Z,1747086637.119 [MissionManager](INFO): DefineArg ballast_and_trim:Science.TimeWindowPeakReport = nan min
2025-05-12T21:50:37.121Z,1747086637.121 [MissionManager](INFO): DefineArg ballast_and_trim:Science.HighestChlPeakReportActive = 0 bool
2025-05-12T21:50:37.123Z,1747086637.123 [MissionManager](INFO): DefineArg ballast_and_trim:Science.HighestSaltPeakReportActive = 0 bool
2025-05-12T21:50:37.125Z,1747086637.125 [MissionManager](INFO): DefineArg ballast_and_trim:Science.HighestOilPeakReportActive = 0 bool
2025-05-12T21:50:37.127Z,1747086637.127 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PatchTracking = 0 bool
2025-05-12T21:50:37.129Z,1747086637.129 [MissionManager](INFO): DefineArg ballast_and_trim:Science.FilterWidthHorizontal = 3.000000 count
2025-05-12T21:50:37.131Z,1747086637.131 [MissionManager](INFO): DefineArg ballast_and_trim:Science.NumProfilesSlidingwindow = 100.000000 count
2025-05-12T21:50:37.134Z,1747086637.134 [MissionManager](INFO): DefineArg ballast_and_trim:Science.OffPeakFractionHorizontal = 80.000000 %
2025-05-12T21:50:37.136Z,1747086637.136 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectNO3Active = 0 bool
2025-05-12T21:50:37.138Z,1747086637.138 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectOilActive = 0 bool
2025-05-12T21:50:37.140Z,1747086637.140 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectFDOMActive = 0 bool
2025-05-12T21:50:37.142Z,1747086637.142 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectSalinityActive = 0 bool
2025-05-12T21:50:37.144Z,1747086637.144 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-05-12T21:50:37.187Z,1747086637.187 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-05-12T21:50:37.197Z,1747086637.197 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-05-12T21:50:37.199Z,1747086637.199 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EdgeDetectPlanktivoreHMavgROIActive = 0 bool
2025-05-12T21:50:37.213Z,1747086637.213 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-05-12T21:50:37.215Z,1747086637.215 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EdgeDetectPlanktivoreDiatomsActive = 0 bool
2025-05-12T21:50:37.225Z,1747086637.225 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-05-12T21:50:37.227Z,1747086637.227 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EdgeDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-05-12T21:50:37.245Z,1747086637.245 [MissionManager](INFO): DefineArg ballast_and_trim:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-05-12T21:50:37.248Z,1747086637.248 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EnabledAanderaaO2 = 0 bool
2025-05-12T21:50:37.282Z,1747086637.282 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EnabledNeilBrown = 0 bool
2025-05-12T21:50:37.285Z,1747086637.285 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EnabledSeabird = 1 bool
2025-05-12T21:50:37.287Z,1747086637.287 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EnabledWetLabsBB2FL = 1 bool
2025-05-12T21:50:37.294Z,1747086637.294 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-05-12T21:50:37.301Z,1747086637.301 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EnabledWetLabsUBAT = 0 bool
2025-05-12T21:50:37.304Z,1747086637.304 [MissionManager](INFO): DefineArg ballast_and_trim:Science.LowPassWindowLength = 20.000000 count
2025-05-12T21:50:37.310Z,1747086637.310 [MissionManager](INFO): DefineArg ballast_and_trim:Science.MedianFilterLen = 5.000000 count
2025-05-12T21:50:37.312Z,1747086637.312 [MissionManager](INFO): DefineArg ballast_and_trim:Science.ShallowBound = nan m
2025-05-12T21:50:37.355Z,1747086637.355 [MissionManager](INFO): DefineArg ballast_and_trim:Science.DeepBound = nan m
2025-05-12T21:50:37.369Z,1747086637.369 [MissionManager](INFO): DefineArg ballast_and_trim:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-05-12T21:50:37.372Z,1747086637.372 [MissionManager](INFO): DefineArg ballast_and_trim:Science.OffPeakFractionVertical = nan %
2025-05-12T21:50:37.382Z,1747086637.382 [MissionManager](INFO): DefineArg ballast_and_trim:Science.ChlPeakThresh = 0.000000 ug/l
2025-05-12T21:50:37.384Z,1747086637.384 [MissionManager](INFO): DefineArg ballast_and_trim:Science.ChlThreshTriggerActive = 0 bool
2025-05-12T21:50:37.399Z,1747086637.399 [MissionManager](INFO): DefineArg ballast_and_trim:Science.ChlLowerThresh = nan ug/l
2025-05-12T21:50:37.406Z,1747086637.406 [MissionManager](INFO): DefineArg ballast_and_trim:Science.ChlUpperThresh = nan ug/l
2025-05-12T21:50:37.408Z,1747086637.408 [MissionManager](INFO): DefineArg ballast_and_trim:Science.NumProfilesThresh = 5.000000 count
2025-05-12T21:50:37.414Z,1747086637.414 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-05-12T21:50:37.421Z,1747086637.421 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PlanktivoreHMavgROIPeakThresh = 0.000000 count/s
2025-05-12T21:50:37.423Z,1747086637.423 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PlanktivoreDiatomsPeakThresh = 0.000000 count/ml
2025-05-12T21:50:37.433Z,1747086637.433 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PlanktivoreDinoflagellatesPeakThresh = 0.000000 count/ml
2025-05-12T21:50:37.435Z,1747086637.435 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.GoDown = 1 bool
2025-05-12T21:50:37.454Z,1747086637.454 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakChl = nan ug/l
2025-05-12T21:50:37.456Z,1747086637.456 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakChlDepth = nan m
2025-05-12T21:50:37.463Z,1747086637.463 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakChlTemperature = nan degC
2025-05-12T21:50:37.470Z,1747086637.470 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakChlLatitude = nan arcdeg
2025-05-12T21:50:37.472Z,1747086637.472 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakChlLongitude = nan arcdeg
2025-05-12T21:50:37.497Z,1747086637.497 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgeChl = nan ug/l
2025-05-12T21:50:37.499Z,1747086637.499 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgeChlDepth = nan m
2025-05-12T21:50:37.509Z,1747086637.509 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgeChlTemperature = nan degC
2025-05-12T21:50:37.512Z,1747086637.512 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgeChlLatitude = nan arcdeg
2025-05-12T21:50:37.514Z,1747086637.514 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgeChlLongitude = nan arcdeg
2025-05-12T21:50:37.521Z,1747086637.521 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakNO3 = nan umol/l
2025-05-12T21:50:37.523Z,1747086637.523 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakNO3Depth = nan m
2025-05-12T21:50:37.529Z,1747086637.529 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakNO3Latitude = nan arcdeg
2025-05-12T21:50:37.532Z,1747086637.532 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakNO3Longitude = nan arcdeg
2025-05-12T21:50:37.540Z,1747086637.540 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakOil = nan kg/m3
2025-05-12T21:50:37.567Z,1747086637.567 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakOilDepth = nan m
2025-05-12T21:50:37.573Z,1747086637.573 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakOilLatitude = nan arcdeg
2025-05-12T21:50:37.575Z,1747086637.575 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakOilLongitude = nan arcdeg
2025-05-12T21:50:37.590Z,1747086637.590 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakFDOM = nan ppb
2025-05-12T21:50:37.592Z,1747086637.592 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakFDOMDepth = nan m
2025-05-12T21:50:37.599Z,1747086637.599 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakFDOMTemperature = nan degC
2025-05-12T21:50:37.605Z,1747086637.605 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakFDOMLatitude = nan arcdeg
2025-05-12T21:50:37.608Z,1747086637.608 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakFDOMLongitude = nan arcdeg
2025-05-12T21:50:37.614Z,1747086637.614 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakSalt = nan psu
2025-05-12T21:50:37.621Z,1747086637.621 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakSaltDepth = nan m
2025-05-12T21:50:37.623Z,1747086637.623 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakSaltTemperature = nan degC
2025-05-12T21:50:37.625Z,1747086637.625 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakSaltLatitude = nan arcdeg
2025-05-12T21:50:37.627Z,1747086637.627 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakSaltLongitude = nan arcdeg
2025-05-12T21:50:37.630Z,1747086637.630 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-05-12T21:50:37.632Z,1747086637.632 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-05-12T21:50:37.647Z,1747086637.647 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-05-12T21:50:37.649Z,1747086637.649 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-05-12T21:50:37.651Z,1747086637.651 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-05-12T21:50:37.654Z,1747086637.654 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-05-12T21:50:37.656Z,1747086637.656 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-05-12T21:50:37.680Z,1747086637.680 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-05-12T21:50:37.682Z,1747086637.682 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-05-12T21:50:37.684Z,1747086637.684 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-05-12T21:50:37.687Z,1747086637.687 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-05-12T21:50:37.705Z,1747086637.705 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-05-12T21:50:37.708Z,1747086637.708 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-05-12T21:50:37.715Z,1747086637.715 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-05-12T21:50:37.749Z,1747086637.749 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-05-12T21:50:37.751Z,1747086637.751 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreHMavgROI = nan count/s
2025-05-12T21:50:37.762Z,1747086637.762 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreHMavgROIDepth = nan m
2025-05-12T21:50:37.773Z,1747086637.773 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreHMavgROITemperature = nan degC
2025-05-12T21:50:37.775Z,1747086637.775 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreHMavgROILatitude = nan arcdeg
2025-05-12T21:50:37.790Z,1747086637.790 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreHMavgROILongitude = nan arcdeg
2025-05-12T21:50:37.792Z,1747086637.792 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-05-12T21:50:37.803Z,1747086637.803 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-05-12T21:50:37.813Z,1747086637.813 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-05-12T21:50:37.815Z,1747086637.815 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-05-12T21:50:37.822Z,1747086637.822 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-05-12T21:50:37.829Z,1747086637.829 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreDiatoms = nan count/ml
2025-05-12T21:50:37.839Z,1747086637.839 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreDiatomsDepth = nan m
2025-05-12T21:50:37.845Z,1747086637.845 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreDiatomsTemperature = nan degC
2025-05-12T21:50:37.848Z,1747086637.848 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreDiatomsLatitude = nan arcdeg
2025-05-12T21:50:37.854Z,1747086637.854 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreDiatomsLongitude = nan arcdeg
2025-05-12T21:50:37.858Z,1747086637.858 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-05-12T21:50:37.860Z,1747086637.860 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-05-12T21:50:37.871Z,1747086637.871 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-05-12T21:50:37.874Z,1747086637.874 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-05-12T21:50:37.889Z,1747086637.889 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-05-12T21:50:37.891Z,1747086637.891 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreDinoflagellates = nan count/ml
2025-05-12T21:50:37.898Z,1747086637.898 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreDinoflagellatesDepth = nan m
2025-05-12T21:50:37.900Z,1747086637.900 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreDinoflagellatesTemperature = nan degC
2025-05-12T21:50:37.907Z,1747086637.907 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-05-12T21:50:37.909Z,1747086637.909 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-05-12T21:50:37.912Z,1747086637.912 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchChl = nan ug/l
2025-05-12T21:50:37.926Z,1747086637.926 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchChlDepth = nan m
2025-05-12T21:50:37.933Z,1747086637.933 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchChlLatitude = nan arcdeg
2025-05-12T21:50:37.935Z,1747086637.935 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchChlLongitude = nan arcdeg
2025-05-12T21:50:37.947Z,1747086637.947 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchChlDistance = nan m
2025-05-12T21:50:37.970Z,1747086637.970 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchSalt = nan psu
2025-05-12T21:50:37.977Z,1747086637.977 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchSaltDepth = nan m
2025-05-12T21:50:37.979Z,1747086637.979 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchSaltLatitude = nan arcdeg
2025-05-12T21:50:37.990Z,1747086637.990 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchSaltLongitude = nan arcdeg
2025-05-12T21:50:37.992Z,1747086637.992 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchSaltDistance = nan m
2025-05-12T21:50:37.999Z,1747086637.999 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchOil = nan psu
2025-05-12T21:50:38.014Z,1747086638.014 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchOilDepth = nan m
2025-05-12T21:50:38.016Z,1747086638.016 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchOilLatitude = nan arcdeg
2025-05-12T21:50:38.023Z,1747086638.023 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchOilLongitude = nan arcdeg
2025-05-12T21:50:38.028Z,1747086638.028 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchOilDistance = nan m
2025-05-12T21:50:38.043Z,1747086638.043 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.TriggeredOnChl = 0 bool
2025-05-12T21:50:38.046Z,1747086638.046 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.ChlTriggering = nan ug/l
2025-05-12T21:50:38.093Z,1747086638.093 [ballast_and_trim:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-05-12T21:50:38.151Z,1747086638.151 [ballast_and_trim:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-05-12T21:50:38.240Z,1747086638.240 [ballast_and_trim:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-05-12T21:50:38.284Z,1747086638.284 [ballast_and_trim:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-05-12T21:50:38.319Z,1747086638.319 [ballast_and_trim:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-05-12T21:50:38.346Z,1747086638.346 [ballast_and_trim:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-05-12T21:50:38.379Z,1747086638.379 [ballast_and_trim:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-05-12T21:50:38.411Z,1747086638.411 [ballast_and_trim:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-05-12T21:50:38.435Z,1747086638.435 [ballast_and_trim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-05-12T21:50:38.490Z,1747086638.490 [ballast_and_trim:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-05-12T21:50:38.566Z,1747086638.566 [ballast_and_trim:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-05-12T21:50:38.638Z,1747086638.638 [ballast_and_trim:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-05-12T21:50:38.663Z,1747086638.663 [ballast_and_trim:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-05-12T21:50:38.704Z,1747086638.704 [ballast_and_trim:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-05-12T21:50:38.736Z,1747086638.736 [ballast_and_trim:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-05-12T21:50:38.786Z,1747086638.786 [ballast_and_trim:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-05-12T21:50:38.805Z,1747086638.805 [ballast_and_trim:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-05-12T21:50:38.825Z,1747086638.825 [ballast_and_trim:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-05-12T21:50:38.831Z,1747086638.831 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-05-12T21:50:38.832Z,1747086638.832 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-05-12T21:50:38.833Z,1747086638.833 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-05-12T21:50:39.135Z,1747086639.135 [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>

2025-05-12T21:50:39.140Z,1747086639.140 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.DiveInterval = 1.000000 h
2025-05-12T21:50:39.142Z,1747086639.142 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.WaitForPitchUp = 10.000000 min
2025-05-12T21:50:39.145Z,1747086639.145 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-05-12T21:50:39.147Z,1747086639.147 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.SurfaceDepthRate = nan m/s
2025-05-12T21:50:39.149Z,1747086639.149 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-05-12T21:50:39.152Z,1747086639.152 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.SurfacingTimeout = 1000.000000 s
2025-05-12T21:50:39.154Z,1747086639.154 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.GPSTimeout = 7.000000 min
2025-05-12T21:50:39.156Z,1747086639.156 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.CommsTimeout = 30.000000 min
2025-05-12T21:50:39.194Z,1747086639.194 [ballast_and_trim:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-05-12T21:50:39.229Z,1747086639.229 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-05-12T21:50:39.229Z,1747086639.229 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-05-12T21:50:39.230Z,1747086639.230 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-05-12T21:50:39.306Z,1747086639.306 [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>

2025-05-12T21:50:39.310Z,1747086639.310 [MissionManager](INFO): DefineArg ballast_and_trim:StandardEnvelopes.MinAltitude = 5.000000 m
2025-05-12T21:50:39.312Z,1747086639.312 [MissionManager](INFO): DefineArg ballast_and_trim:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-05-12T21:50:39.327Z,1747086639.327 [MissionManager](INFO): DefineArg ballast_and_trim:StandardEnvelopes.MaxDepth = 200.000000 m
2025-05-12T21:50:39.329Z,1747086639.329 [MissionManager](INFO): DefineArg ballast_and_trim:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-05-12T21:50:39.330Z,1747086639.330 [ballast_and_trim:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-05-12T21:50:39.364Z,1747086639.364 [ballast_and_trim:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-05-12T21:50:39.394Z,1747086639.394 [ballast_and_trim:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-05-12T21:50:39.424Z,1747086639.424 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-05-12T21:50:39.424Z,1747086639.424 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-05-12T21:50:39.433Z,1747086639.433 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-05-12T21:50:39.477Z,1747086639.477 [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>

2025-05-12T21:50:39.480Z,1747086639.480 [MissionManager](INFO): DefineArg ballast_and_trim:BackseatDriver.EnableBackseat = 0 bool
2025-05-12T21:50:39.483Z,1747086639.483 [ballast_and_trim:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-05-12T21:50:39.485Z,1747086639.485 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-05-12T21:50:39.485Z,1747086639.485 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-05-12T21:50:39.486Z,1747086639.486 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-05-12T21:50:39.606Z,1747086639.606 [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>

2025-05-12T21:50:39.610Z,1747086639.610 [MissionManager](INFO): DefineArg ballast_and_trim:PowerOnly.SampleAll = 0 bool
2025-05-12T21:50:39.612Z,1747086639.612 [MissionManager](INFO): DefineArg ballast_and_trim:PowerOnly.SampleLoad1 = 0 bool
2025-05-12T21:50:39.614Z,1747086639.614 [MissionManager](INFO): DefineArg ballast_and_trim:PowerOnly.SampleLoad2 = 0 bool
2025-05-12T21:50:39.616Z,1747086639.616 [MissionManager](INFO): DefineArg ballast_and_trim:PowerOnly.SampleLoad3 = 0 bool
2025-05-12T21:50:39.618Z,1747086639.618 [MissionManager](INFO): DefineArg ballast_and_trim:PowerOnly.EnabledPowerOnly = 1 bool
2025-05-12T21:50:39.625Z,1747086639.625 [ballast_and_trim:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-05-12T21:50:39.658Z,1747086639.658 [ballast_and_trim:CheckTargetDepths:CheckDepth1:B.Execute](DEBUG): Construct Execute.
2025-05-12T21:50:39.668Z,1747086639.668 [ballast_and_trim:CheckTargetDepths:CheckDepth2:B.Execute](DEBUG): Construct Execute.
2025-05-12T21:50:39.675Z,1747086639.675 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BallastAndTrim.tl
2025-05-12T21:50:39.675Z,1747086639.675 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BallastAndTrim.tl
2025-05-12T21:50:39.677Z,1747086639.677 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BallastAndTrim.tl
2025-05-12T21:50:40.180Z,1747086640.180 [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>

2025-05-12T21:50:40.196Z,1747086640.196 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertDepth = 25.000000 m
2025-05-12T21:50:40.222Z,1747086640.222 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachSpeed = 0.000000 m/s
2025-05-12T21:50:40.224Z,1747086640.224 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachDepthRate = 0.400000 m/s
2025-05-12T21:50:40.235Z,1747086640.235 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachPitchLimit = 20.000000 arcdeg
2025-05-12T21:50:40.245Z,1747086640.245 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachSettleTimePreDive = 0.000000 min
2025-05-12T21:50:40.247Z,1747086640.247 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachDepthTimeout = 20.000000 min
2025-05-12T21:50:40.249Z,1747086640.249 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertSettleTime = 10.000000 min
2025-05-12T21:50:40.252Z,1747086640.252 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.EstTimeout = 45.000000 min
2025-05-12T21:50:40.262Z,1747086640.262 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.MinEstTime = 10.000000 min
2025-05-12T21:50:40.264Z,1747086640.264 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.MassEstErrorBound = 0.250000 mm
2025-05-12T21:50:40.271Z,1747086640.271 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.BuoyEstErrorBound = 15.000000 cc
2025-05-12T21:50:40.277Z,1747086640.277 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.EstConfidence = 99.900002 %
2025-05-12T21:50:40.280Z,1747086640.280 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertDepthDeadband = 1.000000 m
2025-05-12T21:50:40.291Z,1747086640.291 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertMassDeadband = 0.250000 mm
2025-05-12T21:50:40.324Z,1747086640.324 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point](DEBUG): Construct.
2025-05-12T21:50:40.338Z,1747086640.338 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy](DEBUG): Construct Buoyancy.
2025-05-12T21:50:40.345Z,1747086640.345 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch](DEBUG): Construct.
2025-05-12T21:50:40.360Z,1747086640.360 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait](DEBUG): Construct Wait.
2025-05-12T21:50:40.368Z,1747086640.368 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed](DEBUG): Construct.
2025-05-12T21:50:40.370Z,1747086640.370 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch](DEBUG): Construct.
2025-05-12T21:50:40.389Z,1747086640.389 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2025-05-12T21:50:40.392Z,1747086640.392 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed](DEBUG): Construct.
2025-05-12T21:50:40.400Z,1747086640.400 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch](DEBUG): Construct.
2025-05-12T21:50:40.406Z,1747086640.406 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait](DEBUG): Construct Wait.
2025-05-12T21:50:40.407Z,1747086640.407 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:E.Execute](DEBUG): Construct Execute.
2025-05-12T21:50:40.415Z,1747086640.415 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](DEBUG): Construct BallastAndTrim.
2025-05-12T21:50:40.421Z,1747086640.421 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertDepthDeadband = reader:ballast_and_trim.DepthDeadband
2025-05-12T21:50:40.423Z,1747086640.423 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachSpeed = reader:ballast_and_trim.ApproachSpeed
2025-05-12T21:50:40.425Z,1747086640.425 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachDepthRate = reader:ballast_and_trim.ApproachDepthRate
2025-05-12T21:50:40.426Z,1747086640.426 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachPitchLimit = reader:ballast_and_trim.ApproachPitchLimit
2025-05-12T21:50:40.428Z,1747086640.428 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachSettleTimePreDive = reader:ballast_and_trim.ApproachSettleTimePreDive
2025-05-12T21:50:40.429Z,1747086640.429 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachDepthTimeout = reader:ballast_and_trim.ApproachDepthTimeout
2025-05-12T21:50:40.431Z,1747086640.431 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertSettleTime = reader:ballast_and_trim.SettleTime
2025-05-12T21:50:40.432Z,1747086640.432 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.EstTimeout = reader:ballast_and_trim.EstimationTimeout
2025-05-12T21:50:40.434Z,1747086640.434 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.MinEstTime = reader:ballast_and_trim.MinEstimationTime
2025-05-12T21:50:40.436Z,1747086640.436 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.MassEstErrorBound = reader:ballast_and_trim.MassEstimationErrorBound
2025-05-12T21:50:40.437Z,1747086640.437 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.BuoyEstErrorBound = reader:ballast_and_trim.BuoyEstimationErrorBound
2025-05-12T21:50:40.439Z,1747086640.439 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.EstConfidence = reader:ballast_and_trim.EstimationConfidence
2025-05-12T21:50:40.440Z,1747086640.440 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertMassDeadband = reader:ballast_and_trim.massDeadband
2025-05-12T21:50:40.605Z,1747086640.605 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

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

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

    Depth1 = 35 meter

    Depth2 = NaN meter

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

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

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

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

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

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

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

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

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

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

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

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

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

    MinAltitude = 5 meter

    MaxDepth = 52 meter

    MinOffshore = 2 kilometer

    CheckDepths = 1 bool
  }

  timeout duration=MissionTimeout

  insert Insert/Science.tl

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

  insert Insert/StandardEnvelopes.tl

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

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

  aggregate CheckTargetDepths {
    run in sequence

    break if ( not ( CheckDepths ) )

    aggregate CheckDepth1 {
      run in sequence

      break if ( not ( Depth1 > MaxDepth ) )

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

      behavior Guidance:Execute {
        run in sequence

        set command = "stop"
      }
    }

    aggregate CheckDepth2 {
      run in sequence

      break if ( not ( Depth2 > MaxDepth ) )

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

      behavior Guidance:Execute {
        run in sequence

        set command = "stop"
      }
    }

    assign in sequence CheckDepths = 0 bool
  }

  aggregate StartingMission {
    run in sequence

    break if ( SkipComms )

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

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

  aggregate RunBallastAndTrim {
    run in sequence

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

    aggregate RunDepth1 {
      run in sequence

      break if ( isNaN ( Depth1 ) )

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

    aggregate RunDepth2 {
      run in sequence

      break if ( isNaN ( Depth2 ) )

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

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


2025-05-12T21:50:40.605Z,1747086640.605 [CommandExec](IMPORTANT): Loaded ./Missions/Maintenance/ballast_and_trim.tl id=ballast_and_trim
2025-05-12T21:50:46.701Z,1747086646.701 [CommandExec](IMPORTANT): got command set ballast_and_trim.ApproachDepthTimeout 10 minute
2025-05-12T21:50:46.702Z,1747086646.702 [CommandExec](IMPORTANT): got command run
2025-05-12T21:50:46.704Z,1747086646.704 [CommandExec](IMPORTANT): Running 
2025-05-12T21:50:47.064Z,1747086647.064 [Default] Stopped
2025-05-12T21:50:47.064Z,1747086647.064 [Default](DEBUG): Aggregate::uninitialize Default
2025-05-12T21:50:47.064Z,1747086647.064 [Default:B.GoToSurface] Stopped
2025-05-12T21:50:47.065Z,1747086647.065 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-05-12T21:50:47.065Z,1747086647.065 [Default:CheckIn] Stopped
2025-05-12T21:50:47.065Z,1747086647.065 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-05-12T21:50:47.065Z,1747086647.065 [Default:CheckIn:C.Wait] Stopped
2025-05-12T21:50:47.065Z,1747086647.065 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-05-12T21:50:47.065Z,1747086647.065 [MissionManager](IMPORTANT): Started mission ballast_and_trim
2025-05-12T21:50:47.065Z,1747086647.065 [ballast_and_trim] Running Loop=1
2025-05-12T21:50:47.065Z,1747086647.065 [ballast_and_trim](DEBUG): Aggregate::initialize ballast_and_trim
2025-05-12T21:50:47.066Z,1747086647.066 [ballast_and_trim:Science] Running Loop=1
2025-05-12T21:50:47.066Z,1747086647.066 [ballast_and_trim:Science](DEBUG): Aggregate::initialize ballast_and_trim:Science
2025-05-12T21:50:47.066Z,1747086647.066 [ballast_and_trim:Science:A] Running Loop=1
2025-05-12T21:50:47.066Z,1747086647.066 [ballast_and_trim:Science:B] Running Loop=1
2025-05-12T21:50:47.066Z,1747086647.066 [ballast_and_trim:Science:C] Running Loop=1
2025-05-12T21:50:47.066Z,1747086647.066 [ballast_and_trim:Science:D] Running Loop=1
2025-05-12T21:50:47.066Z,1747086647.066 [ballast_and_trim:Science:E] Running Loop=1
2025-05-12T21:50:47.066Z,1747086647.066 [ballast_and_trim:Science:F] Running Loop=1
2025-05-12T21:50:47.066Z,1747086647.066 [ballast_and_trim:Science:Read_Oil] Running Loop=1
2025-05-12T21:50:47.066Z,1747086647.066 [ballast_and_trim:Science:PeakDetectChl] Running Loop=1
2025-05-12T21:50:47.066Z,1747086647.066 [ballast_and_trim:Science:PeakDetectChl](DEBUG): Aggregate::initialize ballast_and_trim:Science:PeakDetectChl
2025-05-12T21:50:47.066Z,1747086647.066 [ballast_and_trim:Science:PeakDetectChl:A] Running Loop=1
2025-05-12T21:50:47.067Z,1747086647.067 [ballast_and_trim:Science:EdgeDetectChl] Running Loop=1
2025-05-12T21:50:47.067Z,1747086647.067 [ballast_and_trim:Science:EdgeDetectChl](DEBUG): Aggregate::initialize ballast_and_trim:Science:EdgeDetectChl
2025-05-12T21:50:47.067Z,1747086647.067 [ballast_and_trim:Science:EdgeDetectChl:A] Running Loop=1
2025-05-12T21:50:47.067Z,1747086647.067 [ballast_and_trim:Science:HighestChlPeakReport] Running Loop=1
2025-05-12T21:50:47.067Z,1747086647.067 [ballast_and_trim:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize ballast_and_trim:Science:HighestChlPeakReport
2025-05-12T21:50:47.067Z,1747086647.067 [ballast_and_trim:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-05-12T21:50:47.067Z,1747086647.067 [ballast_and_trim:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-05-12T21:50:47.068Z,1747086647.068 [ballast_and_trim:Science:PeakDetectNO3] Running Loop=1
2025-05-12T21:50:47.068Z,1747086647.068 [ballast_and_trim:Science:PeakDetectNO3](DEBUG): Aggregate::initialize ballast_and_trim:Science:PeakDetectNO3
2025-05-12T21:50:47.068Z,1747086647.068 [ballast_and_trim:Science:PeakDetectNO3:A] Running Loop=1
2025-05-12T21:50:47.068Z,1747086647.068 [ballast_and_trim:Science:PeakDetectOil] Running Loop=1
2025-05-12T21:50:47.068Z,1747086647.068 [ballast_and_trim:Science:PeakDetectOil](DEBUG): Aggregate::initialize ballast_and_trim:Science:PeakDetectOil
2025-05-12T21:50:47.068Z,1747086647.068 [ballast_and_trim:Science:PeakDetectOil:A] Running Loop=1
2025-05-12T21:50:47.068Z,1747086647.068 [ballast_and_trim:Science:HighestOilPeakReport] Running Loop=1
2025-05-12T21:50:47.068Z,1747086647.068 [ballast_and_trim:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize ballast_and_trim:Science:HighestOilPeakReport
2025-05-12T21:50:47.069Z,1747086647.069 [ballast_and_trim:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-05-12T21:50:47.069Z,1747086647.069 [ballast_and_trim:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-05-12T21:50:47.069Z,1747086647.069 [ballast_and_trim:Science:PeakDetectFDOM] Running Loop=1
2025-05-12T21:50:47.069Z,1747086647.069 [ballast_and_trim:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize ballast_and_trim:Science:PeakDetectFDOM
2025-05-12T21:50:47.069Z,1747086647.069 [ballast_and_trim:Science:PeakDetectFDOM:A] Running Loop=1
2025-05-12T21:50:47.069Z,1747086647.069 [ballast_and_trim:Science:PeakDetectSalinity] Running Loop=1
2025-05-12T21:50:47.070Z,1747086647.070 [ballast_and_trim:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize ballast_and_trim:Science:PeakDetectSalinity
2025-05-12T21:50:47.070Z,1747086647.070 [ballast_and_trim:Science:PeakDetectSalinity:A] Running Loop=1
2025-05-12T21:50:47.070Z,1747086647.070 [ballast_and_trim:Science:HighestSaltPeakReport] Running Loop=1
2025-05-12T21:50:47.070Z,1747086647.070 [ballast_and_trim:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize ballast_and_trim:Science:HighestSaltPeakReport
2025-05-12T21:50:47.070Z,1747086647.070 [ballast_and_trim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-05-12T21:50:47.070Z,1747086647.070 [ballast_and_trim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-05-12T21:50:47.070Z,1747086647.070 [ballast_and_trim:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-05-12T21:50:47.071Z,1747086647.071 [ballast_and_trim:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize ballast_and_trim:Science:PeakDetectPlanktivoreLMavgROI
2025-05-12T21:50:47.071Z,1747086647.071 [ballast_and_trim:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-05-12T21:50:47.071Z,1747086647.071 [ballast_and_trim:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2025-05-12T21:50:47.071Z,1747086647.071 [ballast_and_trim:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize ballast_and_trim:Science:EdgeDetectPlanktivoreLMavgROI
2025-05-12T21:50:47.071Z,1747086647.071 [ballast_and_trim:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-05-12T21:50:47.071Z,1747086647.071 [ballast_and_trim:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-05-12T21:50:47.071Z,1747086647.071 [ballast_and_trim:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize ballast_and_trim:Science:PeakDetectPlanktivoreHMavgROI
2025-05-12T21:50:47.071Z,1747086647.071 [ballast_and_trim:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-05-12T21:50:47.071Z,1747086647.071 [ballast_and_trim:Science:EdgeDetectPlanktivoreHMavgROI] Running Loop=1
2025-05-12T21:50:47.072Z,1747086647.072 [ballast_and_trim:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize ballast_and_trim:Science:EdgeDetectPlanktivoreHMavgROI
2025-05-12T21:50:47.072Z,1747086647.072 [ballast_and_trim:Science:EdgeDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-05-12T21:50:47.072Z,1747086647.072 [ballast_and_trim:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-05-12T21:50:47.072Z,1747086647.072 [ballast_and_trim:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize ballast_and_trim:Science:PeakDetectPlanktivoreDiatoms
2025-05-12T21:50:47.089Z,1747086647.089 [ballast_and_trim:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2025-05-12T21:50:47.089Z,1747086647.089 [ballast_and_trim:Science:EdgeDetectPlanktivoreDiatoms] Running Loop=1
2025-05-12T21:50:47.089Z,1747086647.089 [ballast_and_trim:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize ballast_and_trim:Science:EdgeDetectPlanktivoreDiatoms
2025-05-12T21:50:47.089Z,1747086647.089 [ballast_and_trim:Science:EdgeDetectPlanktivoreDiatoms:A] Running Loop=1
2025-05-12T21:50:47.089Z,1747086647.089 [ballast_and_trim:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-05-12T21:50:47.089Z,1747086647.089 [ballast_and_trim:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize ballast_and_trim:Science:PeakDetectPlanktivoreDinoflagellates
2025-05-12T21:50:47.089Z,1747086647.089 [ballast_and_trim:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-05-12T21:50:47.089Z,1747086647.089 [ballast_and_trim:Science:EdgeDetectPlanktivoreDinoflagellates] Running Loop=1
2025-05-12T21:50:47.089Z,1747086647.089 [ballast_and_trim:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize ballast_and_trim:Science:EdgeDetectPlanktivoreDinoflagellates
2025-05-12T21:50:47.090Z,1747086647.090 [ballast_and_trim:Science:EdgeDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-05-12T21:50:47.090Z,1747086647.090 [ballast_and_trim:Science:ChlThreshTrigger] Running Loop=1
2025-05-12T21:50:47.090Z,1747086647.090 [ballast_and_trim:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize ballast_and_trim:Science:ChlThreshTrigger
2025-05-12T21:50:47.090Z,1747086647.090 [ballast_and_trim:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-05-12T21:50:47.090Z,1747086647.090 [ballast_and_trim:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-05-12T21:50:47.090Z,1747086647.090 [ballast_and_trim:Science:OceanCurrent] Running Loop=1
2025-05-12T21:50:47.090Z,1747086647.090 [ballast_and_trim:Science:OceanCurrent](DEBUG): Aggregate::initialize ballast_and_trim:Science:OceanCurrent
2025-05-12T21:50:47.090Z,1747086647.090 [ballast_and_trim:Science:OceanCurrent:A.] Running Loop=1
2025-05-12T21:50:47.091Z,1747086647.091 [ballast_and_trim:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-05-12T21:50:47.091Z,1747086647.091 [ballast_and_trim:StandardEnvelopes] Running Loop=1
2025-05-12T21:50:47.091Z,1747086647.091 [ballast_and_trim:StandardEnvelopes](DEBUG): Aggregate::initialize ballast_and_trim:StandardEnvelopes
2025-05-12T21:50:47.091Z,1747086647.091 [ballast_and_trim:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-05-12T21:50:47.091Z,1747086647.091 [ballast_and_trim:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-05-12T21:50:47.091Z,1747086647.091 [ballast_and_trim:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-05-12T21:50:47.091Z,1747086647.091 [ballast_and_trim:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-05-12T21:50:47.091Z,1747086647.091 [ballast_and_trim:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-05-12T21:50:47.091Z,1747086647.091 [ballast_and_trim:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-05-12T21:50:47.091Z,1747086647.091 [ballast_and_trim:BackseatDriver] Running Loop=1
2025-05-12T21:50:47.092Z,1747086647.092 [ballast_and_trim:BackseatDriver](DEBUG): Aggregate::initialize ballast_and_trim:BackseatDriver
2025-05-12T21:50:47.092Z,1747086647.092 [ballast_and_trim:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-05-12T21:50:47.092Z,1747086647.092 [ballast_and_trim:PowerOnly] Running Loop=1
2025-05-12T21:50:47.092Z,1747086647.092 [ballast_and_trim:PowerOnly](DEBUG): Aggregate::initialize ballast_and_trim:PowerOnly
2025-05-12T21:50:47.092Z,1747086647.092 [ballast_and_trim:PowerOnly:A] Running Loop=1
2025-05-12T21:50:47.092Z,1747086647.092 [ballast_and_trim:PowerOnly:B] Running Loop=1
2025-05-12T21:50:47.092Z,1747086647.092 [ballast_and_trim:PowerOnly:C] Running Loop=1
2025-05-12T21:50:47.092Z,1747086647.092 [ballast_and_trim:PowerOnly:D] Running Loop=1
2025-05-12T21:50:47.092Z,1747086647.092 [ballast_and_trim:PowerOnly:E.Wait] Running Loop=1
2025-05-12T21:50:47.097Z,1747086647.097 [ballast_and_trim:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-05-12T21:50:47.097Z,1747086647.097 [ballast_and_trim:C] Running Loop=1
2025-05-12T21:50:47.097Z,1747086647.097 [ballast_and_trim:PowerOnly] Running Loop=1
2025-05-12T21:50:47.098Z,1747086647.098 [ballast_and_trim:PowerOnly:D] Stopped
2025-05-12T21:50:47.098Z,1747086647.098 [ballast_and_trim:PowerOnly:C] Stopped
2025-05-12T21:50:47.098Z,1747086647.098 [ballast_and_trim:PowerOnly:B] Stopped
2025-05-12T21:50:47.098Z,1747086647.098 [ballast_and_trim:PowerOnly:A] Stopped
2025-05-12T21:50:47.098Z,1747086647.098 [ballast_and_trim:BackseatDriver] Running Loop=1
2025-05-12T21:50:47.098Z,1747086647.098 [ballast_and_trim:StandardEnvelopes] Running Loop=1
2025-05-12T21:50:47.098Z,1747086647.098 [ballast_and_trim:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-05-12T21:50:47.099Z,1747086647.099 [ballast_and_trim:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-05-12T21:50:47.099Z,1747086647.099 [ballast_and_trim:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-05-12T21:50:47.099Z,1747086647.099 [ballast_and_trim:C] Stopped
2025-05-12T21:50:47.100Z,1747086647.100 [ballast_and_trim:E] Running Loop=1
2025-05-12T21:50:47.100Z,1747086647.100 [ballast_and_trim:Science] Running Loop=1
2025-05-12T21:50:47.105Z,1747086647.105 [ballast_and_trim:Science:ChlThreshTrigger] Stopped
2025-05-12T21:50:47.105Z,1747086647.105 [ballast_and_trim:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:ChlThreshTrigger
2025-05-12T21:50:47.106Z,1747086647.106 [ballast_and_trim:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-05-12T21:50:47.106Z,1747086647.106 [ballast_and_trim:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-05-12T21:50:47.106Z,1747086647.106 [ballast_and_trim:Science:EdgeDetectPlanktivoreDinoflagellates] Stopped
2025-05-12T21:50:47.106Z,1747086647.106 [ballast_and_trim:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:EdgeDetectPlanktivoreDinoflagellates
2025-05-12T21:50:47.106Z,1747086647.106 [ballast_and_trim:Science:EdgeDetectPlanktivoreDinoflagellates:A] Stopped
2025-05-12T21:50:47.106Z,1747086647.106 [ballast_and_trim:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-05-12T21:50:47.106Z,1747086647.106 [ballast_and_trim:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:PeakDetectPlanktivoreDinoflagellates
2025-05-12T21:50:47.106Z,1747086647.106 [ballast_and_trim:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2025-05-12T21:50:47.106Z,1747086647.106 [ballast_and_trim:Science:EdgeDetectPlanktivoreDiatoms] Stopped
2025-05-12T21:50:47.106Z,1747086647.106 [ballast_and_trim:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:EdgeDetectPlanktivoreDiatoms
2025-05-12T21:50:47.106Z,1747086647.106 [ballast_and_trim:Science:EdgeDetectPlanktivoreDiatoms:A] Stopped
2025-05-12T21:50:47.106Z,1747086647.106 [ballast_and_trim:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-05-12T21:50:47.106Z,1747086647.106 [ballast_and_trim:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:PeakDetectPlanktivoreDiatoms
2025-05-12T21:50:47.107Z,1747086647.107 [ballast_and_trim:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2025-05-12T21:50:47.107Z,1747086647.107 [ballast_and_trim:Science:EdgeDetectPlanktivoreHMavgROI] Stopped
2025-05-12T21:50:47.107Z,1747086647.107 [ballast_and_trim:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:EdgeDetectPlanktivoreHMavgROI
2025-05-12T21:50:47.107Z,1747086647.107 [ballast_and_trim:Science:EdgeDetectPlanktivoreHMavgROI:A] Stopped
2025-05-12T21:50:47.107Z,1747086647.107 [ballast_and_trim:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-05-12T21:50:47.107Z,1747086647.107 [ballast_and_trim:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:PeakDetectPlanktivoreHMavgROI
2025-05-12T21:50:47.107Z,1747086647.107 [ballast_and_trim:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2025-05-12T21:50:47.107Z,1747086647.107 [ballast_and_trim:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2025-05-12T21:50:47.107Z,1747086647.107 [ballast_and_trim:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:EdgeDetectPlanktivoreLMavgROI
2025-05-12T21:50:47.107Z,1747086647.107 [ballast_and_trim:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2025-05-12T21:50:47.107Z,1747086647.107 [ballast_and_trim:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-05-12T21:50:47.107Z,1747086647.107 [ballast_and_trim:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:PeakDetectPlanktivoreLMavgROI
2025-05-12T21:50:47.107Z,1747086647.107 [ballast_and_trim:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2025-05-12T21:50:47.108Z,1747086647.108 [ballast_and_trim:Science:HighestSaltPeakReport] Stopped
2025-05-12T21:50:47.108Z,1747086647.108 [ballast_and_trim:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:HighestSaltPeakReport
2025-05-12T21:50:47.108Z,1747086647.108 [ballast_and_trim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-05-12T21:50:47.108Z,1747086647.108 [ballast_and_trim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-05-12T21:50:47.108Z,1747086647.108 [ballast_and_trim:Science:PeakDetectSalinity] Stopped
2025-05-12T21:50:47.108Z,1747086647.108 [ballast_and_trim:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:PeakDetectSalinity
2025-05-12T21:50:47.108Z,1747086647.108 [ballast_and_trim:Science:PeakDetectSalinity:A] Stopped
2025-05-12T21:50:47.108Z,1747086647.108 [ballast_and_trim:Science:PeakDetectFDOM] Stopped
2025-05-12T21:50:47.108Z,1747086647.108 [ballast_and_trim:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:PeakDetectFDOM
2025-05-12T21:50:47.108Z,1747086647.108 [ballast_and_trim:Science:PeakDetectFDOM:A] Stopped
2025-05-12T21:50:47.108Z,1747086647.108 [ballast_and_trim:Science:HighestOilPeakReport] Stopped
2025-05-12T21:50:47.113Z,1747086647.113 [ballast_and_trim:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:HighestOilPeakReport
2025-05-12T21:50:47.113Z,1747086647.113 [ballast_and_trim:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-05-12T21:50:47.113Z,1747086647.113 [ballast_and_trim:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-05-12T21:50:47.113Z,1747086647.113 [ballast_and_trim:Science:PeakDetectOil] Stopped
2025-05-12T21:50:47.113Z,1747086647.113 [ballast_and_trim:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:PeakDetectOil
2025-05-12T21:50:47.113Z,1747086647.113 [ballast_and_trim:Science:PeakDetectOil:A] Stopped
2025-05-12T21:50:47.113Z,1747086647.113 [ballast_and_trim:Science:PeakDetectNO3] Stopped
2025-05-12T21:50:47.113Z,1747086647.113 [ballast_and_trim:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:PeakDetectNO3
2025-05-12T21:50:47.113Z,1747086647.113 [ballast_and_trim:Science:PeakDetectNO3:A] Stopped
2025-05-12T21:50:47.113Z,1747086647.113 [ballast_and_trim:Science:HighestChlPeakReport] Stopped
2025-05-12T21:50:47.113Z,1747086647.113 [ballast_and_trim:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:HighestChlPeakReport
2025-05-12T21:50:47.114Z,1747086647.114 [ballast_and_trim:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-05-12T21:50:47.114Z,1747086647.114 [ballast_and_trim:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-05-12T21:50:47.114Z,1747086647.114 [ballast_and_trim:Science:EdgeDetectChl] Stopped
2025-05-12T21:50:47.114Z,1747086647.114 [ballast_and_trim:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:EdgeDetectChl
2025-05-12T21:50:47.114Z,1747086647.114 [ballast_and_trim:Science:EdgeDetectChl:A] Stopped
2025-05-12T21:50:47.114Z,1747086647.114 [ballast_and_trim:Science:PeakDetectChl] Stopped
2025-05-12T21:50:47.114Z,1747086647.114 [ballast_and_trim:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:PeakDetectChl
2025-05-12T21:50:47.114Z,1747086647.114 [ballast_and_trim:Science:PeakDetectChl:A] Stopped
2025-05-12T21:50:47.114Z,1747086647.114 [ballast_and_trim:Science:OceanCurrent:A.] Running Loop=1
2025-05-12T21:50:47.114Z,1747086647.114 [ballast_and_trim:Science:Read_Oil] Stopped
2025-05-12T21:50:47.114Z,1747086647.114 [ballast_and_trim:Science:F] Stopped
2025-05-12T21:50:47.114Z,1747086647.114 [ballast_and_trim:Science:E] Running Loop=1
2025-05-12T21:50:47.115Z,1747086647.115 [ballast_and_trim:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2025-05-12T21:50:47.115Z,1747086647.115 [ballast_and_trim:Science:D] Stopped
2025-05-12T21:50:47.115Z,1747086647.115 [ballast_and_trim:Science:C] Running Loop=1
2025-05-12T21:50:47.116Z,1747086647.116 [ballast_and_trim:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2025-05-12T21:50:47.116Z,1747086647.116 [ballast_and_trim:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2025-05-12T21:50:47.116Z,1747086647.116 [ballast_and_trim:Science:B] Running Loop=1
2025-05-12T21:50:47.119Z,1747086647.119 [ballast_and_trim:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2025-05-12T21:50:47.119Z,1747086647.119 [ballast_and_trim:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2025-05-12T21:50:47.119Z,1747086647.119 [ballast_and_trim:Science:A] Stopped
2025-05-12T21:50:47.153Z,1747086647.153 [WetLabsBB2FL](INFO): Powering up
2025-05-12T21:50:47.451Z,1747086647.451 [ballast_and_trim:E] Stopped
2025-05-12T21:50:47.451Z,1747086647.451 [ballast_and_trim:F] Running Loop=1
2025-05-12T21:50:47.857Z,1747086647.857 [ballast_and_trim:F] Stopped
2025-05-12T21:50:47.857Z,1747086647.857 [ballast_and_trim:G] Running Loop=1
2025-05-12T21:50:48.293Z,1747086648.293 [ballast_and_trim:G] Stopped
2025-05-12T21:50:48.293Z,1747086648.293 [ballast_and_trim:CheckTargetDepths] Running Loop=1
2025-05-12T21:50:48.293Z,1747086648.293 [ballast_and_trim:CheckTargetDepths](DEBUG): Aggregate::initialize ballast_and_trim:CheckTargetDepths
2025-05-12T21:50:48.293Z,1747086648.293 [ballast_and_trim:CheckTargetDepths:CheckDepth1] Running Loop=1
2025-05-12T21:50:48.293Z,1747086648.293 [ballast_and_trim:CheckTargetDepths:CheckDepth1](DEBUG): Aggregate::initialize ballast_and_trim:CheckTargetDepths:CheckDepth1
2025-05-12T21:50:48.293Z,1747086648.293 [ballast_and_trim:CheckTargetDepths:CheckDepth1:A] Running Loop=1
2025-05-12T21:50:48.663Z,1747086648.663 [ballast_and_trim:CheckTargetDepths:CheckDepth1] Stopped
2025-05-12T21:50:48.663Z,1747086648.663 [ballast_and_trim:CheckTargetDepths:CheckDepth1](DEBUG): Aggregate::uninitialize ballast_and_trim:CheckTargetDepths:CheckDepth1
2025-05-12T21:50:48.663Z,1747086648.663 [ballast_and_trim:CheckTargetDepths:CheckDepth1:A] Stopped
2025-05-12T21:50:48.663Z,1747086648.663 [ballast_and_trim:CheckTargetDepths:CheckDepth2] Running Loop=1
2025-05-12T21:50:48.663Z,1747086648.663 [ballast_and_trim:CheckTargetDepths:CheckDepth2](DEBUG): Aggregate::initialize ballast_and_trim:CheckTargetDepths:CheckDepth2
2025-05-12T21:50:48.663Z,1747086648.663 [ballast_and_trim:CheckTargetDepths:CheckDepth2:A] Running Loop=1
2025-05-12T21:50:49.081Z,1747086649.081 [ballast_and_trim:CheckTargetDepths:CheckDepth2] Stopped
2025-05-12T21:50:49.081Z,1747086649.081 [ballast_and_trim:CheckTargetDepths:CheckDepth2](DEBUG): Aggregate::uninitialize ballast_and_trim:CheckTargetDepths:CheckDepth2
2025-05-12T21:50:49.081Z,1747086649.081 [ballast_and_trim:CheckTargetDepths:CheckDepth2:A] Stopped
2025-05-12T21:50:49.081Z,1747086649.081 [ballast_and_trim:CheckTargetDepths:C] Running Loop=1
2025-05-12T21:50:49.471Z,1747086649.471 [ballast_and_trim:CheckTargetDepths:C] Stopped
2025-05-12T21:50:49.471Z,1747086649.471 [ballast_and_trim:CheckTargetDepths](INFO): Completed ballast_and_trim:CheckTargetDepths
2025-05-12T21:50:49.471Z,1747086649.471 [ballast_and_trim:CheckTargetDepths] Stopped
2025-05-12T21:50:49.471Z,1747086649.471 [ballast_and_trim:CheckTargetDepths](DEBUG): Aggregate::uninitialize ballast_and_trim:CheckTargetDepths
2025-05-12T21:50:49.471Z,1747086649.471 [ballast_and_trim:StartingMission] Running Loop=1
2025-05-12T21:50:49.471Z,1747086649.471 [ballast_and_trim:StartingMission](DEBUG): Aggregate::initialize ballast_and_trim:StartingMission
2025-05-12T21:50:49.471Z,1747086649.471 [ballast_and_trim:StartingMission:A] Running Loop=1
2025-05-12T21:50:49.873Z,1747086649.873 [ballast_and_trim:StartingMission:A](INFO): Checking for additional instructions before submerging.
2025-05-12T21:50:49.873Z,1747086649.873 [ballast_and_trim:StartingMission:A] Stopped
2025-05-12T21:50:49.873Z,1747086649.873 [ballast_and_trim:StartingMission:StartingMission] Running Loop=1
2025-05-12T21:50:49.874Z,1747086649.874 [ballast_and_trim:StartingMission:StartingMission](DEBUG): Aggregate::initialize ballast_and_trim:StartingMission:StartingMission
2025-05-12T21:50:50.130Z,1747086650.130 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2025-05-12T21:50:50.281Z,1747086650.281 [ballast_and_trim:NeedComms] Running Loop=1
2025-05-12T21:50:50.281Z,1747086650.281 [ballast_and_trim:NeedComms](DEBUG): Aggregate::initialize ballast_and_trim:NeedComms
2025-05-12T21:50:50.282Z,1747086650.282 [ballast_and_trim:NeedComms:B.GoToSurface] Running Loop=1
2025-05-12T21:50:50.282Z,1747086650.282 [ballast_and_trim:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-05-12T21:50:50.282Z,1747086650.282 [ballast_and_trim:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-05-12T21:50:50.282Z,1747086650.282 [ballast_and_trim:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-05-12T21:50:50.283Z,1747086650.283 [ballast_and_trim:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-05-12T21:50:50.283Z,1747086650.283 [ballast_and_trim:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-05-12T21:50:50.283Z,1747086650.283 [ballast_and_trim:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-05-12T21:50:50.284Z,1747086650.284 [ballast_and_trim:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-05-12T21:50:50.284Z,1747086650.284 [ballast_and_trim:NeedComms:A] Running Loop=1
2025-05-12T21:50:50.286Z,1747086650.286 [ballast_and_trim:NeedComms:A](INFO): last time_fix was:  1747086380.000000 second since 1970/01/01T00:00:00Z 
2025-05-12T21:50:50.286Z,1747086650.286 [ballast_and_trim:NeedComms:A] Stopped
2025-05-12T21:50:50.702Z,1747086650.702 [ballast_and_trim:NeedComms:C] Running Loop=1
2025-05-12T21:50:51.100Z,1747086651.100 [ballast_and_trim:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-05-12T21:50:52.691Z,1747086652.691 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,215052.00,A,3648.08801,N,12150.73769,W,0.914,12.45,120525,,,D*44
2025-05-12T21:50:52.693Z,1747086652.693 [NAL9602](INFO): GPS fix at 20250512T215052: (36.801467, -121.845628)
2025-05-12T21:50:52.714Z,1747086652.714 [UniversalFixResidualReporter](INFO): Fix residual: 77.5 %DT, over the last 1356.0 m. Residual distance 1050.4 m at bearing -75.4 degrees. Fix at (36.8015, -121.8456) with 75.8 m made good.
2025-05-12T21:50:52.745Z,1747086652.745 [ballast_and_trim:NeedComms:C] Stopped
2025-05-12T21:50:52.745Z,1747086652.745 [ballast_and_trim:NeedComms:D] Running Loop=1
2025-05-12T21:50:53.183Z,1747086653.183 [ballast_and_trim:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-05-12T21:50:56.682Z,1747086656.682 [DataOverHttps](INFO): Sending 82 bytes from file Logs/20250512T191822/Courier0063.lzma
2025-05-12T21:50:57.402Z,1747086657.402 [DataOverHttps](INFO): Moved sent file to Logs/20250512T191822/Courier0063.lzma.bak
2025-05-12T21:50:57.403Z,1747086657.403 [DataOverHttps](INFO): SBD MOMSN=24856214
2025-05-12T21:51:06.709Z,1747086666.709 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging
2025-05-12T21:51:09.944Z,1747086669.944 [NAL9602](INFO): SBD MO Status=0, MOMSN=20614, MT Status=0, MTMSN=0
2025-05-12T21:51:09.944Z,1747086669.944 [NAL9602](INFO): No messages in MT queue
2025-05-12T21:51:11.207Z,1747086671.207 [ballast_and_trim:StandardEnvelopes:A.AltitudeEnvelope](IMPORTANT): Altitude envelope ACTIVE. Altitude:0.680000m. At depth:0.146961m.
2025-05-12T21:51:14.346Z,1747086674.346 [DataOverHttps](INFO): Sending 601 bytes from file Logs/20250512T191822/Express0064.lzma
2025-05-12T21:51:15.347Z,1747086675.347 [DataOverHttps](INFO): Moved sent file to Logs/20250512T191822/Express0064.lzma.bak
2025-05-12T21:51:15.347Z,1747086675.347 [DataOverHttps](INFO): SBD MOMSN=24856219
2025-05-12T21:51:32.196Z,1747086692.196 [DataOverHttps](INFO): Sending 63 bytes from file Logs/20250512T191822/Express0067.lzma
2025-05-12T21:51:33.199Z,1747086693.199 [DataOverHttps](INFO): Moved sent file to Logs/20250512T191822/Express0067.lzma.bak
2025-05-12T21:51:33.199Z,1747086693.199 [DataOverHttps](INFO): SBD MOMSN=24856233
2025-05-12T21:51:34.617Z,1747086694.617 [ballast_and_trim:NeedComms:D] Stopped
2025-05-12T21:51:34.617Z,1747086694.617 [ballast_and_trim:NeedComms:E] Running Loop=1
2025-05-12T21:51:35.031Z,1747086695.031 [ballast_and_trim:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-05-12T21:51:36.620Z,1747086696.620 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,215136.00,A,3648.09385,N,12150.73425,W,0.447,36.57,120525,,,D*44
2025-05-12T21:51:36.643Z,1747086696.643 [NAL9602](INFO): GPS fix at 20250512T215136: (36.801564, -121.845571)
2025-05-12T21:51:36.691Z,1747086696.691 [ballast_and_trim:NeedComms:E] Stopped
2025-05-12T21:51:36.701Z,1747086696.701 [ballast_and_trim:NeedComms](INFO): Completed ballast_and_trim:NeedComms
2025-05-12T21:51:36.701Z,1747086696.701 [ballast_and_trim:NeedComms] Stopped
2025-05-12T21:51:36.701Z,1747086696.701 [ballast_and_trim:NeedComms](DEBUG): Aggregate::uninitialize ballast_and_trim:NeedComms
2025-05-12T21:51:36.702Z,1747086696.702 [ballast_and_trim:NeedComms:B.GoToSurface] Stopped
2025-05-12T21:51:36.702Z,1747086696.702 [ballast_and_trim:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-05-12T21:51:37.096Z,1747086697.096 [ballast_and_trim:StartingMission:StartingMission](INFO): Completed ballast_and_trim:StartingMission:StartingMission
2025-05-12T21:51:37.096Z,1747086697.096 [ballast_and_trim:StartingMission:StartingMission] Stopped
2025-05-12T21:51:37.096Z,1747086697.096 [ballast_and_trim:StartingMission:StartingMission](DEBUG): Aggregate::uninitialize ballast_and_trim:StartingMission:StartingMission
2025-05-12T21:51:37.096Z,1747086697.096 [ballast_and_trim:StartingMission](INFO): Completed ballast_and_trim:StartingMission
2025-05-12T21:51:37.101Z,1747086697.101 [ballast_and_trim:StartingMission] Stopped
2025-05-12T21:51:37.101Z,1747086697.101 [ballast_and_trim:StartingMission](DEBUG): Aggregate::uninitialize ballast_and_trim:StartingMission
2025-05-12T21:51:37.101Z,1747086697.101 [ballast_and_trim:RunBallastAndTrim] Running Loop=1
2025-05-12T21:51:37.101Z,1747086697.101 [ballast_and_trim:RunBallastAndTrim](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim
2025-05-12T21:51:37.101Z,1747086697.101 [ballast_and_trim:RunBallastAndTrim:RunDepth1] Running Loop=1
2025-05-12T21:51:37.101Z,1747086697.101 [ballast_and_trim:RunBallastAndTrim:RunDepth1](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim:RunDepth1
2025-05-12T21:51:37.102Z,1747086697.102 [ballast_and_trim:RunBallastAndTrim:RunDepth1:A] Running Loop=1
2025-05-12T21:51:37.468Z,1747086697.468 [ballast_and_trim:RunBallastAndTrim:RunDepth1:A] Stopped
2025-05-12T21:51:37.468Z,1747086697.468 [ballast_and_trim:RunBallastAndTrim:RunDepth1:B] Running Loop=1
2025-05-12T21:51:37.468Z,1747086697.468 [ballast_and_trim:RunBallastAndTrim:RunDepth1:B](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim:RunDepth1:B
2025-05-12T21:51:37.873Z,1747086697.873 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim] Running Loop=1
2025-05-12T21:51:37.873Z,1747086697.873 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim
2025-05-12T21:51:37.873Z,1747086697.873 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:A] Running Loop=1
2025-05-12T21:51:37.873Z,1747086697.873 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:B] Running Loop=1
2025-05-12T21:51:37.873Z,1747086697.873 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:C] Running Loop=1
2025-05-12T21:51:37.873Z,1747086697.873 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:D] Running Loop=1
2025-05-12T21:51:37.873Z,1747086697.873 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:E] Running Loop=1
2025-05-12T21:51:37.873Z,1747086697.873 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:F] Running Loop=1
2025-05-12T21:51:37.881Z,1747086697.881 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:F](INFO): Going to target depth. Speed set to  1.000000 m/s 
2025-05-12T21:51:37.881Z,1747086697.881 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:F] Stopped
2025-05-12T21:51:37.881Z,1747086697.881 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth] Running Loop=1
2025-05-12T21:51:37.881Z,1747086697.881 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth
2025-05-12T21:51:37.881Z,1747086697.881 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:A] Running Loop=1
2025-05-12T21:51:37.881Z,1747086697.881 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold] Running Loop=1
2025-05-12T21:51:37.881Z,1747086697.881 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold
2025-05-12T21:51:37.881Z,1747086697.881 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point] Running Loop=1
2025-05-12T21:51:37.881Z,1747086697.881 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point](DEBUG): Initialize.
2025-05-12T21:51:37.882Z,1747086697.882 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy] Running Loop=1
2025-05-12T21:51:37.882Z,1747086697.882 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-05-12T21:51:37.882Z,1747086697.882 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch] Running Loop=1
2025-05-12T21:51:37.882Z,1747086697.882 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch](DEBUG): Initialize.
2025-05-12T21:51:37.882Z,1747086697.882 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive] Running Loop=1
2025-05-12T21:51:37.882Z,1747086697.882 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive
2025-05-12T21:51:37.882Z,1747086697.882 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive:A] Running Loop=1
2025-05-12T21:51:37.882Z,1747086697.882 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:E] Running Loop=1
2025-05-12T21:51:37.883Z,1747086697.883 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:D] Running Loop=1
2025-05-12T21:51:37.883Z,1747086697.883 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:C] Running Loop=1
2025-05-12T21:51:37.883Z,1747086697.883 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:B] Running Loop=1
2025-05-12T21:51:37.883Z,1747086697.883 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:A] Running Loop=1
2025-05-12T21:51:38.307Z,1747086698.307 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive:A](INFO): Waiting for  0.000000 min while pumping down to neutral.
2025-05-12T21:51:38.307Z,1747086698.307 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive:A] Stopped
2025-05-12T21:51:38.307Z,1747086698.307 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait] Running Loop=1
2025-05-12T21:51:38.307Z,1747086698.307 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait](DEBUG): Initialize Wait Component.
2025-05-12T21:51:38.307Z,1747086698.307 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold] Running Loop=1
2025-05-12T21:51:38.307Z,1747086698.307 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch] Running Loop=1
2025-05-12T21:51:38.308Z,1747086698.308 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy] Running Loop=1
2025-05-12T21:51:38.308Z,1747086698.308 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point] Running Loop=1
2025-05-12T21:51:38.321Z,1747086698.321 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:A] Running Loop=1
2025-05-12T21:51:38.676Z,1747086698.676 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait](INFO): Done Waiting.
2025-05-12T21:51:38.676Z,1747086698.676 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait] Stopped
2025-05-12T21:51:38.701Z,1747086698.701 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait](DEBUG): Uninitialize Wait Component.
2025-05-12T21:51:38.701Z,1747086698.701 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive](INFO): Completed ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive
2025-05-12T21:51:38.702Z,1747086698.702 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive] Stopped
2025-05-12T21:51:38.702Z,1747086698.702 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive](DEBUG): Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive
2025-05-12T21:51:38.702Z,1747086698.702 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth] Running Loop=1
2025-05-12T21:51:38.702Z,1747086698.702 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth
2025-05-12T21:51:38.702Z,1747086698.702 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed] Running Loop=1
2025-05-12T21:51:38.703Z,1747086698.703 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed](DEBUG): Initialize.
2025-05-12T21:51:38.703Z,1747086698.703 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:A] Running Loop=1
2025-05-12T21:51:39.084Z,1747086699.084 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed] Running Loop=1
2025-05-12T21:51:39.089Z,1747086699.089 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:A](INFO): Moving to  35.000000 m 
2025-05-12T21:51:39.089Z,1747086699.089 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:A] Stopped
2025-05-12T21:51:39.089Z,1747086699.089 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch] Running Loop=1
2025-05-12T21:51:39.089Z,1747086699.089 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch](DEBUG): Initialize.
2025-05-12T21:52:09.412Z,1747086729.412 [NAL9602](INFO): Not Powering down - fast GPS
2025-05-12T21:52:17.170Z,1747086737.170 [CommandExec](IMPORTANT): got command get platform_elevator_angle degree
2025-05-12T21:52:17.171Z,1747086737.171 [CommandExec](IMPORTANT): platform_elevator_angle 2.412175 arcdeg
2025-05-12T21:52:48.637Z,1747086768.637 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position 0.00 mm (3 active estimators).
2025-05-12T21:52:56.651Z,1747086776.651 [CTD_Seabird](ERROR): Salinity reading out of range: 11.808286 psu
2025-05-12T21:52:56.652Z,1747086776.652 [CTD_Seabird](INFO): some bad data, not updating bins
2025-05-12T21:53:00.667Z,1747086780.667 [CTD_Seabird](ERROR): Salinity reading out of range: 27.192404 psu
2025-05-12T21:53:00.668Z,1747086780.668 [CTD_Seabird](INFO): some bad data, not updating bins
2025-05-12T21:53:01.675Z,1747086781.675 [CTD_Seabird](ERROR): Salinity reading out of range: 20.502647 psu
2025-05-12T21:53:01.676Z,1747086781.676 [CTD_Seabird](INFO): some bad data, not updating bins
2025-05-12T21:53:05.149Z,1747086785.149 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-12T21:53:05.691Z,1747086785.691 [CTD_Seabird](ERROR): Salinity reading out of range: 16.741524 psu
2025-05-12T21:53:05.692Z,1747086785.692 [CTD_Seabird](INFO): some bad data, not updating bins
2025-05-12T21:53:06.695Z,1747086786.695 [CTD_Seabird](ERROR): Salinity reading out of range: 23.487053 psu
2025-05-12T21:53:06.696Z,1747086786.696 [CTD_Seabird](INFO): some bad data, not updating bins
2025-05-12T21:53:10.711Z,1747086790.711 [CTD_Seabird](ERROR): Salinity reading out of range: 27.005871 psu
2025-05-12T21:53:10.727Z,1747086790.727 [CTD_Seabird](INFO): some bad data, not updating bins
2025-05-12T21:53:11.715Z,1747086791.715 [CTD_Seabird](ERROR): Salinity reading out of range: 21.928394 psu
2025-05-12T21:53:11.716Z,1747086791.716 [CTD_Seabird](INFO): some bad data, not updating bins
2025-05-12T21:53:13.723Z,1747086793.723 [CTD_Seabird](ERROR): Salinity reading out of range: 20.845695 psu
2025-05-12T21:53:13.724Z,1747086793.724 [CTD_Seabird](INFO): some bad data, not updating bins
2025-05-12T21:53:50.218Z,1747086830.218 [CommandExec](IMPORTANT): got command set ballast_and_trim.ApproachDepthTimeout 10 minute
2025-05-12T21:53:50.218Z,1747086830.218 [CommandExec](IMPORTANT): got command run
2025-05-12T21:53:50.220Z,1747086830.220 [CommandExec](IMPORTANT): Running 
2025-05-12T21:53:50.225Z,1747086830.225 [CommandExec](IMPORTANT): got command stop
2025-05-12T21:53:50.226Z,1747086830.226 [Supervisor](INFO): Stop Mission called by CommandExec::commandStop
2025-05-12T21:53:50.226Z,1747086830.226 [CommandExec](IMPORTANT): got command failComponent
2025-05-12T21:53:50.226Z,1747086830.226 [CommandExec](IMPORTANT): Failed components:
2025-05-12T21:53:50.227Z,1747086830.227 [CommandExec](IMPORTANT): No failed Components.
2025-05-12T21:53:50.468Z,1747086830.468 [MissionManager](INFO): MissionManager is completed.
2025-05-12T21:53:50.468Z,1747086830.468 [MissionManager](INFO): Uninitializing Mission ballast_and_trim
2025-05-12T21:53:50.468Z,1747086830.468 [ballast_and_trim] Stopped
2025-05-12T21:53:50.468Z,1747086830.468 [ballast_and_trim](DEBUG): Aggregate::uninitialize ballast_and_trim
2025-05-12T21:53:50.469Z,1747086830.469 [ballast_and_trim:Science] Stopped
2025-05-12T21:53:50.469Z,1747086830.469 [ballast_and_trim:Science](DEBUG): Aggregate::uninitialize ballast_and_trim:Science
2025-05-12T21:53:50.469Z,1747086830.469 [ballast_and_trim:Science:B] Stopped
2025-05-12T21:53:50.469Z,1747086830.469 [ballast_and_trim:Science:C] Stopped
2025-05-12T21:53:50.469Z,1747086830.469 [ballast_and_trim:Science:E] Stopped
2025-05-12T21:53:50.469Z,1747086830.469 [ballast_and_trim:Science:OceanCurrent] Stopped
2025-05-12T21:53:50.469Z,1747086830.469 [ballast_and_trim:Science:OceanCurrent](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:OceanCurrent
2025-05-12T21:53:50.469Z,1747086830.469 [ballast_and_trim:Science:OceanCurrent:A.] Stopped
2025-05-12T21:53:50.469Z,1747086830.469 [ballast_and_trim:StandardEnvelopes] Stopped
2025-05-12T21:53:50.469Z,1747086830.469 [ballast_and_trim:StandardEnvelopes](DEBUG): Aggregate::uninitialize ballast_and_trim:StandardEnvelopes
2025-05-12T21:53:50.469Z,1747086830.469 [ballast_and_trim:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-05-12T21:53:50.469Z,1747086830.469 [ballast_and_trim:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-05-12T21:53:50.470Z,1747086830.470 [ballast_and_trim:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-05-12T21:53:50.470Z,1747086830.470 [ballast_and_trim:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-05-12T21:53:50.470Z,1747086830.470 [ballast_and_trim:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-05-12T21:53:50.470Z,1747086830.470 [ballast_and_trim:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-05-12T21:53:50.470Z,1747086830.470 [ballast_and_trim:BackseatDriver] Stopped
2025-05-12T21:53:50.470Z,1747086830.470 [ballast_and_trim:BackseatDriver](DEBUG): Aggregate::uninitialize ballast_and_trim:BackseatDriver
2025-05-12T21:53:50.470Z,1747086830.470 [ballast_and_trim:BackseatDriver:A.BackseatDriver] Stopped
2025-05-12T21:53:50.470Z,1747086830.470 [ballast_and_trim:PowerOnly] Stopped
2025-05-12T21:53:50.470Z,1747086830.470 [ballast_and_trim:PowerOnly](DEBUG): Aggregate::uninitialize ballast_and_trim:PowerOnly
2025-05-12T21:53:50.470Z,1747086830.470 [ballast_and_trim:PowerOnly:E.Wait] Stopped
2025-05-12T21:53:50.470Z,1747086830.470 [ballast_and_trim:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-05-12T21:53:50.470Z,1747086830.470 [ballast_and_trim:RunBallastAndTrim] Stopped
2025-05-12T21:53:50.470Z,1747086830.470 [ballast_and_trim:RunBallastAndTrim](DEBUG): Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim
2025-05-12T21:53:50.471Z,1747086830.471 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim] Stopped
2025-05-12T21:53:50.471Z,1747086830.471 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim](DEBUG): Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim
2025-05-12T21:53:50.471Z,1747086830.471 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:A] Stopped
2025-05-12T21:53:50.471Z,1747086830.471 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:B] Stopped
2025-05-12T21:53:50.471Z,1747086830.471 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:C] Stopped
2025-05-12T21:53:50.471Z,1747086830.471 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:D] Stopped
2025-05-12T21:53:50.471Z,1747086830.471 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:E] Stopped
2025-05-12T21:53:50.471Z,1747086830.471 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth] Stopped
2025-05-12T21:53:50.471Z,1747086830.471 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth](DEBUG): Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth
2025-05-12T21:53:50.471Z,1747086830.471 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:A] Stopped
2025-05-12T21:53:50.471Z,1747086830.471 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold] Stopped
2025-05-12T21:53:50.471Z,1747086830.471 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold](DEBUG): Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold
2025-05-12T21:53:50.471Z,1747086830.471 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point] Stopped
2025-05-12T21:53:50.471Z,1747086830.471 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy] Stopped
2025-05-12T21:53:50.471Z,1747086830.471 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-05-12T21:53:50.472Z,1747086830.472 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch] Stopped
2025-05-12T21:53:50.472Z,1747086830.472 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth] Stopped
2025-05-12T21:53:50.472Z,1747086830.472 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth](DEBUG): Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth
2025-05-12T21:53:50.472Z,1747086830.472 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed] Stopped
2025-05-12T21:53:50.472Z,1747086830.472 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed](DEBUG): Uninitialize.
2025-05-12T21:53:50.472Z,1747086830.472 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch] Stopped
2025-05-12T21:53:50.472Z,1747086830.472 [ballast_and_trim:RunBallastAndTrim:RunDepth1] Stopped
2025-05-12T21:53:50.472Z,1747086830.472 [ballast_and_trim:RunBallastAndTrim:RunDepth1](DEBUG): Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim:RunDepth1
2025-05-12T21:53:50.472Z,1747086830.472 [ballast_and_trim:RunBallastAndTrim:RunDepth1:B] Stopped
2025-05-12T21:53:50.472Z,1747086830.472 [ballast_and_trim:RunBallastAndTrim:RunDepth1:B](DEBUG): Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim:RunDepth1:B
2025-05-12T21:53:50.781Z,1747086830.781 [WetLabsBB2FL](INFO): Powering down
2025-05-12T21:53:50.859Z,1747086830.859 [MissionManager](IMPORTANT): Started mission Default
2025-05-12T21:53:50.860Z,1747086830.860 [Default] Running Loop=1
2025-05-12T21:53:50.860Z,1747086830.860 [Default](DEBUG): Aggregate::initialize Default
2025-05-12T21:53:50.860Z,1747086830.860 [Default:B.GoToSurface] Running Loop=1
2025-05-12T21:53:50.860Z,1747086830.860 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-05-12T21:53:50.860Z,1747086830.860 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-05-12T21:53:50.861Z,1747086830.861 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-05-12T21:53:50.861Z,1747086830.861 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-05-12T21:53:50.861Z,1747086830.861 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-05-12T21:53:50.861Z,1747086830.861 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-05-12T21:53:50.862Z,1747086830.862 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-05-12T21:53:50.862Z,1747086830.862 [Default:A.Wait] Running Loop=1
2025-05-12T21:53:50.862Z,1747086830.862 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-05-12T21:54:04.181Z,1747086844.181 [Default:A.Wait](INFO): Done Waiting.
2025-05-12T21:54:04.181Z,1747086844.181 [Default:A.Wait] Stopped
2025-05-12T21:54:04.181Z,1747086844.181 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-05-12T21:54:04.574Z,1747086844.574 [Default:CheckIn] Running Loop=1
2025-05-12T21:54:04.574Z,1747086844.574 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-05-12T21:54:04.575Z,1747086844.575 [Default:CheckIn:Read_GPS] Running Loop=1
2025-05-12T21:54:06.587Z,1747086846.587 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,215406.00,A,3648.11426,N,12150.72872,W,7.989,123.66,120525,,,D*75
2025-05-12T21:54:06.601Z,1747086846.601 [NAL9602](INFO): GPS fix at 20250512T215406: (36.801904, -121.845479)
2025-05-12T21:54:06.612Z,1747086846.612 [Default:CheckIn:Read_GPS] Stopped
2025-05-12T21:54:06.612Z,1747086846.612 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-05-12T21:54:21.538Z,1747086861.538 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 20.00 deg, mass-position -13.00 mm (4 active estimators).
2025-05-12T21:54:36.777Z,1747086876.777 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-12T21:55:05.709Z,1747086905.709 [NAL9602](INFO): SBD MO Status=0, MOMSN=20615, MT Status=0, MTMSN=0
2025-05-12T21:55:05.709Z,1747086905.709 [NAL9602](INFO): No messages in MT queue
2025-05-12T21:55:07.676Z,1747086907.676 [DataOverHttps](INFO): Sending 75 bytes from file Logs/20250512T191822/Courier0069.lzma
2025-05-12T21:55:08.679Z,1747086908.679 [DataOverHttps](INFO): Moved sent file to Logs/20250512T191822/Courier0069.lzma.bak
2025-05-12T21:55:08.679Z,1747086908.679 [DataOverHttps](INFO): SBD MOMSN=24856242
2025-05-12T21:55:17.295Z,1747086917.295 [DataOverHttps](IMPORTANT): SBD MTMSN=20250512T215516
2025-05-12T21:55:24.794Z,1747086924.794 [DataOverHttps](INFO): Sending 587 bytes from file Logs/20250512T191822/Express0070.lzma
2025-05-12T21:55:24.797Z,1747086924.797 [DataOverHttps](INFO): Received command: load Maintenance/ballast_and_trim.tl;set ballast_and_trim.ApproachDepthTimeout 10 min;set ballast_and_trim:StandardEnvelopes.MaxDepthIgnore 45 m;run
2025-05-12T21:55:24.855Z,1747086924.855 [CommandExec](IMPORTANT): got command load ./Missions/Maintenance/ballast_and_trim.tl
2025-05-12T21:55:24.855Z,1747086924.855 [MissionManager](INFO): Loading Mission from file: ./Missions/Maintenance/ballast_and_trim.tl
2025-05-12T21:55:24.855Z,1747086924.855 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Maintenance/ballast_and_trim.tl
2025-05-12T21:55:24.898Z,1747086924.898 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Maintenance/ballast_and_trim.tl
2025-05-12T21:55:26.264Z,1747086926.264 [DataOverHttps](INFO): Moved sent file to Logs/20250512T191822/Express0070.lzma.bak
2025-05-12T21:55:26.318Z,1747086926.318 [DataOverHttps](INFO): SBD MOMSN=24856246
2025-05-12T21:55:31.787Z,1747086931.787 [MissionManager](DEBUG): TethyslAPI: ./Missions/Maintenance/ballast_and_trim.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="ballast_and_trim">
    <DefineArg Name="MissionTimeout">
        <Units:minute />
        <Value>90</Value>
    </DefineArg>
    <DefineArg Name="SkipComms">
        <False />
    </DefineArg>
    <DefineArg Name="Depth1">
        <Units:meter />
        <Value>35</Value>
    </DefineArg>
    <DefineArg Name="Depth2">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DepthDeadband">
        <Units:meter />
        <Value>0.1</Value>
    </DefineArg>
    <DefineArg Name="ApproachSpeed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepthTimeout">
        <Units:minute />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepthRate">
        <Units:meter_per_second />
        <Value>0.4</Value>
    </DefineArg>
    <DefineArg Name="ApproachPitchLimit">
        <Units:degree />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="ApproachSettleTimePreDive">
        <Units:minute />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="SettleTime">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="EstimationTimeout">
        <Units:minute />
        <Value>45</Value>
    </DefineArg>
    <DefineArg Name="MinEstimationTime">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="MassEstimationErrorBound">
        <Units:millimeter />
        <Value>0.5</Value>
    </DefineArg>
    <DefineArg Name="BuoyEstimationErrorBound">
        <Units:cubic_centimeter />
        <Value>25</Value>
    </DefineArg>
    <DefineArg Name="EstimationConfidence">
        <Units:percent />
        <Value>98.0</Value>
    </DefineArg>
    <DefineArg Name="massDeadband">
        <Units:millimeter />
        <Value>0.25</Value>
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>52</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="CheckDepths">
        <Units:bool />
        <Value>1</Value>
    </DefineArg>
    <Timeout Duration="MissionTimeout" />
    <Insert Filename="Insert/Science.tl" />
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="MissionTimeout" />
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Aggregate Id="CheckTargetDepths">
        <Sequence />
        <Break>
            <Not>
                <Arg Name="CheckDepths" />
            </Not>
        </Break>
        <Aggregate Id="CheckDepth1">
            <Sequence />
            <Break>
                <Not>
                    <Arg Name="Depth1" />
                    <Gt>
                        <Arg Name="MaxDepth" />
                    </Gt>
                </Not>
            </Break>
            <Syslog Severity="Important">Aborting ballast and trim mission. Target depth Depth1 exceeds the mission&apos;s MaxDepth setting (review mission parameters).</Syslog>
            <Guidance:Execute>
                <Sequence />
                <Setting>
                    <Guidance:Execute.command />
                    <String>stop</String>
                </Setting>
            </Guidance:Execute>
        </Aggregate>
        <Aggregate Id="CheckDepth2">
            <Sequence />
            <Break>
                <Not>
                    <Arg Name="Depth2" />
                    <Gt>
                        <Arg Name="MaxDepth" />
                    </Gt>
                </Not>
            </Break>
            <Syslog Severity="Important">Aborting ballast and trim mission. Target depth Depth2 exceeds the mission&apos;s MaxDepth setting (review mission parameters).</Syslog>
            <Guidance:Execute>
                <Sequence />
                <Setting>
                    <Guidance:Execute.command />
                    <String>stop</String>
                </Setting>
            </Guidance:Execute>
        </Aggregate>
        <Assign>
            <Sequence />
            <Arg Name="CheckDepths" />
            <Units:bool />
            <Value>0</Value>
        </Assign>
    </Aggregate>
    <Aggregate Id="StartingMission">
        <Sequence />
        <Break>
            <Arg Name="SkipComms" />
        </Break>
        <Syslog Severity="Info">Checking for additional instructions before submerging.</Syslog>
        <Call RefId="NeedComms" Id="StartingMission" PriorityHere="false" />
    </Aggregate>
    <Aggregate Id="RunBallastAndTrim">
        <Sequence />
        <Insert Filename="Insert/BallastAndTrim.tl">
            <RedefineArg Name="InsertDepthDeadband">
                <Arg Name="DepthDeadband" />
            </RedefineArg>
            <RedefineArg Name="InsertApproachSpeed">
                <Arg Name="ApproachSpeed" />
            </RedefineArg>
            <RedefineArg Name="InsertApproachDepthRate">
                <Arg Name="ApproachDepthRate" />
            </RedefineArg>
            <RedefineArg Name="InsertApproachPitchLimit">
                <Arg Name="ApproachPitchLimit" />
            </RedefineArg>
            <RedefineArg Name="InsertApproachSettleTimePreDive">
                <Arg Name="ApproachSettleTimePreDive" />
            </RedefineArg>
            <RedefineArg Name="InsertApproachDepthTimeout">
                <Arg Name="ApproachDepthTimeout" />
            </RedefineArg>
            <RedefineArg Name="InsertSettleTime">
                <Arg Name="SettleTime" />
            </RedefineArg>
            <RedefineArg Name="EstTimeout">
                <Arg Name="EstimationTimeout" />
            </RedefineArg>
            <RedefineArg Name="MinEstTime">
                <Arg Name="MinEstimationTime" />
            </RedefineArg>
            <RedefineArg Name="MassEstErrorBound">
                <Arg Name="MassEstimationErrorBound" />
            </RedefineArg>
            <RedefineArg Name="BuoyEstErrorBound">
                <Arg Name="BuoyEstimationErrorBound" />
            </RedefineArg>
            <RedefineArg Name="EstConfidence">
                <Arg Name="EstimationConfidence" />
            </RedefineArg>
            <RedefineArg Name="InsertMassDeadband">
                <Arg Name="massDeadband" />
            </RedefineArg>
        </Insert>
        <Aggregate Id="RunDepth1">
            <Sequence />
            <Break>
                <IsNaN>
                    <Arg Name="Depth1" />
                </IsNaN>
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="BallastAndTrim:InsertDepth" />
                <Arg Name="Depth1" />
            </Assign>
            <Call RefId="BallastAndTrim" PriorityHere="false" />
        </Aggregate>
        <Aggregate Id="RunDepth2">
            <Sequence />
            <Break>
                <IsNaN>
                    <Arg Name="Depth2" />
                </IsNaN>
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="BallastAndTrim:InsertDepth" />
                <Arg Name="Depth2" />
            </Assign>
            <Call RefId="BallastAndTrim" PriorityHere="false" />
        </Aggregate>
    </Aggregate>
    <Call RefId="NeedComms" Id="EndingMission" PriorityHere="false" />
</Mission>

2025-05-12T21:55:31.802Z,1747086931.802 [MissionManager](INFO): DefineArg ballast_and_trim.MissionTimeout = 90.000000 min
2025-05-12T21:55:31.804Z,1747086931.804 [MissionManager](INFO): DefineArg ballast_and_trim.SkipComms = 0 bool
2025-05-12T21:55:31.810Z,1747086931.810 [MissionManager](INFO): DefineArg ballast_and_trim.Depth1 = 35.000000 m
2025-05-12T21:55:31.812Z,1747086931.812 [MissionManager](INFO): DefineArg ballast_and_trim.Depth2 = nan m
2025-05-12T21:55:31.819Z,1747086931.819 [MissionManager](INFO): DefineArg ballast_and_trim.DepthDeadband = 0.100000 m
2025-05-12T21:55:31.889Z,1747086931.889 [MissionManager](INFO): DefineArg ballast_and_trim.ApproachSpeed = 1.000000 m/s
2025-05-12T21:55:31.892Z,1747086931.892 [MissionManager](INFO): DefineArg ballast_and_trim.ApproachDepthTimeout = 20.000000 min
2025-05-12T21:55:31.962Z,1747086931.962 [MissionManager](INFO): DefineArg ballast_and_trim.ApproachDepthRate = 0.400000 m/s
2025-05-12T21:55:32.001Z,1747086932.001 [MissionManager](INFO): DefineArg ballast_and_trim.ApproachPitchLimit = 20.000000 arcdeg
2025-05-12T21:55:32.003Z,1747086932.003 [MissionManager](INFO): DefineArg ballast_and_trim.ApproachSettleTimePreDive = 0.000000 min
2025-05-12T21:55:32.025Z,1747086932.025 [MissionManager](INFO): DefineArg ballast_and_trim.SettleTime = 10.000000 min
2025-05-12T21:55:32.028Z,1747086932.028 [MissionManager](INFO): DefineArg ballast_and_trim.EstimationTimeout = 45.000000 min
2025-05-12T21:55:32.046Z,1747086932.046 [MissionManager](INFO): DefineArg ballast_and_trim.MinEstimationTime = 10.000000 min
2025-05-12T21:55:32.048Z,1747086932.048 [MissionManager](INFO): DefineArg ballast_and_trim.MassEstimationErrorBound = 0.500000 mm
2025-05-12T21:55:32.063Z,1747086932.063 [MissionManager](INFO): DefineArg ballast_and_trim.BuoyEstimationErrorBound = 25.000000 cc
2025-05-12T21:55:32.125Z,1747086932.125 [MissionManager](INFO): DefineArg ballast_and_trim.EstimationConfidence = 98.000000 %
2025-05-12T21:55:32.128Z,1747086932.128 [MissionManager](INFO): DefineArg ballast_and_trim.massDeadband = 0.250000 mm
2025-05-12T21:55:32.142Z,1747086932.142 [MissionManager](INFO): DefineArg ballast_and_trim.MinAltitude = 5.000000 m
2025-05-12T21:55:32.144Z,1747086932.144 [MissionManager](INFO): DefineArg ballast_and_trim.MaxDepth = 52.000000 m
2025-05-12T21:55:32.155Z,1747086932.155 [MissionManager](INFO): DefineArg ballast_and_trim.MinOffshore = 2.000000 km
2025-05-12T21:55:32.182Z,1747086932.182 [MissionManager](INFO): DefineArg ballast_and_trim.CheckDepths = 1.000000 bool
2025-05-12T21:55:32.182Z,1747086932.182 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-05-12T21:55:32.182Z,1747086932.182 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-05-12T21:55:32.227Z,1747086932.227 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-05-12T21:55:36.419Z,1747086936.419 [NAL9602](INFO): Not Powering down - fast GPS
2025-05-12T21:55:40.321Z,1747086940.321 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/Science.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="Science">
    <DefineArg Name="PeakDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="TimeWindowPeakReport">
        <Units:minute />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="HighestChlPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestSaltPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestOilPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="PatchTracking">
        <False />
    </DefineArg>
    <DefineArg Name="FilterWidthHorizontal">
        <Units:count />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesSlidingwindow">
        <Units:count />
        <Value>100</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionHorizontal">
        <Units:percent />
        <Value>80</Value>
    </DefineArg>
    <DefineArg Name="PeakDetectNO3Active">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectOilActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectFDOMActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectSalinityActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="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>

2025-05-12T21:55:40.350Z,1747086940.350 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectChlActive = 0 bool
2025-05-12T21:55:40.351Z,1747086940.351 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EdgeDetectChlActive = 0 bool
2025-05-12T21:55:40.354Z,1747086940.354 [MissionManager](INFO): DefineArg ballast_and_trim:Science.TimeWindowPeakReport = nan min
2025-05-12T21:55:40.356Z,1747086940.356 [MissionManager](INFO): DefineArg ballast_and_trim:Science.HighestChlPeakReportActive = 0 bool
2025-05-12T21:55:40.358Z,1747086940.358 [MissionManager](INFO): DefineArg ballast_and_trim:Science.HighestSaltPeakReportActive = 0 bool
2025-05-12T21:55:40.360Z,1747086940.360 [MissionManager](INFO): DefineArg ballast_and_trim:Science.HighestOilPeakReportActive = 0 bool
2025-05-12T21:55:40.362Z,1747086940.362 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PatchTracking = 0 bool
2025-05-12T21:55:40.364Z,1747086940.364 [MissionManager](INFO): DefineArg ballast_and_trim:Science.FilterWidthHorizontal = 3.000000 count
2025-05-12T21:55:40.366Z,1747086940.366 [MissionManager](INFO): DefineArg ballast_and_trim:Science.NumProfilesSlidingwindow = 100.000000 count
2025-05-12T21:55:40.457Z,1747086940.457 [MissionManager](INFO): DefineArg ballast_and_trim:Science.OffPeakFractionHorizontal = 80.000000 %
2025-05-12T21:55:40.459Z,1747086940.459 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectNO3Active = 0 bool
2025-05-12T21:55:40.465Z,1747086940.465 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectOilActive = 0 bool
2025-05-12T21:55:40.467Z,1747086940.467 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectFDOMActive = 0 bool
2025-05-12T21:55:40.489Z,1747086940.489 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectSalinityActive = 0 bool
2025-05-12T21:55:40.491Z,1747086940.491 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-05-12T21:55:40.517Z,1747086940.517 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-05-12T21:55:40.539Z,1747086940.539 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-05-12T21:55:40.549Z,1747086940.549 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EdgeDetectPlanktivoreHMavgROIActive = 0 bool
2025-05-12T21:55:40.551Z,1747086940.551 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-05-12T21:55:40.578Z,1747086940.578 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EdgeDetectPlanktivoreDiatomsActive = 0 bool
2025-05-12T21:55:40.580Z,1747086940.580 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-05-12T21:55:40.590Z,1747086940.590 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EdgeDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-05-12T21:55:40.592Z,1747086940.592 [MissionManager](INFO): DefineArg ballast_and_trim:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-05-12T21:55:40.614Z,1747086940.614 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EnabledAanderaaO2 = 0 bool
2025-05-12T21:55:40.616Z,1747086940.616 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EnabledNeilBrown = 0 bool
2025-05-12T21:55:40.627Z,1747086940.627 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EnabledSeabird = 1 bool
2025-05-12T21:55:40.632Z,1747086940.632 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EnabledWetLabsBB2FL = 1 bool
2025-05-12T21:55:40.651Z,1747086940.651 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-05-12T21:55:40.658Z,1747086940.658 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EnabledWetLabsUBAT = 0 bool
2025-05-12T21:55:40.660Z,1747086940.660 [MissionManager](INFO): DefineArg ballast_and_trim:Science.LowPassWindowLength = 20.000000 count
2025-05-12T21:55:40.675Z,1747086940.675 [MissionManager](INFO): DefineArg ballast_and_trim:Science.MedianFilterLen = 5.000000 count
2025-05-12T21:55:40.697Z,1747086940.697 [MissionManager](INFO): DefineArg ballast_and_trim:Science.ShallowBound = nan m
2025-05-12T21:55:40.700Z,1747086940.700 [MissionManager](INFO): DefineArg ballast_and_trim:Science.DeepBound = nan m
2025-05-12T21:55:40.722Z,1747086940.722 [MissionManager](INFO): DefineArg ballast_and_trim:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-05-12T21:55:40.724Z,1747086940.724 [MissionManager](INFO): DefineArg ballast_and_trim:Science.OffPeakFractionVertical = nan %
2025-05-12T21:55:40.731Z,1747086940.731 [MissionManager](INFO): DefineArg ballast_and_trim:Science.ChlPeakThresh = 0.000000 ug/l
2025-05-12T21:55:40.745Z,1747086940.745 [MissionManager](INFO): DefineArg ballast_and_trim:Science.ChlThreshTriggerActive = 0 bool
2025-05-12T21:55:40.748Z,1747086940.748 [MissionManager](INFO): DefineArg ballast_and_trim:Science.ChlLowerThresh = nan ug/l
2025-05-12T21:55:40.758Z,1747086940.758 [MissionManager](INFO): DefineArg ballast_and_trim:Science.ChlUpperThresh = nan ug/l
2025-05-12T21:55:40.760Z,1747086940.760 [MissionManager](INFO): DefineArg ballast_and_trim:Science.NumProfilesThresh = 5.000000 count
2025-05-12T21:55:40.771Z,1747086940.771 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-05-12T21:55:40.783Z,1747086940.783 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PlanktivoreHMavgROIPeakThresh = 0.000000 count/s
2025-05-12T21:55:40.785Z,1747086940.785 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PlanktivoreDiatomsPeakThresh = 0.000000 count/ml
2025-05-12T21:55:40.788Z,1747086940.788 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PlanktivoreDinoflagellatesPeakThresh = 0.000000 count/ml
2025-05-12T21:55:40.800Z,1747086940.800 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.GoDown = 1 bool
2025-05-12T21:55:40.812Z,1747086940.812 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakChl = nan ug/l
2025-05-12T21:55:40.815Z,1747086940.815 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakChlDepth = nan m
2025-05-12T21:55:40.854Z,1747086940.854 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakChlTemperature = nan degC
2025-05-12T21:55:40.873Z,1747086940.873 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakChlLatitude = nan arcdeg
2025-05-12T21:55:40.875Z,1747086940.875 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakChlLongitude = nan arcdeg
2025-05-12T21:55:40.894Z,1747086940.894 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgeChl = nan ug/l
2025-05-12T21:55:40.935Z,1747086940.935 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgeChlDepth = nan m
2025-05-12T21:55:40.960Z,1747086940.960 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgeChlTemperature = nan degC
2025-05-12T21:55:40.983Z,1747086940.983 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgeChlLatitude = nan arcdeg
2025-05-12T21:55:41.015Z,1747086941.015 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgeChlLongitude = nan arcdeg
2025-05-12T21:55:41.036Z,1747086941.036 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakNO3 = nan umol/l
2025-05-12T21:55:41.047Z,1747086941.047 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakNO3Depth = nan m
2025-05-12T21:55:41.054Z,1747086941.054 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakNO3Latitude = nan arcdeg
2025-05-12T21:55:41.073Z,1747086941.073 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakNO3Longitude = nan arcdeg
2025-05-12T21:55:41.075Z,1747086941.075 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakOil = nan kg/m3
2025-05-12T21:55:41.086Z,1747086941.086 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakOilDepth = nan m
2025-05-12T21:55:41.088Z,1747086941.088 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakOilLatitude = nan arcdeg
2025-05-12T21:55:41.103Z,1747086941.103 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakOilLongitude = nan arcdeg
2025-05-12T21:55:41.109Z,1747086941.109 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakFDOM = nan ppb
2025-05-12T21:55:41.112Z,1747086941.112 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakFDOMDepth = nan m
2025-05-12T21:55:41.131Z,1747086941.131 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakFDOMTemperature = nan degC
2025-05-12T21:55:41.152Z,1747086941.152 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakFDOMLatitude = nan arcdeg
2025-05-12T21:55:41.162Z,1747086941.162 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakFDOMLongitude = nan arcdeg
2025-05-12T21:55:41.173Z,1747086941.173 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakSalt = nan psu
2025-05-12T21:55:41.176Z,1747086941.176 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakSaltDepth = nan m
2025-05-12T21:55:41.187Z,1747086941.187 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakSaltTemperature = nan degC
2025-05-12T21:55:41.190Z,1747086941.190 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakSaltLatitude = nan arcdeg
2025-05-12T21:55:41.192Z,1747086941.192 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakSaltLongitude = nan arcdeg
2025-05-12T21:55:41.207Z,1747086941.207 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-05-12T21:55:41.220Z,1747086941.220 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-05-12T21:55:41.279Z,1747086941.279 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-05-12T21:55:41.295Z,1747086941.295 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-05-12T21:55:41.313Z,1747086941.313 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-05-12T21:55:41.316Z,1747086941.316 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-05-12T21:55:41.338Z,1747086941.338 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-05-12T21:55:41.348Z,1747086941.348 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-05-12T21:55:41.360Z,1747086941.360 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-05-12T21:55:41.385Z,1747086941.385 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-05-12T21:55:41.387Z,1747086941.387 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-05-12T21:55:41.418Z,1747086941.418 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-05-12T21:55:41.429Z,1747086941.429 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-05-12T21:55:41.431Z,1747086941.431 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-05-12T21:55:41.438Z,1747086941.438 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-05-12T21:55:41.440Z,1747086941.440 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreHMavgROI = nan count/s
2025-05-12T21:55:41.455Z,1747086941.455 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreHMavgROIDepth = nan m
2025-05-12T21:55:41.462Z,1747086941.462 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreHMavgROITemperature = nan degC
2025-05-12T21:55:41.464Z,1747086941.464 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreHMavgROILatitude = nan arcdeg
2025-05-12T21:55:41.475Z,1747086941.475 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreHMavgROILongitude = nan arcdeg
2025-05-12T21:55:41.513Z,1747086941.513 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-05-12T21:55:41.515Z,1747086941.515 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-05-12T21:55:41.517Z,1747086941.517 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-05-12T21:55:41.520Z,1747086941.520 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-05-12T21:55:41.555Z,1747086941.555 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-05-12T21:55:41.576Z,1747086941.576 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreDiatoms = nan count/ml
2025-05-12T21:55:41.579Z,1747086941.579 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreDiatomsDepth = nan m
2025-05-12T21:55:41.586Z,1747086941.586 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreDiatomsTemperature = nan degC
2025-05-12T21:55:41.588Z,1747086941.588 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreDiatomsLatitude = nan arcdeg
2025-05-12T21:55:41.595Z,1747086941.595 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreDiatomsLongitude = nan arcdeg
2025-05-12T21:55:41.601Z,1747086941.601 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-05-12T21:55:41.603Z,1747086941.603 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-05-12T21:55:41.618Z,1747086941.618 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-05-12T21:55:41.625Z,1747086941.625 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-05-12T21:55:41.627Z,1747086941.627 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-05-12T21:55:41.674Z,1747086941.674 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreDinoflagellates = nan count/ml
2025-05-12T21:55:41.676Z,1747086941.676 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreDinoflagellatesDepth = nan m
2025-05-12T21:55:41.686Z,1747086941.686 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreDinoflagellatesTemperature = nan degC
2025-05-12T21:55:41.688Z,1747086941.688 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-05-12T21:55:41.699Z,1747086941.699 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-05-12T21:55:41.717Z,1747086941.717 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchChl = nan ug/l
2025-05-12T21:55:41.720Z,1747086941.720 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchChlDepth = nan m
2025-05-12T21:55:41.743Z,1747086941.743 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchChlLatitude = nan arcdeg
2025-05-12T21:55:41.745Z,1747086941.745 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchChlLongitude = nan arcdeg
2025-05-12T21:55:41.748Z,1747086941.748 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchChlDistance = nan m
2025-05-12T21:55:41.754Z,1747086941.754 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchSalt = nan psu
2025-05-12T21:55:41.761Z,1747086941.761 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchSaltDepth = nan m
2025-05-12T21:55:41.763Z,1747086941.763 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchSaltLatitude = nan arcdeg
2025-05-12T21:55:41.766Z,1747086941.766 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchSaltLongitude = nan arcdeg
2025-05-12T21:55:41.793Z,1747086941.793 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchSaltDistance = nan m
2025-05-12T21:55:41.795Z,1747086941.795 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchOil = nan psu
2025-05-12T21:55:41.821Z,1747086941.821 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchOilDepth = nan m
2025-05-12T21:55:41.824Z,1747086941.824 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchOilLatitude = nan arcdeg
2025-05-12T21:55:41.834Z,1747086941.834 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchOilLongitude = nan arcdeg
2025-05-12T21:55:41.845Z,1747086941.845 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchOilDistance = nan m
2025-05-12T21:55:41.847Z,1747086941.847 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.TriggeredOnChl = 0 bool
2025-05-12T21:55:41.854Z,1747086941.854 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.ChlTriggering = nan ug/l
2025-05-12T21:55:41.918Z,1747086941.918 [ballast_and_trim:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-05-12T21:55:41.959Z,1747086941.959 [ballast_and_trim:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-05-12T21:55:42.028Z,1747086942.028 [ballast_and_trim:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-05-12T21:55:42.118Z,1747086942.118 [ballast_and_trim:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-05-12T21:55:42.155Z,1747086942.155 [ballast_and_trim:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-05-12T21:55:42.221Z,1747086942.221 [ballast_and_trim:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-05-12T21:55:42.282Z,1747086942.282 [ballast_and_trim:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-05-12T21:55:42.322Z,1747086942.322 [ballast_and_trim:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-05-12T21:55:42.339Z,1747086942.339 [ballast_and_trim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-05-12T21:55:42.393Z,1747086942.393 [ballast_and_trim:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-05-12T21:55:42.470Z,1747086942.470 [ballast_and_trim:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-05-12T21:55:42.596Z,1747086942.596 [ballast_and_trim:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-05-12T21:55:42.657Z,1747086942.657 [ballast_and_trim:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-05-12T21:55:42.719Z,1747086942.719 [ballast_and_trim:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-05-12T21:55:42.743Z,1747086942.743 [ballast_and_trim:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-05-12T21:55:42.784Z,1747086942.784 [ballast_and_trim:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-05-12T21:55:42.813Z,1747086942.813 [ballast_and_trim:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-05-12T21:55:42.888Z,1747086942.888 [ballast_and_trim:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-05-12T21:55:42.907Z,1747086942.907 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-05-12T21:55:42.907Z,1747086942.907 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-05-12T21:55:42.908Z,1747086942.908 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-05-12T21:55:43.159Z,1747086943.159 [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>

2025-05-12T21:55:43.164Z,1747086943.164 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.DiveInterval = 1.000000 h
2025-05-12T21:55:43.166Z,1747086943.166 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.WaitForPitchUp = 10.000000 min
2025-05-12T21:55:43.169Z,1747086943.169 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-05-12T21:55:43.171Z,1747086943.171 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.SurfaceDepthRate = nan m/s
2025-05-12T21:55:43.173Z,1747086943.173 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-05-12T21:55:43.186Z,1747086943.186 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.SurfacingTimeout = 1000.000000 s
2025-05-12T21:55:43.189Z,1747086943.189 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.GPSTimeout = 7.000000 min
2025-05-12T21:55:43.191Z,1747086943.191 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.CommsTimeout = 30.000000 min
2025-05-12T21:55:43.197Z,1747086943.197 [ballast_and_trim:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-05-12T21:55:43.281Z,1747086943.281 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-05-12T21:55:43.281Z,1747086943.281 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-05-12T21:55:43.283Z,1747086943.283 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-05-12T21:55:43.403Z,1747086943.403 [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>

2025-05-12T21:55:43.407Z,1747086943.407 [MissionManager](INFO): DefineArg ballast_and_trim:StandardEnvelopes.MinAltitude = 5.000000 m
2025-05-12T21:55:43.409Z,1747086943.409 [MissionManager](INFO): DefineArg ballast_and_trim:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-05-12T21:55:43.411Z,1747086943.411 [MissionManager](INFO): DefineArg ballast_and_trim:StandardEnvelopes.MaxDepth = 200.000000 m
2025-05-12T21:55:43.430Z,1747086943.430 [MissionManager](INFO): DefineArg ballast_and_trim:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-05-12T21:55:43.431Z,1747086943.431 [ballast_and_trim:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-05-12T21:55:43.485Z,1747086943.485 [ballast_and_trim:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-05-12T21:55:43.514Z,1747086943.514 [ballast_and_trim:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-05-12T21:55:43.526Z,1747086943.526 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-05-12T21:55:43.527Z,1747086943.527 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-05-12T21:55:43.528Z,1747086943.528 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-05-12T21:55:43.567Z,1747086943.567 [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>

2025-05-12T21:55:43.570Z,1747086943.570 [MissionManager](INFO): DefineArg ballast_and_trim:BackseatDriver.EnableBackseat = 0 bool
2025-05-12T21:55:43.572Z,1747086943.572 [ballast_and_trim:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-05-12T21:55:43.574Z,1747086943.574 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-05-12T21:55:43.574Z,1747086943.574 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-05-12T21:55:43.576Z,1747086943.576 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-05-12T21:55:43.756Z,1747086943.756 [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>

2025-05-12T21:55:43.760Z,1747086943.760 [MissionManager](INFO): DefineArg ballast_and_trim:PowerOnly.SampleAll = 0 bool
2025-05-12T21:55:43.762Z,1747086943.762 [MissionManager](INFO): DefineArg ballast_and_trim:PowerOnly.SampleLoad1 = 0 bool
2025-05-12T21:55:43.764Z,1747086943.764 [MissionManager](INFO): DefineArg ballast_and_trim:PowerOnly.SampleLoad2 = 0 bool
2025-05-12T21:55:43.766Z,1747086943.766 [MissionManager](INFO): DefineArg ballast_and_trim:PowerOnly.SampleLoad3 = 0 bool
2025-05-12T21:55:43.768Z,1747086943.768 [MissionManager](INFO): DefineArg ballast_and_trim:PowerOnly.EnabledPowerOnly = 1 bool
2025-05-12T21:55:43.775Z,1747086943.775 [ballast_and_trim:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-05-12T21:55:43.780Z,1747086943.780 [ballast_and_trim:CheckTargetDepths:CheckDepth1:B.Execute](DEBUG): Construct Execute.
2025-05-12T21:55:43.783Z,1747086943.783 [ballast_and_trim:CheckTargetDepths:CheckDepth2:B.Execute](DEBUG): Construct Execute.
2025-05-12T21:55:43.789Z,1747086943.789 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BallastAndTrim.tl
2025-05-12T21:55:43.789Z,1747086943.789 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BallastAndTrim.tl
2025-05-12T21:55:43.791Z,1747086943.791 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BallastAndTrim.tl
2025-05-12T21:55:44.771Z,1747086944.771 [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>

2025-05-12T21:55:44.786Z,1747086944.786 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertDepth = 25.000000 m
2025-05-12T21:55:44.788Z,1747086944.788 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachSpeed = 0.000000 m/s
2025-05-12T21:55:44.808Z,1747086944.808 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachDepthRate = 0.400000 m/s
2025-05-12T21:55:44.815Z,1747086944.815 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachPitchLimit = 20.000000 arcdeg
2025-05-12T21:55:44.821Z,1747086944.821 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachSettleTimePreDive = 0.000000 min
2025-05-12T21:55:44.823Z,1747086944.823 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachDepthTimeout = 20.000000 min
2025-05-12T21:55:44.830Z,1747086944.830 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertSettleTime = 10.000000 min
2025-05-12T21:55:44.837Z,1747086944.837 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.EstTimeout = 45.000000 min
2025-05-12T21:55:44.839Z,1747086944.839 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.MinEstTime = 10.000000 min
2025-05-12T21:55:44.913Z,1747086944.913 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.MassEstErrorBound = 0.250000 mm
2025-05-12T21:55:44.942Z,1747086944.942 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.BuoyEstErrorBound = 15.000000 cc
2025-05-12T21:55:44.944Z,1747086944.944 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.EstConfidence = 99.900002 %
2025-05-12T21:55:44.958Z,1747086944.958 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertDepthDeadband = 1.000000 m
2025-05-12T21:55:44.977Z,1747086944.977 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertMassDeadband = 0.250000 mm
2025-05-12T21:55:45.022Z,1747086945.022 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point](DEBUG): Construct.
2025-05-12T21:55:45.056Z,1747086945.056 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy](DEBUG): Construct Buoyancy.
2025-05-12T21:55:45.067Z,1747086945.067 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch](DEBUG): Construct.
2025-05-12T21:55:45.111Z,1747086945.111 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait](DEBUG): Construct Wait.
2025-05-12T21:55:45.123Z,1747086945.123 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed](DEBUG): Construct.
2025-05-12T21:55:45.134Z,1747086945.134 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch](DEBUG): Construct.
2025-05-12T21:55:45.157Z,1747086945.157 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2025-05-12T21:55:45.160Z,1747086945.160 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed](DEBUG): Construct.
2025-05-12T21:55:45.167Z,1747086945.167 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch](DEBUG): Construct.
2025-05-12T21:55:45.180Z,1747086945.180 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait](DEBUG): Construct Wait.
2025-05-12T21:55:45.182Z,1747086945.182 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:E.Execute](DEBUG): Construct Execute.
2025-05-12T21:55:45.189Z,1747086945.189 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](DEBUG): Construct BallastAndTrim.
2025-05-12T21:55:45.208Z,1747086945.208 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertDepthDeadband = reader:ballast_and_trim.DepthDeadband
2025-05-12T21:55:45.213Z,1747086945.213 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachSpeed = reader:ballast_and_trim.ApproachSpeed
2025-05-12T21:55:45.215Z,1747086945.215 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachDepthRate = reader:ballast_and_trim.ApproachDepthRate
2025-05-12T21:55:45.216Z,1747086945.216 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachPitchLimit = reader:ballast_and_trim.ApproachPitchLimit
2025-05-12T21:55:45.222Z,1747086945.222 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachSettleTimePreDive = reader:ballast_and_trim.ApproachSettleTimePreDive
2025-05-12T21:55:45.223Z,1747086945.223 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachDepthTimeout = reader:ballast_and_trim.ApproachDepthTimeout
2025-05-12T21:55:45.229Z,1747086945.229 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertSettleTime = reader:ballast_and_trim.SettleTime
2025-05-12T21:55:45.230Z,1747086945.230 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.EstTimeout = reader:ballast_and_trim.EstimationTimeout
2025-05-12T21:55:45.232Z,1747086945.232 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.MinEstTime = reader:ballast_and_trim.MinEstimationTime
2025-05-12T21:55:45.238Z,1747086945.238 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.MassEstErrorBound = reader:ballast_and_trim.MassEstimationErrorBound
2025-05-12T21:55:45.239Z,1747086945.239 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.BuoyEstErrorBound = reader:ballast_and_trim.BuoyEstimationErrorBound
2025-05-12T21:55:45.287Z,1747086945.287 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.EstConfidence = reader:ballast_and_trim.EstimationConfidence
2025-05-12T21:55:45.293Z,1747086945.293 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertMassDeadband = reader:ballast_and_trim.massDeadband
2025-05-12T21:55:45.509Z,1747086945.509 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

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

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

    Depth1 = 35 meter

    Depth2 = NaN meter

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

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

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

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

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

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

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

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

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

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

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

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

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

    MinAltitude = 5 meter

    MaxDepth = 52 meter

    MinOffshore = 2 kilometer

    CheckDepths = 1 bool
  }

  timeout duration=MissionTimeout

  insert Insert/Science.tl

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

  insert Insert/StandardEnvelopes.tl

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

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

  aggregate CheckTargetDepths {
    run in sequence

    break if ( not ( CheckDepths ) )

    aggregate CheckDepth1 {
      run in sequence

      break if ( not ( Depth1 > MaxDepth ) )

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

      behavior Guidance:Execute {
        run in sequence

        set command = "stop"
      }
    }

    aggregate CheckDepth2 {
      run in sequence

      break if ( not ( Depth2 > MaxDepth ) )

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

      behavior Guidance:Execute {
        run in sequence

        set command = "stop"
      }
    }

    assign in sequence CheckDepths = 0 bool
  }

  aggregate StartingMission {
    run in sequence

    break if ( SkipComms )

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

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

  aggregate RunBallastAndTrim {
    run in sequence

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

    aggregate RunDepth1 {
      run in sequence

      break if ( isNaN ( Depth1 ) )

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

    aggregate RunDepth2 {
      run in sequence

      break if ( isNaN ( Depth2 ) )

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

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


2025-05-12T21:55:45.509Z,1747086945.509 [CommandExec](IMPORTANT): Loaded ./Missions/Maintenance/ballast_and_trim.tl id=ballast_and_trim
2025-05-12T21:55:52.496Z,1747086952.496 [DataOverHttps](INFO): Sending 40 bytes from file Logs/20250512T191822/Courier0072.lzma
2025-05-12T21:55:53.499Z,1747086953.499 [DataOverHttps](INFO): Moved sent file to Logs/20250512T191822/Courier0072.lzma.bak
2025-05-12T21:55:53.499Z,1747086953.499 [DataOverHttps](INFO): SBD MOMSN=24856263
2025-05-12T21:56:06.233Z,1747086966.233 [CommandExec](IMPORTANT): got command set ballast_and_trim.ApproachDepthTimeout 10 minute
2025-05-12T21:56:06.234Z,1747086966.234 [CommandExec](IMPORTANT): got command set ballast_and_trim:StandardEnvelopes.MaxDepthIgnore 45 meter
2025-05-12T21:56:06.234Z,1747086966.234 [CommandExec](IMPORTANT): got command run
2025-05-12T21:56:06.236Z,1747086966.236 [CommandExec](IMPORTANT): Running 
2025-05-12T21:56:06.333Z,1747086966.333 [Default] Stopped
2025-05-12T21:56:06.333Z,1747086966.333 [Default](DEBUG): Aggregate::uninitialize Default
2025-05-12T21:56:06.333Z,1747086966.333 [Default:B.GoToSurface] Stopped
2025-05-12T21:56:06.333Z,1747086966.333 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-05-12T21:56:06.333Z,1747086966.333 [Default:CheckIn] Stopped
2025-05-12T21:56:06.334Z,1747086966.334 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-05-12T21:56:06.334Z,1747086966.334 [Default:CheckIn:Read_Iridium] Stopped
2025-05-12T21:56:06.334Z,1747086966.334 [MissionManager](IMPORTANT): Started mission ballast_and_trim
2025-05-12T21:56:06.334Z,1747086966.334 [ballast_and_trim] Running Loop=1
2025-05-12T21:56:06.334Z,1747086966.334 [ballast_and_trim](DEBUG): Aggregate::initialize ballast_and_trim
2025-05-12T21:56:06.334Z,1747086966.334 [ballast_and_trim:Science] Running Loop=1
2025-05-12T21:56:06.334Z,1747086966.334 [ballast_and_trim:Science](DEBUG): Aggregate::initialize ballast_and_trim:Science
2025-05-12T21:56:06.334Z,1747086966.334 [ballast_and_trim:Science:A] Running Loop=1
2025-05-12T21:56:06.334Z,1747086966.334 [ballast_and_trim:Science:B] Running Loop=1
2025-05-12T21:56:06.335Z,1747086966.335 [ballast_and_trim:Science:C] Running Loop=1
2025-05-12T21:56:06.335Z,1747086966.335 [ballast_and_trim:Science:D] Running Loop=1
2025-05-12T21:56:06.335Z,1747086966.335 [ballast_and_trim:Science:E] Running Loop=1
2025-05-12T21:56:06.335Z,1747086966.335 [ballast_and_trim:Science:F] Running Loop=1
2025-05-12T21:56:06.335Z,1747086966.335 [ballast_and_trim:Science:Read_Oil] Running Loop=1
2025-05-12T21:56:06.335Z,1747086966.335 [ballast_and_trim:Science:PeakDetectChl] Running Loop=1
2025-05-12T21:56:06.335Z,1747086966.335 [ballast_and_trim:Science:PeakDetectChl](DEBUG): Aggregate::initialize ballast_and_trim:Science:PeakDetectChl
2025-05-12T21:56:06.335Z,1747086966.335 [ballast_and_trim:Science:PeakDetectChl:A] Running Loop=1
2025-05-12T21:56:06.335Z,1747086966.335 [ballast_and_trim:Science:EdgeDetectChl] Running Loop=1
2025-05-12T21:56:06.335Z,1747086966.335 [ballast_and_trim:Science:EdgeDetectChl](DEBUG): Aggregate::initialize ballast_and_trim:Science:EdgeDetectChl
2025-05-12T21:56:06.335Z,1747086966.335 [ballast_and_trim:Science:EdgeDetectChl:A] Running Loop=1
2025-05-12T21:56:06.336Z,1747086966.336 [ballast_and_trim:Science:HighestChlPeakReport] Running Loop=1
2025-05-12T21:56:06.336Z,1747086966.336 [ballast_and_trim:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize ballast_and_trim:Science:HighestChlPeakReport
2025-05-12T21:56:06.336Z,1747086966.336 [ballast_and_trim:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-05-12T21:56:06.336Z,1747086966.336 [ballast_and_trim:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-05-12T21:56:06.336Z,1747086966.336 [ballast_and_trim:Science:PeakDetectNO3] Running Loop=1
2025-05-12T21:56:06.342Z,1747086966.342 [ballast_and_trim:Science:PeakDetectNO3](DEBUG): Aggregate::initialize ballast_and_trim:Science:PeakDetectNO3
2025-05-12T21:56:06.342Z,1747086966.342 [ballast_and_trim:Science:PeakDetectNO3:A] Running Loop=1
2025-05-12T21:56:06.342Z,1747086966.342 [ballast_and_trim:Science:PeakDetectOil] Running Loop=1
2025-05-12T21:56:06.342Z,1747086966.342 [ballast_and_trim:Science:PeakDetectOil](DEBUG): Aggregate::initialize ballast_and_trim:Science:PeakDetectOil
2025-05-12T21:56:06.342Z,1747086966.342 [ballast_and_trim:Science:PeakDetectOil:A] Running Loop=1
2025-05-12T21:56:06.342Z,1747086966.342 [ballast_and_trim:Science:HighestOilPeakReport] Running Loop=1
2025-05-12T21:56:06.342Z,1747086966.342 [ballast_and_trim:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize ballast_and_trim:Science:HighestOilPeakReport
2025-05-12T21:56:06.342Z,1747086966.342 [ballast_and_trim:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-05-12T21:56:06.343Z,1747086966.342 [ballast_and_trim:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-05-12T21:56:06.343Z,1747086966.343 [ballast_and_trim:Science:PeakDetectFDOM] Running Loop=1
2025-05-12T21:56:06.343Z,1747086966.343 [ballast_and_trim:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize ballast_and_trim:Science:PeakDetectFDOM
2025-05-12T21:56:06.343Z,1747086966.343 [ballast_and_trim:Science:PeakDetectFDOM:A] Running Loop=1
2025-05-12T21:56:06.343Z,1747086966.343 [ballast_and_trim:Science:PeakDetectSalinity] Running Loop=1
2025-05-12T21:56:06.343Z,1747086966.343 [ballast_and_trim:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize ballast_and_trim:Science:PeakDetectSalinity
2025-05-12T21:56:06.343Z,1747086966.343 [ballast_and_trim:Science:PeakDetectSalinity:A] Running Loop=1
2025-05-12T21:56:06.344Z,1747086966.344 [ballast_and_trim:Science:HighestSaltPeakReport] Running Loop=1
2025-05-12T21:56:06.344Z,1747086966.344 [ballast_and_trim:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize ballast_and_trim:Science:HighestSaltPeakReport
2025-05-12T21:56:06.344Z,1747086966.344 [ballast_and_trim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-05-12T21:56:06.344Z,1747086966.344 [ballast_and_trim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-05-12T21:56:06.344Z,1747086966.344 [ballast_and_trim:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-05-12T21:56:06.349Z,1747086966.349 [ballast_and_trim:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize ballast_and_trim:Science:PeakDetectPlanktivoreLMavgROI
2025-05-12T21:56:06.349Z,1747086966.349 [ballast_and_trim:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-05-12T21:56:06.349Z,1747086966.349 [ballast_and_trim:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2025-05-12T21:56:06.349Z,1747086966.349 [ballast_and_trim:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize ballast_and_trim:Science:EdgeDetectPlanktivoreLMavgROI
2025-05-12T21:56:06.349Z,1747086966.349 [ballast_and_trim:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-05-12T21:56:06.349Z,1747086966.349 [ballast_and_trim:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-05-12T21:56:06.349Z,1747086966.349 [ballast_and_trim:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize ballast_and_trim:Science:PeakDetectPlanktivoreHMavgROI
2025-05-12T21:56:06.350Z,1747086966.350 [ballast_and_trim:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-05-12T21:56:06.350Z,1747086966.350 [ballast_and_trim:Science:EdgeDetectPlanktivoreHMavgROI] Running Loop=1
2025-05-12T21:56:06.350Z,1747086966.350 [ballast_and_trim:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize ballast_and_trim:Science:EdgeDetectPlanktivoreHMavgROI
2025-05-12T21:56:06.350Z,1747086966.350 [ballast_and_trim:Science:EdgeDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-05-12T21:56:06.350Z,1747086966.350 [ballast_and_trim:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-05-12T21:56:06.350Z,1747086966.350 [ballast_and_trim:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize ballast_and_trim:Science:PeakDetectPlanktivoreDiatoms
2025-05-12T21:56:06.350Z,1747086966.350 [ballast_and_trim:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2025-05-12T21:56:06.350Z,1747086966.350 [ballast_and_trim:Science:EdgeDetectPlanktivoreDiatoms] Running Loop=1
2025-05-12T21:56:06.351Z,1747086966.351 [ballast_and_trim:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize ballast_and_trim:Science:EdgeDetectPlanktivoreDiatoms
2025-05-12T21:56:06.351Z,1747086966.351 [ballast_and_trim:Science:EdgeDetectPlanktivoreDiatoms:A] Running Loop=1
2025-05-12T21:56:06.351Z,1747086966.351 [ballast_and_trim:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-05-12T21:56:06.351Z,1747086966.351 [ballast_and_trim:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize ballast_and_trim:Science:PeakDetectPlanktivoreDinoflagellates
2025-05-12T21:56:06.351Z,1747086966.351 [ballast_and_trim:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-05-12T21:56:06.351Z,1747086966.351 [ballast_and_trim:Science:EdgeDetectPlanktivoreDinoflagellates] Running Loop=1
2025-05-12T21:56:06.351Z,1747086966.351 [ballast_and_trim:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize ballast_and_trim:Science:EdgeDetectPlanktivoreDinoflagellates
2025-05-12T21:56:06.351Z,1747086966.351 [ballast_and_trim:Science:EdgeDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-05-12T21:56:06.351Z,1747086966.351 [ballast_and_trim:Science:ChlThreshTrigger] Running Loop=1
2025-05-12T21:56:06.351Z,1747086966.351 [ballast_and_trim:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize ballast_and_trim:Science:ChlThreshTrigger
2025-05-12T21:56:06.352Z,1747086966.352 [ballast_and_trim:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-05-12T21:56:06.352Z,1747086966.352 [ballast_and_trim:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-05-12T21:56:06.352Z,1747086966.352 [ballast_and_trim:Science:OceanCurrent] Running Loop=1
2025-05-12T21:56:06.352Z,1747086966.352 [ballast_and_trim:Science:OceanCurrent](DEBUG): Aggregate::initialize ballast_and_trim:Science:OceanCurrent
2025-05-12T21:56:06.352Z,1747086966.352 [ballast_and_trim:Science:OceanCurrent:A.] Running Loop=1
2025-05-12T21:56:06.357Z,1747086966.357 [ballast_and_trim:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-05-12T21:56:06.357Z,1747086966.357 [ballast_and_trim:StandardEnvelopes] Running Loop=1
2025-05-12T21:56:06.357Z,1747086966.357 [ballast_and_trim:StandardEnvelopes](DEBUG): Aggregate::initialize ballast_and_trim:StandardEnvelopes
2025-05-12T21:56:06.357Z,1747086966.357 [ballast_and_trim:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-05-12T21:56:06.357Z,1747086966.357 [ballast_and_trim:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-05-12T21:56:06.357Z,1747086966.357 [ballast_and_trim:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-05-12T21:56:06.357Z,1747086966.357 [ballast_and_trim:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-05-12T21:56:06.357Z,1747086966.357 [ballast_and_trim:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-05-12T21:56:06.358Z,1747086966.358 [ballast_and_trim:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-05-12T21:56:06.358Z,1747086966.358 [ballast_and_trim:BackseatDriver] Running Loop=1
2025-05-12T21:56:06.358Z,1747086966.358 [ballast_and_trim:BackseatDriver](DEBUG): Aggregate::initialize ballast_and_trim:BackseatDriver
2025-05-12T21:56:06.358Z,1747086966.358 [ballast_and_trim:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-05-12T21:56:06.358Z,1747086966.358 [ballast_and_trim:PowerOnly] Running Loop=1
2025-05-12T21:56:06.358Z,1747086966.358 [ballast_and_trim:PowerOnly](DEBUG): Aggregate::initialize ballast_and_trim:PowerOnly
2025-05-12T21:56:06.358Z,1747086966.358 [ballast_and_trim:PowerOnly:A] Running Loop=1
2025-05-12T21:56:06.358Z,1747086966.358 [ballast_and_trim:PowerOnly:B] Running Loop=1
2025-05-12T21:56:06.358Z,1747086966.358 [ballast_and_trim:PowerOnly:C] Running Loop=1
2025-05-12T21:56:06.358Z,1747086966.358 [ballast_and_trim:PowerOnly:D] Running Loop=1
2025-05-12T21:56:06.358Z,1747086966.358 [ballast_and_trim:PowerOnly:E.Wait] Running Loop=1
2025-05-12T21:56:06.359Z,1747086966.359 [ballast_and_trim:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-05-12T21:56:06.359Z,1747086966.359 [ballast_and_trim:C] Running Loop=1
2025-05-12T21:56:06.359Z,1747086966.359 [ballast_and_trim:PowerOnly] Running Loop=1
2025-05-12T21:56:06.360Z,1747086966.360 [ballast_and_trim:PowerOnly:D] Stopped
2025-05-12T21:56:06.360Z,1747086966.360 [ballast_and_trim:PowerOnly:C] Stopped
2025-05-12T21:56:06.360Z,1747086966.360 [ballast_and_trim:PowerOnly:B] Stopped
2025-05-12T21:56:06.360Z,1747086966.360 [ballast_and_trim:PowerOnly:A] Stopped
2025-05-12T21:56:06.360Z,1747086966.360 [ballast_and_trim:BackseatDriver] Running Loop=1
2025-05-12T21:56:06.360Z,1747086966.360 [ballast_and_trim:StandardEnvelopes] Running Loop=1
2025-05-12T21:56:06.360Z,1747086966.360 [ballast_and_trim:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-05-12T21:56:06.365Z,1747086966.365 [ballast_and_trim:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-05-12T21:56:06.365Z,1747086966.365 [ballast_and_trim:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-05-12T21:56:06.366Z,1747086966.366 [ballast_and_trim:C] Stopped
2025-05-12T21:56:06.366Z,1747086966.366 [ballast_and_trim:E] Running Loop=1
2025-05-12T21:56:06.366Z,1747086966.366 [ballast_and_trim:Science] Running Loop=1
2025-05-12T21:56:06.368Z,1747086966.368 [ballast_and_trim:Science:ChlThreshTrigger] Stopped
2025-05-12T21:56:06.368Z,1747086966.368 [ballast_and_trim:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:ChlThreshTrigger
2025-05-12T21:56:06.368Z,1747086966.368 [ballast_and_trim:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-05-12T21:56:06.368Z,1747086966.368 [ballast_and_trim:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-05-12T21:56:06.368Z,1747086966.368 [ballast_and_trim:Science:EdgeDetectPlanktivoreDinoflagellates] Stopped
2025-05-12T21:56:06.368Z,1747086966.368 [ballast_and_trim:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:EdgeDetectPlanktivoreDinoflagellates
2025-05-12T21:56:06.368Z,1747086966.368 [ballast_and_trim:Science:EdgeDetectPlanktivoreDinoflagellates:A] Stopped
2025-05-12T21:56:06.368Z,1747086966.368 [ballast_and_trim:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-05-12T21:56:06.368Z,1747086966.368 [ballast_and_trim:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:PeakDetectPlanktivoreDinoflagellates
2025-05-12T21:56:06.372Z,1747086966.372 [ballast_and_trim:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2025-05-12T21:56:06.373Z,1747086966.373 [ballast_and_trim:Science:EdgeDetectPlanktivoreDiatoms] Stopped
2025-05-12T21:56:06.373Z,1747086966.373 [ballast_and_trim:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:EdgeDetectPlanktivoreDiatoms
2025-05-12T21:56:06.373Z,1747086966.373 [ballast_and_trim:Science:EdgeDetectPlanktivoreDiatoms:A] Stopped
2025-05-12T21:56:06.373Z,1747086966.373 [ballast_and_trim:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-05-12T21:56:06.373Z,1747086966.373 [ballast_and_trim:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:PeakDetectPlanktivoreDiatoms
2025-05-12T21:56:06.373Z,1747086966.373 [ballast_and_trim:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2025-05-12T21:56:06.373Z,1747086966.373 [ballast_and_trim:Science:EdgeDetectPlanktivoreHMavgROI] Stopped
2025-05-12T21:56:06.373Z,1747086966.373 [ballast_and_trim:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:EdgeDetectPlanktivoreHMavgROI
2025-05-12T21:56:06.373Z,1747086966.373 [ballast_and_trim:Science:EdgeDetectPlanktivoreHMavgROI:A] Stopped
2025-05-12T21:56:06.373Z,1747086966.373 [ballast_and_trim:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-05-12T21:56:06.373Z,1747086966.373 [ballast_and_trim:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:PeakDetectPlanktivoreHMavgROI
2025-05-12T21:56:06.374Z,1747086966.374 [ballast_and_trim:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2025-05-12T21:56:06.374Z,1747086966.374 [ballast_and_trim:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2025-05-12T21:56:06.374Z,1747086966.374 [ballast_and_trim:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:EdgeDetectPlanktivoreLMavgROI
2025-05-12T21:56:06.374Z,1747086966.374 [ballast_and_trim:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2025-05-12T21:56:06.374Z,1747086966.374 [ballast_and_trim:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-05-12T21:56:06.374Z,1747086966.374 [ballast_and_trim:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:PeakDetectPlanktivoreLMavgROI
2025-05-12T21:56:06.374Z,1747086966.374 [ballast_and_trim:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2025-05-12T21:56:06.374Z,1747086966.374 [ballast_and_trim:Science:HighestSaltPeakReport] Stopped
2025-05-12T21:56:06.374Z,1747086966.374 [ballast_and_trim:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:HighestSaltPeakReport
2025-05-12T21:56:06.374Z,1747086966.374 [ballast_and_trim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-05-12T21:56:06.374Z,1747086966.374 [ballast_and_trim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-05-12T21:56:06.374Z,1747086966.374 [ballast_and_trim:Science:PeakDetectSalinity] Stopped
2025-05-12T21:56:06.374Z,1747086966.374 [ballast_and_trim:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:PeakDetectSalinity
2025-05-12T21:56:06.375Z,1747086966.375 [ballast_and_trim:Science:PeakDetectSalinity:A] Stopped
2025-05-12T21:56:06.375Z,1747086966.375 [ballast_and_trim:Science:PeakDetectFDOM] Stopped
2025-05-12T21:56:06.375Z,1747086966.375 [ballast_and_trim:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:PeakDetectFDOM
2025-05-12T21:56:06.375Z,1747086966.375 [ballast_and_trim:Science:PeakDetectFDOM:A] Stopped
2025-05-12T21:56:06.375Z,1747086966.375 [ballast_and_trim:Science:HighestOilPeakReport] Stopped
2025-05-12T21:56:06.375Z,1747086966.375 [ballast_and_trim:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:HighestOilPeakReport
2025-05-12T21:56:06.375Z,1747086966.375 [ballast_and_trim:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-05-12T21:56:06.375Z,1747086966.375 [ballast_and_trim:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-05-12T21:56:06.375Z,1747086966.375 [ballast_and_trim:Science:PeakDetectOil] Stopped
2025-05-12T21:56:06.375Z,1747086966.375 [ballast_and_trim:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:PeakDetectOil
2025-05-12T21:56:06.375Z,1747086966.375 [ballast_and_trim:Science:PeakDetectOil:A] Stopped
2025-05-12T21:56:06.375Z,1747086966.375 [ballast_and_trim:Science:PeakDetectNO3] Stopped
2025-05-12T21:56:06.375Z,1747086966.375 [ballast_and_trim:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:PeakDetectNO3
2025-05-12T21:56:06.376Z,1747086966.376 [ballast_and_trim:Science:PeakDetectNO3:A] Stopped
2025-05-12T21:56:06.376Z,1747086966.376 [ballast_and_trim:Science:HighestChlPeakReport] Stopped
2025-05-12T21:56:06.376Z,1747086966.376 [ballast_and_trim:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:HighestChlPeakReport
2025-05-12T21:56:06.376Z,1747086966.376 [ballast_and_trim:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-05-12T21:56:06.376Z,1747086966.376 [ballast_and_trim:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-05-12T21:56:06.376Z,1747086966.376 [ballast_and_trim:Science:EdgeDetectChl] Stopped
2025-05-12T21:56:06.376Z,1747086966.376 [ballast_and_trim:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:EdgeDetectChl
2025-05-12T21:56:06.376Z,1747086966.376 [ballast_and_trim:Science:EdgeDetectChl:A] Stopped
2025-05-12T21:56:06.376Z,1747086966.376 [ballast_and_trim:Science:PeakDetectChl] Stopped
2025-05-12T21:56:06.376Z,1747086966.376 [ballast_and_trim:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:PeakDetectChl
2025-05-12T21:56:06.380Z,1747086966.380 [ballast_and_trim:Science:PeakDetectChl:A] Stopped
2025-05-12T21:56:06.381Z,1747086966.381 [ballast_and_trim:Science:OceanCurrent:A.] Running Loop=1
2025-05-12T21:56:06.382Z,1747086966.382 [ballast_and_trim:Science:Read_Oil] Stopped
2025-05-12T21:56:06.382Z,1747086966.382 [ballast_and_trim:Science:F] Stopped
2025-05-12T21:56:06.382Z,1747086966.382 [ballast_and_trim:Science:E] Running Loop=1
2025-05-12T21:56:06.382Z,1747086966.382 [ballast_and_trim:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2025-05-12T21:56:06.382Z,1747086966.382 [ballast_and_trim:Science:D] Stopped
2025-05-12T21:56:06.383Z,1747086966.383 [ballast_and_trim:Science:C] Running Loop=1
2025-05-12T21:56:06.383Z,1747086966.383 [ballast_and_trim:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2025-05-12T21:56:06.383Z,1747086966.383 [ballast_and_trim:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2025-05-12T21:56:06.384Z,1747086966.384 [ballast_and_trim:Science:B] Running Loop=1
2025-05-12T21:56:06.384Z,1747086966.384 [ballast_and_trim:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2025-05-12T21:56:06.389Z,1747086966.389 [ballast_and_trim:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2025-05-12T21:56:06.389Z,1747086966.389 [ballast_and_trim:Science:A] Stopped
2025-05-12T21:56:06.718Z,1747086966.718 [ballast_and_trim:E] Stopped
2025-05-12T21:56:06.718Z,1747086966.718 [ballast_and_trim:F] Running Loop=1
2025-05-12T21:56:06.766Z,1747086966.766 [WetLabsBB2FL](INFO): Powering up
2025-05-12T21:56:07.117Z,1747086967.117 [ballast_and_trim:F] Stopped
2025-05-12T21:56:07.117Z,1747086967.117 [ballast_and_trim:G] Running Loop=1
2025-05-12T21:56:07.523Z,1747086967.523 [ballast_and_trim:G] Stopped
2025-05-12T21:56:07.523Z,1747086967.523 [ballast_and_trim:CheckTargetDepths] Running Loop=1
2025-05-12T21:56:07.523Z,1747086967.523 [ballast_and_trim:CheckTargetDepths](DEBUG): Aggregate::initialize ballast_and_trim:CheckTargetDepths
2025-05-12T21:56:07.523Z,1747086967.523 [ballast_and_trim:CheckTargetDepths:CheckDepth1] Running Loop=1
2025-05-12T21:56:07.523Z,1747086967.523 [ballast_and_trim:CheckTargetDepths:CheckDepth1](DEBUG): Aggregate::initialize ballast_and_trim:CheckTargetDepths:CheckDepth1
2025-05-12T21:56:07.523Z,1747086967.523 [ballast_and_trim:CheckTargetDepths:CheckDepth1:A] Running Loop=1
2025-05-12T21:56:07.930Z,1747086967.930 [ballast_and_trim:CheckTargetDepths:CheckDepth1] Stopped
2025-05-12T21:56:07.930Z,1747086967.930 [ballast_and_trim:CheckTargetDepths:CheckDepth1](DEBUG): Aggregate::uninitialize ballast_and_trim:CheckTargetDepths:CheckDepth1
2025-05-12T21:56:07.930Z,1747086967.930 [ballast_and_trim:CheckTargetDepths:CheckDepth1:A] Stopped
2025-05-12T21:56:07.931Z,1747086967.931 [ballast_and_trim:CheckTargetDepths:CheckDepth2] Running Loop=1
2025-05-12T21:56:07.931Z,1747086967.931 [ballast_and_trim:CheckTargetDepths:CheckDepth2](DEBUG): Aggregate::initialize ballast_and_trim:CheckTargetDepths:CheckDepth2
2025-05-12T21:56:07.931Z,1747086967.931 [ballast_and_trim:CheckTargetDepths:CheckDepth2:A] Running Loop=1
2025-05-12T21:56:08.350Z,1747086968.350 [ballast_and_trim:CheckTargetDepths:CheckDepth2] Stopped
2025-05-12T21:56:08.350Z,1747086968.350 [ballast_and_trim:CheckTargetDepths:CheckDepth2](DEBUG): Aggregate::uninitialize ballast_and_trim:CheckTargetDepths:CheckDepth2
2025-05-12T21:56:08.350Z,1747086968.351 [ballast_and_trim:CheckTargetDepths:CheckDepth2:A] Stopped
2025-05-12T21:56:08.351Z,1747086968.351 [ballast_and_trim:CheckTargetDepths:C] Running Loop=1
2025-05-12T21:56:08.732Z,1747086968.732 [ballast_and_trim:CheckTargetDepths:C] Stopped
2025-05-12T21:56:08.732Z,1747086968.732 [ballast_and_trim:CheckTargetDepths](INFO): Completed ballast_and_trim:CheckTargetDepths
2025-05-12T21:56:08.732Z,1747086968.732 [ballast_and_trim:CheckTargetDepths] Stopped
2025-05-12T21:56:08.732Z,1747086968.732 [ballast_and_trim:CheckTargetDepths](DEBUG): Aggregate::uninitialize ballast_and_trim:CheckTargetDepths
2025-05-12T21:56:08.732Z,1747086968.732 [ballast_and_trim:StartingMission] Running Loop=1
2025-05-12T21:56:08.733Z,1747086968.733 [ballast_and_trim:StartingMission](DEBUG): Aggregate::initialize ballast_and_trim:StartingMission
2025-05-12T21:56:08.733Z,1747086968.733 [ballast_and_trim:StartingMission:A] Running Loop=1
2025-05-12T21:56:09.150Z,1747086969.150 [ballast_and_trim:StartingMission:A](INFO): Checking for additional instructions before submerging.
2025-05-12T21:56:09.150Z,1747086969.150 [ballast_and_trim:StartingMission:A] Stopped
2025-05-12T21:56:09.150Z,1747086969.150 [ballast_and_trim:StartingMission:StartingMission] Running Loop=1
2025-05-12T21:56:09.150Z,1747086969.150 [ballast_and_trim:StartingMission:StartingMission](DEBUG): Aggregate::initialize ballast_and_trim:StartingMission:StartingMission
2025-05-12T21:56:09.450Z,1747086969.450 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2025-05-12T21:56:09.539Z,1747086969.539 [ballast_and_trim:NeedComms] Running Loop=1
2025-05-12T21:56:09.539Z,1747086969.539 [ballast_and_trim:NeedComms](DEBUG): Aggregate::initialize ballast_and_trim:NeedComms
2025-05-12T21:56:09.539Z,1747086969.539 [ballast_and_trim:NeedComms:B.GoToSurface] Running Loop=1
2025-05-12T21:56:09.539Z,1747086969.539 [ballast_and_trim:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-05-12T21:56:09.539Z,1747086969.539 [ballast_and_trim:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-05-12T21:56:09.540Z,1747086969.540 [ballast_and_trim:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-05-12T21:56:09.540Z,1747086969.540 [ballast_and_trim:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-05-12T21:56:09.565Z,1747086969.565 [ballast_and_trim:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-05-12T21:56:09.565Z,1747086969.565 [ballast_and_trim:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-05-12T21:56:09.565Z,1747086969.565 [ballast_and_trim:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-05-12T21:56:09.566Z,1747086969.566 [ballast_and_trim:NeedComms:A] Running Loop=1
2025-05-12T21:56:09.567Z,1747086969.567 [ballast_and_trim:NeedComms:A](INFO): last time_fix was:  1747086846.000000 second since 1970/01/01T00:00:00Z 
2025-05-12T21:56:09.567Z,1747086969.567 [ballast_and_trim:NeedComms:A] Stopped
2025-05-12T21:56:10.020Z,1747086970.020 [ballast_and_trim:NeedComms:C] Running Loop=1
2025-05-12T21:56:10.388Z,1747086970.388 [ballast_and_trim:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-05-12T21:56:11.952Z,1747086971.952 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,215611.00,A,3648.13162,N,12150.72515,W,0.875,22.42,120525,,,A*4C
2025-05-12T21:56:11.954Z,1747086971.954 [NAL9602](INFO): GPS fix at 20250512T215611: (36.802194, -121.845419)
2025-05-12T21:56:11.995Z,1747086971.995 [UniversalFixResidualReporter](INFO): Fix residual: 54.0 %DT, over the last 527.0 m. Residual distance 284.8 m at bearing -65.6 degrees. Fix at (36.8022, -121.8454) with 32.6 m made good.
2025-05-12T21:56:12.005Z,1747086972.005 [ballast_and_trim:NeedComms:C] Stopped
2025-05-12T21:56:12.006Z,1747086972.006 [ballast_and_trim:NeedComms:D] Running Loop=1
2025-05-12T21:56:12.435Z,1747086972.435 [ballast_and_trim:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-05-12T21:56:14.109Z,1747086974.109 [DataOverHttps](INFO): Sending 201 bytes from file Logs/20250512T191822/Express0073.lzma
2025-05-12T21:56:15.107Z,1747086975.107 [DataOverHttps](INFO): Moved sent file to Logs/20250512T191822/Express0073.lzma.bak
2025-05-12T21:56:15.107Z,1747086975.107 [DataOverHttps](INFO): SBD MOMSN=24856265
2025-05-12T21:56:31.896Z,1747086991.896 [DataOverHttps](INFO): Sending 84 bytes from file Logs/20250512T191822/Courier0075.lzma
2025-05-12T21:56:32.899Z,1747086992.899 [DataOverHttps](INFO): Moved sent file to Logs/20250512T191822/Courier0075.lzma.bak
2025-05-12T21:56:32.899Z,1747086992.899 [DataOverHttps](INFO): SBD MOMSN=24856272
2025-05-12T21:56:40.894Z,1747087000.894 [NAL9602](INFO): SBD MO Status=0, MOMSN=20616, MT Status=0, MTMSN=0
2025-05-12T21:56:40.894Z,1747087000.894 [NAL9602](INFO): No messages in MT queue
2025-05-12T21:56:49.511Z,1747087009.511 [DataOverHttps](INFO): Sending 379 bytes from file Logs/20250512T191822/Express0076.lzma
2025-05-12T21:56:50.511Z,1747087010.511 [DataOverHttps](INFO): Moved sent file to Logs/20250512T191822/Express0076.lzma.bak
2025-05-12T21:56:50.511Z,1747087010.511 [DataOverHttps](INFO): SBD MOMSN=24856279
2025-05-12T21:56:51.801Z,1747087011.801 [ballast_and_trim:NeedComms:D] Stopped
2025-05-12T21:56:51.802Z,1747087011.802 [ballast_and_trim:NeedComms:E] Running Loop=1
2025-05-12T21:56:52.211Z,1747087012.211 [ballast_and_trim:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-05-12T21:56:53.808Z,1747087013.808 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,215653.00,A,3648.13753,N,12150.72147,W,0.739,18.84,120525,,,A*49
2025-05-12T21:56:53.810Z,1747087013.810 [NAL9602](INFO): GPS fix at 20250512T215653: (36.802292, -121.845358)
2025-05-12T21:56:53.831Z,1747087013.831 [ballast_and_trim:NeedComms:E] Stopped
2025-05-12T21:56:53.857Z,1747087013.857 [ballast_and_trim:NeedComms](INFO): Completed ballast_and_trim:NeedComms
2025-05-12T21:56:53.857Z,1747087013.857 [ballast_and_trim:NeedComms] Stopped
2025-05-12T21:56:53.857Z,1747087013.857 [ballast_and_trim:NeedComms](DEBUG): Aggregate::uninitialize ballast_and_trim:NeedComms
2025-05-12T21:56:53.857Z,1747087013.857 [ballast_and_trim:NeedComms:B.GoToSurface] Stopped
2025-05-12T21:56:53.857Z,1747087013.857 [ballast_and_trim:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-05-12T21:56:54.275Z,1747087014.275 [ballast_and_trim:StartingMission:StartingMission](INFO): Completed ballast_and_trim:StartingMission:StartingMission
2025-05-12T21:56:54.275Z,1747087014.275 [ballast_and_trim:StartingMission:StartingMission] Stopped
2025-05-12T21:56:54.275Z,1747087014.275 [ballast_and_trim:StartingMission:StartingMission](DEBUG): Aggregate::uninitialize ballast_and_trim:StartingMission:StartingMission
2025-05-12T21:56:54.275Z,1747087014.275 [ballast_and_trim:StartingMission](INFO): Completed ballast_and_trim:StartingMission
2025-05-12T21:56:54.275Z,1747087014.275 [ballast_and_trim:StartingMission] Stopped
2025-05-12T21:56:54.275Z,1747087014.275 [ballast_and_trim:StartingMission](DEBUG): Aggregate::uninitialize ballast_and_trim:StartingMission
2025-05-12T21:56:54.276Z,1747087014.276 [ballast_and_trim:RunBallastAndTrim] Running Loop=1
2025-05-12T21:56:54.276Z,1747087014.276 [ballast_and_trim:RunBallastAndTrim](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim
2025-05-12T21:56:54.276Z,1747087014.276 [ballast_and_trim:RunBallastAndTrim:RunDepth1] Running Loop=1
2025-05-12T21:56:54.281Z,1747087014.281 [ballast_and_trim:RunBallastAndTrim:RunDepth1](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim:RunDepth1
2025-05-12T21:56:54.281Z,1747087014.281 [ballast_and_trim:RunBallastAndTrim:RunDepth1:A] Running Loop=1
2025-05-12T21:56:54.663Z,1747087014.663 [ballast_and_trim:RunBallastAndTrim:RunDepth1:A] Stopped
2025-05-12T21:56:54.664Z,1747087014.664 [ballast_and_trim:RunBallastAndTrim:RunDepth1:B] Running Loop=1
2025-05-12T21:56:54.664Z,1747087014.664 [ballast_and_trim:RunBallastAndTrim:RunDepth1:B](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim:RunDepth1:B
2025-05-12T21:56:55.070Z,1747087015.070 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim] Running Loop=1
2025-05-12T21:56:55.070Z,1747087015.070 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim
2025-05-12T21:56:55.070Z,1747087015.070 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:A] Running Loop=1
2025-05-12T21:56:55.070Z,1747087015.070 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:B] Running Loop=1
2025-05-12T21:56:55.070Z,1747087015.070 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:C] Running Loop=1
2025-05-12T21:56:55.070Z,1747087015.070 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:D] Running Loop=1
2025-05-12T21:56:55.070Z,1747087015.070 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:E] Running Loop=1
2025-05-12T21:56:55.070Z,1747087015.070 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:F] Running Loop=1
2025-05-12T21:56:55.078Z,1747087015.078 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:F](INFO): Going to target depth. Speed set to  1.000000 m/s 
2025-05-12T21:56:55.078Z,1747087015.078 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:F] Stopped
2025-05-12T21:56:55.078Z,1747087015.078 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth] Running Loop=1
2025-05-12T21:56:55.078Z,1747087015.078 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth
2025-05-12T21:56:55.078Z,1747087015.078 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:A] Running Loop=1
2025-05-12T21:56:55.078Z,1747087015.078 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold] Running Loop=1
2025-05-12T21:56:55.078Z,1747087015.078 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold
2025-05-12T21:56:55.078Z,1747087015.078 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point] Running Loop=1
2025-05-12T21:56:55.078Z,1747087015.078 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point](DEBUG): Initialize.
2025-05-12T21:56:55.078Z,1747087015.078 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy] Running Loop=1
2025-05-12T21:56:55.078Z,1747087015.078 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-05-12T21:56:55.079Z,1747087015.079 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch] Running Loop=1
2025-05-12T21:56:55.079Z,1747087015.079 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch](DEBUG): Initialize.
2025-05-12T21:56:55.079Z,1747087015.079 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive] Running Loop=1
2025-05-12T21:56:55.079Z,1747087015.079 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive
2025-05-12T21:56:55.079Z,1747087015.079 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive:A] Running Loop=1
2025-05-12T21:56:55.079Z,1747087015.079 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:E] Running Loop=1
2025-05-12T21:56:55.079Z,1747087015.079 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:D] Running Loop=1
2025-05-12T21:56:55.080Z,1747087015.080 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:C] Running Loop=1
2025-05-12T21:56:55.080Z,1747087015.080 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:B] Running Loop=1
2025-05-12T21:56:55.080Z,1747087015.080 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:A] Running Loop=1
2025-05-12T21:56:55.483Z,1747087015.483 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive:A](INFO): Waiting for  0.000000 min while pumping down to neutral.
2025-05-12T21:56:55.483Z,1747087015.483 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive:A] Stopped
2025-05-12T21:56:55.484Z,1747087015.484 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait] Running Loop=1
2025-05-12T21:56:55.484Z,1747087015.484 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait](DEBUG): Initialize Wait Component.
2025-05-12T21:56:55.484Z,1747087015.484 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold] Running Loop=1
2025-05-12T21:56:55.484Z,1747087015.484 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch] Running Loop=1
2025-05-12T21:56:55.484Z,1747087015.484 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy] Running Loop=1
2025-05-12T21:56:55.489Z,1747087015.489 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point] Running Loop=1
2025-05-12T21:56:55.489Z,1747087015.489 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:A] Running Loop=1
2025-05-12T21:56:55.858Z,1747087015.858 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait](INFO): Done Waiting.
2025-05-12T21:56:55.859Z,1747087015.859 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait] Stopped
2025-05-12T21:56:55.859Z,1747087015.859 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait](DEBUG): Uninitialize Wait Component.
2025-05-12T21:56:55.859Z,1747087015.859 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive](INFO): Completed ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive
2025-05-12T21:56:55.859Z,1747087015.859 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive] Stopped
2025-05-12T21:56:55.859Z,1747087015.859 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive](DEBUG): Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive
2025-05-12T21:56:55.859Z,1747087015.859 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth] Running Loop=1
2025-05-12T21:56:55.859Z,1747087015.859 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth
2025-05-12T21:56:55.859Z,1747087015.859 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed] Running Loop=1
2025-05-12T21:56:55.859Z,1747087015.859 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed](DEBUG): Initialize.
2025-05-12T21:56:55.860Z,1747087015.860 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:A] Running Loop=1
2025-05-12T21:56:56.294Z,1747087016.294 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed] Running Loop=1
2025-05-12T21:56:56.295Z,1747087016.295 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:A](INFO): Moving to  35.000000 m 
2025-05-12T21:56:56.295Z,1747087016.295 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:A] Stopped
2025-05-12T21:56:56.295Z,1747087016.295 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch] Running Loop=1
2025-05-12T21:56:56.295Z,1747087016.295 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch](DEBUG): Initialize.
2025-05-12T21:57:26.130Z,1747087046.130 [NAL9602](INFO): Not Powering down - fast GPS
2025-05-12T22:01:06.734Z,1747087266.734 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging
2025-05-12T22:03:58.490Z,1747087438.490 [CTD_Seabird](ERROR): Failed to parse device response: 08341,4.01920,4810.34
2025-05-12T22:05:31.923Z,1747087531.923 [CTD_Seabird](ERROR): Salinity reading out of range: 22.912243 psu
2025-05-12T22:05:31.924Z,1747087531.924 [CTD_Seabird](INFO): some bad data, not updating bins
2025-05-12T22:06:56.302Z,1747087616.302 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch](INFO): Timed out from 2025-05-12T21:56:56.3Z
2025-05-12T22:06:56.302Z,1747087616.302 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch:A_Timeout] Running Loop=1
2025-05-12T22:06:56.303Z,1747087616.303 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch:A_Timeout](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch:A_Timeout
2025-05-12T22:06:56.303Z,1747087616.303 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch:A_Timeout:A] Running Loop=1
2025-05-12T22:06:56.303Z,1747087616.303 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch:A_Timeout:A](IMPORTANT): Timed out trying to reach the target depth. Stopping mission at current depth of  0.144718 m 
2025-05-12T22:06:56.303Z,1747087616.303 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch:A_Timeout:A] Stopped
2025-05-12T22:06:56.304Z,1747087616.304 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch:A_Timeout:B.Execute] Running Loop=1
2025-05-12T22:06:56.682Z,1747087616.682 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch:A_Timeout:B.Execute](INFO): Executing command stop
2025-05-12T22:06:56.682Z,1747087616.682 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch:A_Timeout:B.Execute] Stopped
2025-05-12T22:06:56.682Z,1747087616.682 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch:A_Timeout](INFO): Completed ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch:A_Timeout
2025-05-12T22:06:56.682Z,1747087616.682 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch] Stopped
2025-05-12T22:06:56.682Z,1747087616.682 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth](INFO): Completed ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth
2025-05-12T22:06:56.682Z,1747087616.682 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth] Stopped
2025-05-12T22:06:56.683Z,1747087616.683 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth](DEBUG): Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth
2025-05-12T22:06:56.683Z,1747087616.683 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed] Stopped
2025-05-12T22:06:56.683Z,1747087616.683 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed](DEBUG): Uninitialize.
2025-05-12T22:06:56.684Z,1747087616.684 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth](INFO): Completed ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth
2025-05-12T22:06:56.684Z,1747087616.684 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth] Stopped
2025-05-12T22:06:56.684Z,1747087616.684 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth](DEBUG): Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth
2025-05-12T22:06:56.684Z,1747087616.684 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:A] Stopped
2025-05-12T22:06:56.684Z,1747087616.684 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold] Stopped
2025-05-12T22:06:56.684Z,1747087616.684 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold](DEBUG): Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold
2025-05-12T22:06:56.684Z,1747087616.684 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point] Stopped
2025-05-12T22:06:56.685Z,1747087616.685 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy] Stopped
2025-05-12T22:06:56.685Z,1747087616.685 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-05-12T22:06:56.685Z,1747087616.685 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch] Stopped
2025-05-12T22:06:56.685Z,1747087616.685 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth] Running Loop=1
2025-05-12T22:06:56.685Z,1747087616.685 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth
2025-05-12T22:06:56.685Z,1747087616.685 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed] Running Loop=1
2025-05-12T22:06:56.685Z,1747087616.685 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed](DEBUG): Initialize.
2025-05-12T22:06:56.685Z,1747087616.685 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch] Running Loop=1
2025-05-12T22:06:56.685Z,1747087616.685 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch](DEBUG): Initialize.
2025-05-12T22:06:56.686Z,1747087616.686 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:C] Running Loop=1
2025-05-12T22:06:56.718Z,1747087616.718 [CommandExec](IMPORTANT): got command stop
2025-05-12T22:06:56.718Z,1747087616.718 [Supervisor](INFO): Stop Mission called by CommandExec::commandStop
2025-05-12T22:06:57.086Z,1747087617.086 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:C](INFO): Waiting for the vehicle to settle. Depth =  0.148757 m 
2025-05-12T22:06:57.087Z,1747087617.087 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:C] Stopped
2025-05-12T22:06:57.087Z,1747087617.087 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait] Running Loop=1
2025-05-12T22:06:57.087Z,1747087617.087 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait](DEBUG): Initialize Wait Component.
2025-05-12T22:06:57.087Z,1747087617.087 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch] Running Loop=1
2025-05-12T22:06:57.087Z,1747087617.087 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed] Running Loop=1
2025-05-12T22:06:57.092Z,1747087617.092 [MissionManager](INFO): MissionManager is completed.
2025-05-12T22:06:57.092Z,1747087617.092 [MissionManager](INFO): Uninitializing Mission ballast_and_trim
2025-05-12T22:06:57.092Z,1747087617.092 [ballast_and_trim] Stopped
2025-05-12T22:06:57.092Z,1747087617.092 [ballast_and_trim](DEBUG): Aggregate::uninitialize ballast_and_trim
2025-05-12T22:06:57.092Z,1747087617.092 [ballast_and_trim:Science] Stopped
2025-05-12T22:06:57.093Z,1747087617.093 [ballast_and_trim:Science](DEBUG): Aggregate::uninitialize ballast_and_trim:Science
2025-05-12T22:06:57.093Z,1747087617.093 [ballast_and_trim:Science:B] Stopped
2025-05-12T22:06:57.093Z,1747087617.093 [ballast_and_trim:Science:C] Stopped
2025-05-12T22:06:57.093Z,1747087617.093 [ballast_and_trim:Science:E] Stopped
2025-05-12T22:06:57.093Z,1747087617.093 [ballast_and_trim:Science:OceanCurrent] Stopped
2025-05-12T22:06:57.093Z,1747087617.093 [ballast_and_trim:Science:OceanCurrent](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:OceanCurrent
2025-05-12T22:06:57.093Z,1747087617.093 [ballast_and_trim:Science:OceanCurrent:A.] Stopped
2025-05-12T22:06:57.093Z,1747087617.093 [ballast_and_trim:StandardEnvelopes] Stopped
2025-05-12T22:06:57.093Z,1747087617.093 [ballast_and_trim:StandardEnvelopes](DEBUG): Aggregate::uninitialize ballast_and_trim:StandardEnvelopes
2025-05-12T22:06:57.093Z,1747087617.093 [ballast_and_trim:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-05-12T22:06:57.093Z,1747087617.093 [ballast_and_trim:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-05-12T22:06:57.093Z,1747087617.093 [ballast_and_trim:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-05-12T22:06:57.094Z,1747087617.094 [ballast_and_trim:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-05-12T22:06:57.094Z,1747087617.094 [ballast_and_trim:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-05-12T22:06:57.094Z,1747087617.094 [ballast_and_trim:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-05-12T22:06:57.094Z,1747087617.094 [ballast_and_trim:BackseatDriver] Stopped
2025-05-12T22:06:57.094Z,1747087617.094 [ballast_and_trim:BackseatDriver](DEBUG): Aggregate::uninitialize ballast_and_trim:BackseatDriver
2025-05-12T22:06:57.094Z,1747087617.094 [ballast_and_trim:BackseatDriver:A.BackseatDriver] Stopped
2025-05-12T22:06:57.094Z,1747087617.094 [ballast_and_trim:PowerOnly] Stopped
2025-05-12T22:06:57.094Z,1747087617.094 [ballast_and_trim:PowerOnly](DEBUG): Aggregate::uninitialize ballast_and_trim:PowerOnly
2025-05-12T22:06:57.094Z,1747087617.094 [ballast_and_trim:PowerOnly:E.Wait] Stopped
2025-05-12T22:06:57.094Z,1747087617.094 [ballast_and_trim:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-05-12T22:06:57.094Z,1747087617.094 [ballast_and_trim:RunBallastAndTrim] Stopped
2025-05-12T22:06:57.094Z,1747087617.094 [ballast_and_trim:RunBallastAndTrim](DEBUG): Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim
2025-05-12T22:06:57.094Z,1747087617.094 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim] Stopped
2025-05-12T22:06:57.095Z,1747087617.095 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim](DEBUG): Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim
2025-05-12T22:06:57.095Z,1747087617.095 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:A] Stopped
2025-05-12T22:06:57.095Z,1747087617.095 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:B] Stopped
2025-05-12T22:06:57.095Z,1747087617.095 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:C] Stopped
2025-05-12T22:06:57.095Z,1747087617.095 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:D] Stopped
2025-05-12T22:06:57.095Z,1747087617.095 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:E] Stopped
2025-05-12T22:06:57.095Z,1747087617.095 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth] Stopped
2025-05-12T22:06:57.095Z,1747087617.095 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth](DEBUG): Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth
2025-05-12T22:06:57.095Z,1747087617.095 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed] Stopped
2025-05-12T22:06:57.095Z,1747087617.095 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed](DEBUG): Uninitialize.
2025-05-12T22:06:57.095Z,1747087617.095 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch] Stopped
2025-05-12T22:06:57.095Z,1747087617.095 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait] Stopped
2025-05-12T22:06:57.095Z,1747087617.095 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait](DEBUG): Uninitialize Wait Component.
2025-05-12T22:06:57.095Z,1747087617.095 [ballast_and_trim:RunBallastAndTrim:RunDepth1] Stopped
2025-05-12T22:06:57.096Z,1747087617.096 [ballast_and_trim:RunBallastAndTrim:RunDepth1](DEBUG): Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim:RunDepth1
2025-05-12T22:06:57.096Z,1747087617.096 [ballast_and_trim:RunBallastAndTrim:RunDepth1:B] Stopped
2025-05-12T22:06:57.096Z,1747087617.096 [ballast_and_trim:RunBallastAndTrim:RunDepth1:B](DEBUG): Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim:RunDepth1:B
2025-05-12T22:06:57.373Z,1747087617.373 [WetLabsBB2FL](INFO): Powering down
2025-05-12T22:06:57.530Z,1747087617.530 [MissionManager](IMPORTANT): Started mission Default
2025-05-12T22:06:57.530Z,1747087617.530 [Default] Running Loop=1
2025-05-12T22:06:57.530Z,1747087617.530 [Default](DEBUG): Aggregate::initialize Default
2025-05-12T22:06:57.530Z,1747087617.530 [Default:B.GoToSurface] Running Loop=1
2025-05-12T22:06:57.531Z,1747087617.531 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-05-12T22:06:57.531Z,1747087617.531 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-05-12T22:06:57.531Z,1747087617.531 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-05-12T22:06:57.531Z,1747087617.531 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-05-12T22:06:57.532Z,1747087617.532 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-05-12T22:06:57.532Z,1747087617.532 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-05-12T22:06:57.536Z,1747087617.536 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-05-12T22:06:57.537Z,1747087617.537 [Default:A.Wait] Running Loop=1
2025-05-12T22:06:57.537Z,1747087617.537 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-05-12T22:07:10.854Z,1747087630.854 [Default:A.Wait](INFO): Done Waiting.
2025-05-12T22:07:10.854Z,1747087630.854 [Default:A.Wait] Stopped
2025-05-12T22:07:10.854Z,1747087630.854 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-05-12T22:07:11.284Z,1747087631.284 [Default:CheckIn] Running Loop=1
2025-05-12T22:07:11.285Z,1747087631.285 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-05-12T22:07:11.285Z,1747087631.285 [Default:CheckIn:Read_GPS] Running Loop=1
2025-05-12T22:07:13.300Z,1747087633.300 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,220712.00,A,3648.19709,N,12150.68682,W,3.654,328.04,120525,,,A*7A
2025-05-12T22:07:13.302Z,1747087633.302 [NAL9602](INFO): GPS fix at 20250512T220712: (36.803285, -121.844780)
2025-05-12T22:07:13.318Z,1747087633.318 [UniversalFixResidualReporter](INFO): Fix residual: 3.3 %DT, over the last 1807.1 m. Residual distance 60.1 m at bearing 151.7 degrees. Fix at (36.8033, -121.8448) with 121.8 m made good.
2025-05-12T22:07:13.319Z,1747087633.319 [Default:CheckIn:Read_GPS] Stopped
2025-05-12T22:07:13.319Z,1747087633.319 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-05-12T22:07:15.303Z,1747087635.303 [DVL_micro](ERROR): Failed to parse:
:SA,+35.59,-02.21,267.4
2025-05-12T22:07:31.717Z,1747087651.717 [DataOverHttps](INFO): Exceeded connection timeout, disconnecting.
2025-05-12T22:08:02.841Z,1747087682.841 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-12T22:08:29.416Z,1747087709.416 [DataOverHttps](INFO): Sending 84 bytes from file Logs/20250512T191822/Courier0078.lzma
2025-05-12T22:08:30.419Z,1747087710.419 [DataOverHttps](INFO): Moved sent file to Logs/20250512T191822/Courier0078.lzma.bak
2025-05-12T22:08:30.419Z,1747087710.419 [DataOverHttps](INFO): SBD MOMSN=24856302
2025-05-12T22:08:34.882Z,1747087714.882 [NAL9602](INFO): SBD MO Status=0, MOMSN=20617, MT Status=0, MTMSN=0
2025-05-12T22:08:34.883Z,1747087714.883 [NAL9602](INFO): No messages in MT queue
2025-05-12T22:08:47.935Z,1747087727.935 [DataOverHttps](INFO): Sending 652 bytes from file Logs/20250512T191822/Express0079.lzma
2025-05-12T22:08:48.935Z,1747087728.935 [DataOverHttps](INFO): Moved sent file to Logs/20250512T191822/Express0079.lzma.bak
2025-05-12T22:08:48.935Z,1747087728.935 [DataOverHttps](INFO): SBD MOMSN=24856305
2025-05-12T22:08:50.237Z,1747087730.237 [Default:CheckIn:Read_Iridium] Stopped
2025-05-12T22:08:50.237Z,1747087730.237 [Default:CheckIn:C.Wait] Running Loop=1
2025-05-12T22:08:50.237Z,1747087730.237 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-05-12T22:09:05.577Z,1747087745.577 [NAL9602](INFO): Not Powering down - fast GPS
2025-05-12T22:11:06.780Z,1747087866.780 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging
2025-05-12T22:13:50.809Z,1747088030.809 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2025-05-12T22:13:50.810Z,1747088030.810 [Default:CheckIn:C.Wait] Stopped
2025-05-12T22:13:50.810Z,1747088030.810 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-05-12T22:13:50.810Z,1747088030.810 [Default:CheckIn:D] Running Loop=1
2025-05-12T22:13:51.227Z,1747088031.227 [Default:CheckIn:D] Stopped
2025-05-12T22:13:51.227Z,1747088031.227 [Default:CheckIn:E] Running Loop=1
2025-05-12T22:13:51.626Z,1747088031.626 [Default:CheckIn:E](IMPORTANT): Default mission has been running for  6.894942 min 
2025-05-12T22:13:51.626Z,1747088031.626 [Default:CheckIn:E] Stopped
2025-05-12T22:13:51.626Z,1747088031.626 [Default:CheckIn](INFO): Completed Default:CheckIn
2025-05-12T22:13:51.626Z,1747088031.626 [Default:CheckIn] Stopped
2025-05-12T22:13:51.626Z,1747088031.626 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-05-12T22:13:51.627Z,1747088031.627 [Default:CheckIn](INFO): Running loop #2
2025-05-12T22:13:51.627Z,1747088031.627 [Default:CheckIn] Running Loop=2
2025-05-12T22:13:51.627Z,1747088031.627 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-05-12T22:13:51.627Z,1747088031.627 [Default:CheckIn:Read_GPS] Running Loop=1
2025-05-12T22:13:53.627Z,1747088033.627 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,221353.00,A,3648.25243,N,12150.66180,W,0.661,347.67,120525,,,D*79
2025-05-12T22:13:53.630Z,1747088033.630 [NAL9602](INFO): GPS fix at 20250512T221353: (36.804207, -121.844363)
2025-05-12T22:13:53.662Z,1747088033.662 [UniversalFixResidualReporter](INFO): Fix residual: 32.2 %DT, over the last 922.8 m. Residual distance 297.3 m at bearing 143.1 degrees. Fix at (36.8042, -121.8444) with 109.1 m made good.
2025-05-12T22:13:53.663Z,1747088033.663 [Default:CheckIn:Read_GPS] Stopped
2025-05-12T22:13:53.663Z,1747088033.663 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-05-12T22:14:01.800Z,1747088041.800 [DataOverHttps](INFO): Sending 84 bytes from file Logs/20250512T191822/Courier0081.lzma
2025-05-12T22:14:02.803Z,1747088042.803 [DataOverHttps](INFO): Moved sent file to Logs/20250512T191822/Courier0081.lzma.bak
2025-05-12T22:14:02.803Z,1747088042.803 [DataOverHttps](INFO): SBD MOMSN=24856319
2025-05-12T22:14:18.837Z,1747088058.837 [DataOverHttps](INFO): Sending 360 bytes from file Logs/20250512T191822/Express0082.lzma
2025-05-12T22:14:19.839Z,1747088059.839 [DataOverHttps](INFO): Moved sent file to Logs/20250512T191822/Express0082.lzma.bak
2025-05-12T22:14:19.839Z,1747088059.839 [DataOverHttps](INFO): SBD MOMSN=24856322
2025-05-12T22:14:21.106Z,1747088061.106 [Default:CheckIn:Read_Iridium] Stopped
2025-05-12T22:14:21.106Z,1747088061.106 [Default:CheckIn:C.Wait] Running Loop=1
2025-05-12T22:14:21.106Z,1747088061.106 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-05-12T22:14:22.714Z,1747088062.714 [NAL9602](INFO): SBD MO Status=2, MOMSN=20618, MT Status=2, MTMSN=0
2025-05-12T22:14:22.714Z,1747088062.714 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-05-12T22:14:57.457Z,1747088097.457 [NAL9602](INFO): SBD MO Status=0, MOMSN=20618, MT Status=0, MTMSN=0
2025-05-12T22:14:57.457Z,1747088097.457 [NAL9602](INFO): No messages in MT queue
2025-05-12T22:15:28.176Z,1747088128.176 [NAL9602](INFO): Not Powering down - fast GPS
2025-05-12T22:19:21.704Z,1747088361.704 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2025-05-12T22:19:21.704Z,1747088361.704 [Default:CheckIn:C.Wait] Stopped
2025-05-12T22:19:21.704Z,1747088361.704 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-05-12T22:19:21.704Z,1747088361.704 [Default:CheckIn:D] Running Loop=1
2025-05-12T22:19:22.091Z,1747088362.091 [Default:CheckIn:D] Stopped
2025-05-12T22:19:22.091Z,1747088362.091 [Default:CheckIn:E] Running Loop=1
2025-05-12T22:19:22.495Z,1747088362.495 [Default:CheckIn:E](IMPORTANT): Default mission has been running for  12.409349 min 
2025-05-12T22:19:22.495Z,1747088362.495 [Default:CheckIn:E] Stopped
2025-05-12T22:19:22.495Z,1747088362.495 [Default:CheckIn](INFO): Completed Default:CheckIn
2025-05-12T22:19:22.495Z,1747088362.495 [Default:CheckIn] Stopped
2025-05-12T22:19:22.496Z,1747088362.496 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-05-12T22:19:22.496Z,1747088362.496 [Default:CheckIn](INFO): Running loop #3
2025-05-12T22:19:22.496Z,1747088362.496 [Default:CheckIn] Running Loop=3
2025-05-12T22:19:22.496Z,1747088362.496 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-05-12T22:19:22.496Z,1747088362.496 [Default:CheckIn:Read_GPS] Running Loop=1
2025-05-12T22:19:24.506Z,1747088364.506 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,221923.00,A,3648.28972,N,12150.63162,W,0.641,2.98,120525,,,D*79
2025-05-12T22:19:24.509Z,1747088364.509 [NAL9602](INFO): GPS fix at 20250512T221923: (36.804829, -121.843860)
2025-05-12T22:19:24.521Z,1747088364.521 [UniversalFixResidualReporter](INFO): Fix residual: 39.3 %DT, over the last 869.4 m. Residual distance 341.9 m at bearing 94.5 degrees. Fix at (36.8048, -121.8439) with 82.3 m made good.
2025-05-12T22:19:24.521Z,1747088364.521 [Default:CheckIn:Read_GPS] Stopped
2025-05-12T22:19:24.522Z,1747088364.522 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-05-12T22:19:25.327Z,1747088365.327 [Default:CheckIn:Read_Iridium] Stopped
2025-05-12T22:19:25.327Z,1747088365.327 [Default:CheckIn:C.Wait] Running Loop=1
2025-05-12T22:19:25.327Z,1747088365.327 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-05-12T22:19:53.189Z,1747088393.189 [NAL9602](INFO): SBD MO Status=2, MOMSN=20619, MT Status=2, MTMSN=0
2025-05-12T22:19:53.189Z,1747088393.189 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-05-12T22:20:29.195Z,1747088429.195 [NAL9602](INFO): SBD MO Status=2, MOMSN=20619, MT Status=2, MTMSN=0
2025-05-12T22:20:29.195Z,1747088429.195 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-05-12T22:20:42.475Z,1747088442.475 [NAL9602](INFO): SBD MO Status=2, MOMSN=20619, MT Status=2, MTMSN=0
2025-05-12T22:20:42.475Z,1747088442.475 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-05-12T22:21:07.126Z,1747088467.126 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging
2025-05-12T22:21:10.760Z,1747088470.760 [NAL9602](INFO): SBD MO Status=0, MOMSN=20619, MT Status=0, MTMSN=0
2025-05-12T22:21:10.760Z,1747088470.760 [NAL9602](INFO): No messages in MT queue
2025-05-12T22:21:41.478Z,1747088501.478 [NAL9602](INFO): Not Powering down - fast GPS
2025-05-12T22:24:25.954Z,1747088665.954 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2025-05-12T22:24:25.954Z,1747088665.954 [Default:CheckIn:C.Wait] Stopped
2025-05-12T22:24:25.954Z,1747088665.954 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-05-12T22:24:25.954Z,1747088665.954 [Default:CheckIn:D] Running Loop=1
2025-05-12T22:24:26.323Z,1747088666.323 [Default:CheckIn:D] Stopped
2025-05-12T22:24:26.323Z,1747088666.323 [Default:CheckIn:E] Running Loop=1
2025-05-12T22:24:26.733Z,1747088666.733 [Default:CheckIn:E](IMPORTANT): Default mission has been running for  17.479881 min 
2025-05-12T22:24:26.733Z,1747088666.733 [Default:CheckIn:E] Stopped
2025-05-12T22:24:26.734Z,1747088666.734 [Default:CheckIn](INFO): Completed Default:CheckIn
2025-05-12T22:24:26.734Z,1747088666.734 [Default:CheckIn] Stopped
2025-05-12T22:24:26.734Z,1747088666.734 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-05-12T22:24:26.734Z,1747088666.734 [Default:CheckIn](INFO): Running loop #4
2025-05-12T22:24:26.734Z,1747088666.734 [Default:CheckIn] Running Loop=4
2025-05-12T22:24:26.734Z,1747088666.734 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-05-12T22:24:26.734Z,1747088666.734 [Default:CheckIn:Read_GPS] Running Loop=1
2025-05-12T22:24:28.744Z,1747088668.744 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,222428.00,A,3648.32407,N,12150.59872,W,0.583,38.07,120525,,,D*4B
2025-05-12T22:24:28.746Z,1747088668.746 [NAL9602](INFO): GPS fix at 20250512T222428: (36.805401, -121.843312)
2025-05-12T22:24:28.778Z,1747088668.778 [Default:CheckIn:Read_GPS] Stopped
2025-05-12T22:24:28.778Z,1747088668.778 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-05-12T22:24:38.356Z,1747088678.356 [DataOverHttps](INFO): Sending 85 bytes from file Logs/20250512T191822/Courier0084.lzma
2025-05-12T22:24:39.359Z,1747088679.359 [DataOverHttps](INFO): Moved sent file to Logs/20250512T191822/Courier0084.lzma.bak
2025-05-12T22:24:39.359Z,1747088679.359 [DataOverHttps](INFO): SBD MOMSN=24856341
2025-05-12T22:24:55.511Z,1747088695.511 [DataOverHttps](INFO): Sending 75 bytes from file Logs/20250512T191822/Courier0087.lzma
2025-05-12T22:24:56.511Z,1747088696.511 [DataOverHttps](INFO): Moved sent file to Logs/20250512T191822/Courier0087.lzma.bak
2025-05-12T22:24:56.511Z,1747088696.511 [DataOverHttps](INFO): SBD MOMSN=24856344
2025-05-12T22:25:12.953Z,1747088712.953 [DataOverHttps](INFO): Sending 317 bytes from file Logs/20250512T191822/Express0085.lzma
2025-05-12T22:25:13.956Z,1747088713.956 [DataOverHttps](INFO): Moved sent file to Logs/20250512T191822/Express0085.lzma.bak
2025-05-12T22:25:13.957Z,1747088713.957 [DataOverHttps](INFO): SBD MOMSN=24856347
2025-05-12T22:25:30.261Z,1747088730.261 [DataOverHttps](INFO): Sending 264 bytes from file Logs/20250512T191822/Express0088.lzma
2025-05-12T22:25:31.264Z,1747088731.264 [DataOverHttps](INFO): Moved sent file to Logs/20250512T191822/Express0088.lzma.bak
2025-05-12T22:25:31.264Z,1747088731.264 [DataOverHttps](INFO): SBD MOMSN=24856350
2025-05-12T22:25:32.634Z,1747088732.634 [Default:CheckIn:Read_Iridium] Stopped
2025-05-12T22:25:32.635Z,1747088732.635 [Default:CheckIn:C.Wait] Running Loop=1
2025-05-12T22:25:32.635Z,1747088732.635 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-05-12T22:27:38.249Z,1747088858.249 [NAL9602](INFO): SBD MO Status=2, MOMSN=20620, MT Status=2, MTMSN=0
2025-05-12T22:27:38.250Z,1747088858.250 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-05-12T22:28:08.560Z,1747088888.560 [NAL9602](INFO): SBD MO Status=0, MOMSN=20620, MT Status=0, MTMSN=0
2025-05-12T22:28:08.560Z,1747088888.560 [NAL9602](INFO): No messages in MT queue
2025-05-12T22:28:39.269Z,1747088919.269 [NAL9602](INFO): Not Powering down - fast GPS
2025-05-12T22:30:16.918Z,1747089016.918 [DataOverHttps](IMPORTANT): SBD MTMSN=20250512T223016
2025-05-12T22:30:24.385Z,1747089024.385 [DataOverHttps](INFO): Received command: configSet DVL_micro.loadAtStartup 0 bool persist;restart app
2025-05-12T22:30:24.784Z,1747089024.784 [CommandExec](IMPORTANT): got command configSet DVL_micro.loadAtStartup 0 bool persist
2025-05-12T22:30:24.785Z,1747089024.785 [CommandExec](IMPORTANT): configSet DVL_micro.loadAtStartup requires a restart to take effect.
2025-05-12T22:30:24.787Z,1747089024.787 [CommandExec](IMPORTANT): got command restart application
2025-05-12T22:30:25.789Z,1747089025.789 [CommandExec ThreadHandler](INFO): Uninitializing protected caller thread.
2025-05-12T22:30:25.789Z,1747089025.789 [CommandExec](INFO): Uninitializing the command executive.
2025-05-12T22:30:25.789Z,1747089025.789 [CommandExec](INFO): Uninitializing the command scheduler.
2025-05-12T22:30:25.789Z,1747089025.789 [CommandExec ThreadHandler](INFO): Thread cancelled.
2025-05-12T22:30:25.921Z,1747089025.921 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2025-05-12T22:30:25.921Z,1747089025.921 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2025-05-12T22:30:25.921Z,1747089025.921 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2025-05-12T22:30:25.922Z,1747089025.922 [NavChartDb](INFO): Join timeout helper Thread ID is 3388
2025-05-12T22:30:26.189Z,1747089026.189 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2025-05-12T22:30:26.189Z,1747089026.189 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2025-05-12T22:30:26.209Z,1747089026.209 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2025-05-12T22:30:26.209Z,1747089026.209 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2025-05-12T22:30:26.209Z,1747089026.209 [Radio_Surface](INFO): Join timeout helper Thread ID is 3389
2025-05-12T22:30:26.221Z,1747089026.221 [Radio_Surface](INFO): Powering down
2025-05-12T22:30:26.221Z,1747089026.221 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2025-05-12T22:30:26.222Z,1747089026.222 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2025-05-12T22:30:26.233Z,1747089026.233 [ComponentRegistry](INFO): Shutting down Onboard ThreadHandler
2025-05-12T22:30:26.233Z,1747089026.233 [Onboard ThreadHandler](INFO): Thread cancelled.
2025-05-12T22:30:26.234Z,1747089026.234 [Onboard](INFO): Join timeout helper Thread ID is 3390
2025-05-12T22:30:26.397Z,1747089026.397 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-05-12T22:30:30.261Z,1747089030.261 [Onboard ThreadHandler](INFO): Uninitializing protected caller thread.
2025-05-12T22:30:30.261Z,1747089030.261 [Onboard ThreadHandler](INFO): Thread cancelled.
2025-05-12T22:30:30.277Z,1747089030.277 [ComponentRegistry](INFO): Shutting down DataOverHttps ThreadHandler
2025-05-12T22:30:30.277Z,1747089030.277 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2025-05-12T22:30:30.277Z,1747089030.277 [DataOverHttps](INFO): Join timeout helper Thread ID is 3391
2025-05-12T22:30:30.413Z,1747089030.413 [DataOverHttps ThreadHandler](INFO): Uninitializing protected caller thread.
2025-05-12T22:30:30.413Z,1747089030.413 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2025-05-12T22:30:30.437Z,1747089030.437 [ComponentRegistry](INFO): Shutting down DAT ThreadHandler
2025-05-12T22:30:30.437Z,1747089030.437 [DAT ThreadHandler](INFO): Thread cancelled.
2025-05-12T22:30:30.437Z,1747089030.437 [DAT](INFO): Join timeout helper Thread ID is 3392
2025-05-12T22:30:30.557Z,1747089030.557 [DAT](INFO): Powering down
2025-05-12T22:30:30.630Z,1747089030.630 [DAT ThreadHandler](INFO): Uninitializing protected caller thread.
2025-05-12T22:30:30.630Z,1747089030.630 [DAT](INFO): Powering down
2025-05-12T22:30:30.631Z,1747089030.631 [DAT ThreadHandler](INFO): Thread cancelled.
2025-05-12T22:30:30.649Z,1747089030.649 [ComponentRegistry](INFO): Shutting down BackseatComponent ThreadHandler
2025-05-12T22:30:30.650Z,1747089030.650 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2025-05-12T22:30:30.650Z,1747089030.650 [BackseatComponent](INFO): Join timeout helper Thread ID is 3393
2025-05-12T22:30:30.685Z,1747089030.685 [BackseatComponent ThreadHandler](INFO): Uninitializing protected caller thread.
2025-05-12T22:30:30.685Z,1747089030.685 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2025-05-12T22:30:30.689Z,1747089030.689 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2025-05-12T22:30:30.690Z,1747089030.690 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2025-05-12T22:30:30.690Z,1747089030.690 [WetLabsBB2FL](INFO): Join timeout helper Thread ID is 3394
2025-05-12T22:30:30.757Z,1747089030.757 [WetLabsBB2FL ThreadHandler](INFO): Uninitializing protected caller thread.
2025-05-12T22:30:30.757Z,1747089030.757 [WetLabsBB2FL](INFO): Powering down
2025-05-12T22:30:30.758Z,1747089030.758 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2025-05-12T22:30:30.769Z,1747089030.769 [ComponentRegistry](INFO): Shutting down CTD_Seabird ThreadHandler
2025-05-12T22:30:30.769Z,1747089030.769 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2025-05-12T22:30:30.770Z,1747089030.770 [CTD_Seabird](INFO): Join timeout helper Thread ID is 3395
2025-05-12T22:30:31.153Z,1747089031.153 [CTD_Seabird](INFO): Powering down
2025-05-12T22:30:31.165Z,1747089031.165 [CTD_Seabird ThreadHandler](INFO): Uninitializing protected caller thread.
2025-05-12T22:30:31.165Z,1747089031.165 [CTD_Seabird](INFO): Powering down
2025-05-12T22:30:31.177Z,1747089031.177 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2025-05-12T22:30:31.178Z,1747089031.178 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2025-05-12T22:30:31.178Z,1747089031.178 [logger ThreadHandler](INFO): Thread cancelled.
2025-05-12T22:30:31.179Z,1747089031.179 [logger](INFO): Join timeout helper Thread ID is 3396
2025-05-12T22:30:31.201Z,1747089031.201 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2025-05-12T22:30:31.201Z,1747089031.201 [logger ThreadHandler](INFO): Thread cancelled.
2025-05-12T22:30:31.217Z,1747089031.217 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2025-05-12T22:30:31.217Z,1747089031.217 [CommandLine ThreadHandler](INFO): Thread cancelled.
2025-05-12T22:30:31.218Z,1747089031.218 [CommandLine](INFO): Join timeout helper Thread ID is 3397
2025-05-12T22:30:31.265Z,1747089031.265 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2025-05-12T22:30:31.265Z,1747089031.265 [CommandLine ThreadHandler](INFO): Thread cancelled.
2025-05-12T22:30:31.277Z,1747089031.277 [ComponentRegistry](INFO): Shutting down CommandExec ThreadHandler
2025-05-12T22:30:31.277Z,1747089031.277 [CommandExec ThreadHandler](INFO): Thread cancelled.
2025-05-12T22:30:31.278Z,1747089031.278 [CommandExec](INFO): Join timeout helper Thread ID is 3398
2025-05-12T22:30:31.279Z,1747089031.279 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2025-05-12T22:30:31.279Z,1747089031.279 [controlThread ThreadHandler](INFO): Thread cancelled.
2025-05-12T22:30:31.280Z,1747089031.280 [controlThread](INFO): Join timeout helper Thread ID is 3399
2025-05-12T22:30:31.561Z,1747089031.561 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2025-05-12T22:30:31.561Z,1747089031.561 [controlThread](DEBUG): Uninitializing ControlThread
2025-05-12T22:30:31.562Z,1747089031.562 [AHRS_M2](INFO): Powering down
2025-05-12T22:30:31.737Z,1747089031.737 [DVL_micro](INFO): Powering down
2025-05-12T22:30:31.738Z,1747089031.738 [NAL9602](INFO): Powering down
2025-05-12T22:30:31.739Z,1747089031.739 [Sonardyne_Nano](INFO): Powering down
2025-05-12T22:30:31.945Z,1747089031.945 [DepthRateCalculator](DEBUG): Uninitializing DepthRateCalculator.
2025-05-12T22:30:31.946Z,1747089031.946 [ElevatorOffsetCalculator](DEBUG): Uninitializing ElevatorOffsetCalculator.
2025-05-12T22:30:31.946Z,1747089031.946 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2025-05-12T22:30:31.947Z,1747089031.947 [MissionManager](INFO): Uninitializing Mission Default
2025-05-12T22:30:31.947Z,1747089031.947 [Default] Stopped
2025-05-12T22:30:31.947Z,1747089031.947 [Default](DEBUG): Aggregate::uninitialize Default
2025-05-12T22:30:31.947Z,1747089031.947 [Default:B.GoToSurface] Stopped
2025-05-12T22:30:31.947Z,1747089031.947 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-05-12T22:30:31.947Z,1747089031.947 [Default:CheckIn] Stopped
2025-05-12T22:30:31.947Z,1747089031.947 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-05-12T22:30:31.947Z,1747089031.947 [Default:CheckIn:C.Wait] Stopped
2025-05-12T22:30:31.947Z,1747089031.947 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-05-12T22:30:31.950Z,1747089031.950 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2025-05-12T22:30:31.951Z,1747089031.951 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2025-05-12T22:30:31.951Z,1747089031.951 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2025-05-12T22:30:31.951Z,1747089031.951 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2025-05-12T22:30:31.951Z,1747089031.951 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2025-05-12T22:30:31.952Z,1747089031.952 [BuoyancyServo](INFO): Powering down
2025-05-12T22:30:31.965Z,1747089031.965 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2025-05-12T22:30:31.965Z,1747089031.965 [ElevatorServo](INFO): Powering down
2025-05-12T22:30:31.966Z,1747089031.966 [MassServo](DEBUG): Uninitialize Mass Servo.
2025-05-12T22:30:31.966Z,1747089031.966 [MassServo](INFO): Powering down
2025-05-12T22:30:31.967Z,1747089031.967 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2025-05-12T22:30:31.967Z,1747089031.967 [RudderServo](INFO): Powering down
2025-05-12T22:30:31.967Z,1747089031.967 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-05-12T22:30:31.968Z,1747089031.968 [ThrusterHE](INFO): Powering down
2025-05-12T22:30:31.969Z,1747089031.969 [SBIT](DEBUG): Uninitialize SBIT Component.
2025-05-12T22:30:31.969Z,1747089031.969 [IBIT](DEBUG): Uninitialize IBIT Component.
2025-05-12T22:30:31.969Z,1747089031.969 [CBIT](DEBUG): Uninitialize CBIT Component.
2025-05-12T22:30:31.969Z,1747089031.969 [CBIT](DEBUG): Powering off loads.
2025-05-12T22:30:31.980Z,1747089031.980 [CBIT](DEBUG): Disabling WDT.
2025-05-12T22:30:31.993Z,1747089031.993 [GFScanner](DEBUG): Uninitialize GFScanner component.
2025-05-12T22:30:31.993Z,1747089031.993 [GFScanner](DEBUG): Opening all GF detection circuits.
2025-05-12T22:30:31.994Z,1747089031.994 [controlThread ThreadHandler](INFO): Thread cancelled.
2025-05-12T22:30:32.023Z,1747089032.023 [GFScanner](DEBUG): Uninitialize GFScanner component.
2025-05-12T22:30:32.023Z,1747089032.023 [GFScanner](DEBUG): Opening all GF detection circuits.
2025-05-12T22:30:32.037Z,1747089032.037 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2025-05-12T22:30:32.044Z,1747089032.044 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2025-05-12T22:30:32.075Z,1747089032.075 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2025-05-12T22:30:32.078Z,1747089032.078 [Onboard ThreadHandler](INFO): Thread cancelled.
2025-05-12T22:30:32.086Z,1747089032.086 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2025-05-12T22:30:32.092Z,1747089032.092 [DAT ThreadHandler](INFO): Thread cancelled.
2025-05-12T22:30:32.135Z,1747089032.135 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2025-05-12T22:30:32.189Z,1747089032.189 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2025-05-12T22:30:32.266Z,1747089032.266 [logger ThreadHandler](INFO): Thread cancelled.