2025-06-05T12:17:00.032Z,1749125820.032 [CommandExec](IMPORTANT): got command restart logs
2025-06-05T12:17:11.079Z,1749125831.079 [CommandExec](IMPORTANT): got command load ./Missions/Science/sci2.tl
2025-06-05T12:17:11.079Z,1749125831.079 [MissionManager](INFO): Uninitializing Mission keepstation
2025-06-05T12:17:11.079Z,1749125831.079 [keepstation] Stopped
2025-06-05T12:17:11.079Z,1749125831.079 [keepstation](DEBUG): Aggregate::uninitialize keepstation
2025-06-05T12:17:11.079Z,1749125831.079 [keepstation:StandardEnvelopes] Stopped
2025-06-05T12:17:11.080Z,1749125831.080 [keepstation:StandardEnvelopes](DEBUG): Aggregate::uninitialize keepstation:StandardEnvelopes
2025-06-05T12:17:11.080Z,1749125831.080 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-06-05T12:17:11.080Z,1749125831.080 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-06-05T12:17:11.080Z,1749125831.080 [keepstation:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-06-05T12:17:11.080Z,1749125831.080 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-06-05T12:17:11.080Z,1749125831.080 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-06-05T12:17:11.080Z,1749125831.080 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-06-05T12:17:11.080Z,1749125831.080 [keepstation:BackseatDriver] Stopped
2025-06-05T12:17:11.080Z,1749125831.080 [keepstation:BackseatDriver](DEBUG): Aggregate::uninitialize keepstation:BackseatDriver
2025-06-05T12:17:11.080Z,1749125831.080 [keepstation:BackseatDriver:A.BackseatDriver] Stopped
2025-06-05T12:17:11.080Z,1749125831.080 [keepstation:PowerOnly] Stopped
2025-06-05T12:17:11.080Z,1749125831.080 [keepstation:PowerOnly](DEBUG): Aggregate::uninitialize keepstation:PowerOnly
2025-06-05T12:17:11.080Z,1749125831.080 [keepstation:PowerOnly:E.Wait] Stopped
2025-06-05T12:17:11.081Z,1749125831.081 [keepstation:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-06-05T12:17:11.081Z,1749125831.081 [keepstation:H.Pitch] Stopped
2025-06-05T12:17:11.081Z,1749125831.081 [keepstation:DiveCmd] Stopped
2025-06-05T12:17:11.081Z,1749125831.081 [keepstation:DiveCmd](DEBUG): Aggregate::uninitialize keepstation:DiveCmd
2025-06-05T12:17:11.081Z,1749125831.081 [keepstation:DiveCmd:SurfaceSink] Stopped
2025-06-05T12:17:11.081Z,1749125831.081 [keepstation:DiveCmd:SurfaceSink](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:SurfaceSink
2025-06-05T12:17:11.081Z,1749125831.081 [keepstation:DiveCmd:StationKeep] Stopped
2025-06-05T12:17:11.081Z,1749125831.081 [keepstation:DiveCmd:StationKeep](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:StationKeep
2025-06-05T12:17:11.081Z,1749125831.081 [keepstation:DiveCmd:StationKeep:A] Stopped
2025-06-05T12:17:11.081Z,1749125831.081 [keepstation:DiveCmd:StationKeep:B.Pitch] Stopped
2025-06-05T12:17:11.081Z,1749125831.081 [keepstation:DiveCmd:StationKeep:C.KeepStation] Stopped
2025-06-05T12:17:11.081Z,1749125831.081 [keepstation:DiveCmd:StationKeep:C.KeepStation](DEBUG): Uninitialize KeepStationComponent.
2025-06-05T12:17:11.081Z,1749125831.081 [keepstation:KeepStation] Stopped
2025-06-05T12:17:11.082Z,1749125831.082 [keepstation:KeepStation](DEBUG): Aggregate::uninitialize keepstation:KeepStation
2025-06-05T12:17:11.082Z,1749125831.082 [keepstation:KeepStation:Dive] Stopped
2025-06-05T12:17:11.082Z,1749125831.082 [keepstation:KeepStation:Dive](DEBUG): Aggregate::uninitialize keepstation:KeepStation:Dive
2025-06-05T12:17:11.082Z,1749125831.082 [keepstation:KeepStation:Dive:A] Stopped
2025-06-05T12:17:11.086Z,1749125831.086 [keepstation:KeepStation:Dive:A](DEBUG): Aggregate::uninitialize keepstation:KeepStation:Dive:A
2025-06-05T12:17:11.086Z,1749125831.086 [keepstation:KeepStation:B.Wait] Stopped
2025-06-05T12:17:11.086Z,1749125831.086 [keepstation:KeepStation:B.Wait](DEBUG): Uninitialize Wait Component.
2025-06-05T12:17:11.135Z,1749125831.135 [MissionManager](INFO): Loading Mission from file: ./Missions/Science/sci2.tl
2025-06-05T12:17:11.135Z,1749125831.135 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Science/sci2.tl
2025-06-05T12:17:11.145Z,1749125831.145 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Science/sci2.tl
2025-06-05T12:17:17.604Z,1749125837.604 [MissionManager](DEBUG): TethyslAPI: ./Missions/Science/sci2.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="sci2">
    <DefineArg Name="MissionTimeout">
        <Units:hour />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>60</Value>
    </DefineArg>
    <DefineArg Name="Repeat">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="Lat1">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat2">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat3">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat4">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat5">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat6">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat7">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon1">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon2">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon3">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon4">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon5">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon6">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon7">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Speed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="CaptureRadius">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="YoYoMinDepth">
        <Units:meter />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="YoYoMaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="YoYoMinAltitude">
        <Units:meter />
        <Value>9</Value>
    </DefineArg>
    <DefineArg Name="YoYoUpPitch">
        <Units:degree />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="YoYoDownPitch">
        <Units:degree />
        <Value>-20</Value>
    </DefineArg>
    <DefineArg Name="SurfaceDiveSpeed">
        <Units:meter_per_second />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="SurfaceThreshold">
        <Control:VerticalControl.surfaceThreshold />
    </DefineArg>
    <DefineArg Name="SinkOffSurface">
        <False />
    </DefineArg>
    <DefineArg Name="SinkDepth">
        <Units:meter />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="SinkDepthTimeout">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="YoYoLightTerminate">
        <False />
    </DefineArg>
    <DefineArg Name="YoYoLightTerminateThreshold">
        <Units:micromole_per_second_per_square_meter />
        <Value>0.1</Value>
    </DefineArg>
    <DefineArg Name="PeakDetectChl">
        <False />
    </DefineArg>
    <DefineArg Name="ShallowBoundChl">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DeepBoundChl">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlThreshTrigger">
        <False />
    </DefineArg>
    <DefineArg Name="ChlLowerThreshold">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlUpperThreshold">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesThreshold">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="BuoyancyNeutral">
        <Control:VerticalControl.buoyancyNeutral />
    </DefineArg>
    <DefineArg Name="MassDefault">
        <Control:VerticalControl.massDefault />
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>205</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <DefineOutput Name="DiveMode">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="DoingComms">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="SurfaceSink">
        <Units:count />
        <Value>1</Value>
    </DefineOutput>
    <DefineOutput Name="YoYo">
        <Units:count />
        <Value>2</Value>
    </DefineOutput>
    <Timeout Duration="MissionTimeout" />
    <Insert Filename="Insert/Science.tl">
        <RedefineArg Name="PeakDetectChlActive">
            <Arg Name="PeakDetectChl" />
        </RedefineArg>
        <RedefineArg Name="ShallowBound">
            <Arg Name="ShallowBoundChl" />
        </RedefineArg>
        <RedefineArg Name="DeepBound">
            <Arg Name="DeepBoundChl" />
        </RedefineArg>
        <RedefineArg Name="ChlThreshTriggerActive">
            <Arg Name="ChlThreshTrigger" />
        </RedefineArg>
        <RedefineArg Name="ChlLowerThresh">
            <Arg Name="ChlLowerThreshold" />
        </RedefineArg>
        <RedefineArg Name="ChlUpperThresh">
            <Arg Name="ChlUpperThreshold" />
        </RedefineArg>
        <RedefineArg Name="NumProfilesThresh">
            <Arg Name="NumProfilesThreshold" />
        </RedefineArg>
    </Insert>
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="NeedCommsTime" />
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Aggregate Id="SurfaceComms">
        <When>
            <Called />
            <Or>
                <Elapsed>
                    <Universal:time_fix />
                </Elapsed>
                <Gt>
                    <Arg Name="NeedCommsTime" />
                </Gt>
            </Or>
        </When>
        <Assign>
            <Sequence />
            <Arg Name="DiveMode" />
            <Arg Name="DoingComms" />
        </Assign>
        <Call RefId="NeedComms" PriorityHere="false" />
        <Aggregate Id="setInitial">
            <Sequence />
            <Break>
                <Arg Name="SinkOffSurface" />
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="DiveMode" />
                <Arg Name="YoYo" />
            </Assign>
        </Aggregate>
        <Aggregate Id="setSink">
            <Sequence />
            <Break>
                <Not>
                    <Arg Name="SinkOffSurface" />
                </Not>
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="DiveMode" />
                <Arg Name="SurfaceSink" />
            </Assign>
        </Aggregate>
    </Aggregate>
    <Call RefId="SurfaceComms" Id="StartingMission" PriorityHere="false" />
    <Aggregate Id="DiveCmd">
        <When>
            <Called />
        </When>
        <Aggregate Id="SurfaceSink">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="SurfaceSink" />
                </Eq>
            </While>
            <Aggregate Id="sink">
                <Sequence />
                <Guidance:Buoyancy Id="BuoyancyHold">
                    <Parallel />
                    <Setting>
                        <Guidance:Buoyancy.position />
                        <Units:cubic_centimeter />
                        <Value>NaN</Value>
                    </Setting>
                </Guidance:Buoyancy>
                <Guidance:SetSpeed>
                    <Parallel />
                    <Setting>
                        <Guidance:SetSpeed.speed />
                        <Units:meter_per_second />
                        <Value>0</Value>
                    </Setting>
                </Guidance:SetSpeed>
                <Syslog Severity="Info">
                    Sinking to 
                    <Arg Name="SinkDepth" />
                    <Units:meter />
                </Syslog>
                <Guidance:Pitch>
                    <Sequence />
                    <Timeout Duration="SinkDepthTimeout">
                        <Syslog Severity="Important">
                            Timed out while trying to reach target sink depth at current depth of 
                            <Universal:depth />
                            <Units:meter />
                        </Syslog>
                    </Timeout>
                    <Setting>
                        <Guidance:Pitch.depth />
                        <Arg Name="SinkDepth" />
                    </Setting>
                </Guidance:Pitch>
                <Assign>
                    <Sequence />
                    <Arg Name="DiveMode" />
                    <Arg Name="YoYo" />
                </Assign>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="YoYoDive">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="YoYo" />
                </Eq>
            </While>
            <Aggregate Id="dive">
                <Sequence />
                <Guidance:Pitch>
                    <Parallel />
                    <Setting>
                        <Guidance:Pitch.massPosition />
                        <Arg Name="MassDefault" />
                    </Setting>
                </Guidance:Pitch>
                <Guidance:Buoyancy>
                    <Parallel />
                    <Setting>
                        <Guidance:Buoyancy.position />
                        <Arg Name="BuoyancyNeutral" />
                    </Setting>
                </Guidance:Buoyancy>
                <Aggregate Id="SetSpeed">
                    <Parallel />
                    <Aggregate Id="SurfaceDive">
                        <While>
                            <Not>
                                <IsNaN>
                                    <Arg Name="SurfaceDiveSpeed" />
                                </IsNaN>
                            </Not>
                            <And>
                                <Universal:depth />
                                <Le>
                                    <Arg Name="SurfaceThreshold" />
                                </Le>
                            </And>
                        </While>
                        <Aggregate Id="SurfaceSpeed">
                            <Parallel />
                            <Guidance:SetSpeed>
                                <Parallel />
                                <Setting>
                                    <Guidance:SetSpeed.speed />
                                    <Arg Name="SurfaceDiveSpeed" />
                                </Setting>
                            </Guidance:SetSpeed>
                        </Aggregate>
                    </Aggregate>
                    <Aggregate Id="ProfileSpeed">
                        <While>
                            <IsNaN>
                                <Arg Name="SurfaceDiveSpeed" />
                            </IsNaN>
                            <Or>
                                <Universal:depth />
                                <Gt>
                                    <Control:VerticalControl.surfaceThreshold />
                                </Gt>
                            </Or>
                        </While>
                        <Guidance:SetSpeed>
                            <Parallel />
                            <Setting>
                                <Guidance:SetSpeed.speed />
                                <Arg Name="Speed" />
                            </Setting>
                        </Guidance:SetSpeed>
                    </Aggregate>
                </Aggregate>
                <Guidance:DepthEnvelope>
                    <Parallel />
                    <Setting>
                        <Guidance:DepthEnvelope.minDepth />
                        <Arg Name="YoYoMinDepth" />
                    </Setting>
                    <Setting>
                        <Guidance:DepthEnvelope.maxDepth />
                        <Arg Name="YoYoMaxDepth" />
                    </Setting>
                    <Setting>
                        <Guidance:DepthEnvelope.downPitch />
                        <Arg Name="YoYoDownPitch" />
                    </Setting>
                    <Setting>
                        <Guidance:DepthEnvelope.upPitch />
                        <Arg Name="YoYoUpPitch" />
                    </Setting>
                </Guidance:DepthEnvelope>
                <Guidance:AltitudeEnvelope>
                    <Parallel />
                    <Setting>
                        <Guidance:AltitudeEnvelope.minAltitude />
                        <Arg Name="YoYoMinAltitude" />
                    </Setting>
                </Guidance:AltitudeEnvelope>
                <Guidance:YoYo>
                    <Parallel />
                    <Setting>
                        <Guidance:YoYo.downPitch />
                        <Arg Name="YoYoDownPitch" />
                    </Setting>
                    <Setting>
                        <Guidance:YoYo.upPitch />
                        <Arg Name="YoYoUpPitch" />
                    </Setting>
                </Guidance:YoYo>
                <Aggregate Id="YoYoFlip">
                    <When>
                        <Science:PAR_Licor.loadAtStartup />
                        <And>
                            <Arg Name="YoYoLightTerminate" />
                        </And>
                        <And>
                            <Science:PAR_Licor.downwelling_photosynthetic_photon_flux_in_sea_water />
                            <Lt>
                                <Arg Name="YoYoLightTerminateThreshold" />
                            </Lt>
                        </And>
                        <And>
                            <Universal:platform_pitch_angle />
                            <Lt>
                                <Units:degree />
                                <Value>1</Value>
                            </Lt>
                        </And>
                    </When>
                    <Guidance:Pitch>
                        <Parallel />
                        <Setting>
                            <Guidance:Pitch.pitch />
                            <Arg Name="YoYoUpPitch" />
                        </Setting>
                    </Guidance:Pitch>
                </Aggregate>
                <Aggregate Id="StopIfTriggered">
                    <When>
                        <Arg Name="Science:TriggeredOnChl" />
                    </When>
                    <Guidance:Execute>
                        <Sequence />
                        <Setting>
                            <Guidance:Execute.command />
                            <String>stop</String>
                        </Setting>
                    </Guidance:Execute>
                </Aggregate>
            </Aggregate>
        </Aggregate>
    </Aggregate>
    <Aggregate Id="Lap">
        <Sequence Repeat="Repeat" />
        <Aggregate Id="Dive">
            <While>
                <Not>
                    <Arg Name="DiveMode" />
                    <Eq>
                        <Arg Name="DoingComms" />
                    </Eq>
                </Not>
            </While>
            <Call RefId="DiveCmd" PriorityHere="false" />
        </Aggregate>
        <Aggregate Id="Wpt1">
            <Sequence />
            <Guidance:Waypoint>
                <Sequence />
                <Setting>
                    <Guidance:Waypoint.latitude />
                    <Arg Name="Lat1" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.longitude />
                    <Arg Name="Lon1" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.captureRadius />
                    <Arg Name="CaptureRadius" />
                </Setting>
            </Guidance:Waypoint>
        </Aggregate>
        <Aggregate Id="Wpt2">
            <Sequence />
            <Guidance:Waypoint>
                <Sequence />
                <Setting>
                    <Guidance:Waypoint.latitude />
                    <Arg Name="Lat2" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.longitude />
                    <Arg Name="Lon2" />
                </Setting>
            </Guidance:Waypoint>
        </Aggregate>
        <Aggregate Id="Wpt3">
            <Sequence />
            <Guidance:Waypoint>
                <Sequence />
                <Setting>
                    <Guidance:Waypoint.latitude />
                    <Arg Name="Lat3" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.longitude />
                    <Arg Name="Lon3" />
                </Setting>
            </Guidance:Waypoint>
        </Aggregate>
        <Aggregate Id="Wpt4">
            <Sequence />
            <Guidance:Waypoint>
                <Sequence />
                <Setting>
                    <Guidance:Waypoint.latitude />
                    <Arg Name="Lat4" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.longitude />
                    <Arg Name="Lon4" />
                </Setting>
            </Guidance:Waypoint>
        </Aggregate>
        <Aggregate Id="Wpt5">
            <Sequence />
            <Guidance:Waypoint>
                <Sequence />
                <Setting>
                    <Guidance:Waypoint.latitude />
                    <Arg Name="Lat5" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.longitude />
                    <Arg Name="Lon5" />
                </Setting>
            </Guidance:Waypoint>
        </Aggregate>
        <Aggregate Id="Wpt6">
            <Sequence />
            <Guidance:Waypoint>
                <Sequence />
                <Setting>
                    <Guidance:Waypoint.latitude />
                    <Arg Name="Lat6" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.longitude />
                    <Arg Name="Lon6" />
                </Setting>
            </Guidance:Waypoint>
        </Aggregate>
        <Aggregate Id="Wpt7">
            <Sequence />
            <Guidance:Waypoint>
                <Sequence />
                <Setting>
                    <Guidance:Waypoint.latitude />
                    <Arg Name="Lat7" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.longitude />
                    <Arg Name="Lon7" />
                </Setting>
            </Guidance:Waypoint>
        </Aggregate>
    </Aggregate>
</Mission>

2025-06-05T12:17:17.615Z,1749125837.615 [MissionManager](INFO): DefineArg sci2.MissionTimeout = 2.000000 h
2025-06-05T12:17:17.617Z,1749125837.617 [MissionManager](INFO): DefineArg sci2.NeedCommsTime = 60.000000 min
2025-06-05T12:17:17.619Z,1749125837.619 [MissionManager](INFO): DefineArg sci2.Repeat = 1.000000 count
2025-06-05T12:17:17.621Z,1749125837.621 [MissionManager](INFO): DefineArg sci2.Lat1 = nan arcdeg
2025-06-05T12:17:17.624Z,1749125837.624 [MissionManager](INFO): DefineArg sci2.Lat2 = nan arcdeg
2025-06-05T12:17:17.626Z,1749125837.626 [MissionManager](INFO): DefineArg sci2.Lat3 = nan arcdeg
2025-06-05T12:17:17.680Z,1749125837.680 [MissionManager](INFO): DefineArg sci2.Lat4 = nan arcdeg
2025-06-05T12:17:17.687Z,1749125837.687 [MissionManager](INFO): DefineArg sci2.Lat5 = nan arcdeg
2025-06-05T12:17:17.689Z,1749125837.689 [MissionManager](INFO): DefineArg sci2.Lat6 = nan arcdeg
2025-06-05T12:17:17.699Z,1749125837.699 [MissionManager](INFO): DefineArg sci2.Lat7 = nan arcdeg
2025-06-05T12:17:17.701Z,1749125837.701 [MissionManager](INFO): DefineArg sci2.Lon1 = nan arcdeg
2025-06-05T12:17:17.716Z,1749125837.716 [MissionManager](INFO): DefineArg sci2.Lon2 = nan arcdeg
2025-06-05T12:17:17.726Z,1749125837.726 [MissionManager](INFO): DefineArg sci2.Lon3 = nan arcdeg
2025-06-05T12:17:17.728Z,1749125837.728 [MissionManager](INFO): DefineArg sci2.Lon4 = nan arcdeg
2025-06-05T12:17:17.741Z,1749125837.741 [MissionManager](INFO): DefineArg sci2.Lon5 = nan arcdeg
2025-06-05T12:17:17.747Z,1749125837.747 [MissionManager](INFO): DefineArg sci2.Lon6 = nan arcdeg
2025-06-05T12:17:17.749Z,1749125837.749 [MissionManager](INFO): DefineArg sci2.Lon7 = nan arcdeg
2025-06-05T12:17:17.760Z,1749125837.760 [MissionManager](INFO): DefineArg sci2.Speed = 1.000000 m/s
2025-06-05T12:17:17.779Z,1749125837.779 [MissionManager](INFO): DefineArg sci2.CaptureRadius = nan m
2025-06-05T12:17:17.781Z,1749125837.781 [MissionManager](INFO): DefineArg sci2.YoYoMinDepth = 2.000000 m
2025-06-05T12:17:17.784Z,1749125837.784 [MissionManager](INFO): DefineArg sci2.YoYoMaxDepth = 200.000000 m
2025-06-05T12:17:17.798Z,1749125837.798 [MissionManager](INFO): DefineArg sci2.YoYoMinAltitude = 9.000000 m
2025-06-05T12:17:17.800Z,1749125837.800 [MissionManager](INFO): DefineArg sci2.YoYoUpPitch = 20.000000 arcdeg
2025-06-05T12:17:17.807Z,1749125837.807 [MissionManager](INFO): DefineArg sci2.YoYoDownPitch = -20.000000 arcdeg
2025-06-05T12:17:17.809Z,1749125837.809 [MissionManager](INFO): DefineArg sci2.SurfaceDiveSpeed = nan m/s
2025-06-05T12:17:17.816Z,1749125837.816 [MissionManager](INFO): DefineArg sci2.SurfaceThreshold = 1.000000 m
2025-06-05T12:17:17.822Z,1749125837.822 [MissionManager](INFO): DefineArg sci2.SinkOffSurface = 0 bool
2025-06-05T12:17:17.825Z,1749125837.825 [MissionManager](INFO): DefineArg sci2.SinkDepth = 10.000000 m
2025-06-05T12:17:17.827Z,1749125837.827 [MissionManager](INFO): DefineArg sci2.SinkDepthTimeout = 10.000000 min
2025-06-05T12:17:17.829Z,1749125837.829 [MissionManager](INFO): DefineArg sci2.YoYoLightTerminate = 0 bool
2025-06-05T12:17:17.840Z,1749125837.840 [MissionManager](INFO): DefineArg sci2.YoYoLightTerminateThreshold = 0.100000 umol/s/m2
2025-06-05T12:17:17.842Z,1749125837.842 [MissionManager](INFO): DefineArg sci2.PeakDetectChl = 0 bool
2025-06-05T12:17:17.860Z,1749125837.860 [MissionManager](INFO): DefineArg sci2.ShallowBoundChl = nan m
2025-06-05T12:17:17.866Z,1749125837.866 [MissionManager](INFO): DefineArg sci2.DeepBoundChl = nan m
2025-06-05T12:17:17.873Z,1749125837.873 [MissionManager](INFO): DefineArg sci2.ChlThreshTrigger = 0 bool
2025-06-05T12:17:17.888Z,1749125837.888 [MissionManager](INFO): DefineArg sci2.ChlLowerThreshold = nan ug/l
2025-06-05T12:17:17.894Z,1749125837.894 [MissionManager](INFO): DefineArg sci2.ChlUpperThreshold = nan ug/l
2025-06-05T12:17:17.897Z,1749125837.897 [MissionManager](INFO): DefineArg sci2.NumProfilesThreshold = 5.000000 count
2025-06-05T12:17:17.900Z,1749125837.900 [MissionManager](INFO): DefineArg sci2.BuoyancyNeutral = 245.649597 cc
2025-06-05T12:17:17.919Z,1749125837.919 [MissionManager](INFO): DefineArg sci2.MassDefault = 3.127619 cm
2025-06-05T12:17:17.921Z,1749125837.921 [MissionManager](INFO): DefineArg sci2.MinAltitude = 5.000000 m
2025-06-05T12:17:17.928Z,1749125837.928 [MissionManager](INFO): DefineArg sci2.MaxDepth = 205.000000 m
2025-06-05T12:17:17.930Z,1749125837.930 [MissionManager](INFO): DefineArg sci2.MinOffshore = 2.000000 km
2025-06-05T12:17:17.936Z,1749125837.936 [MissionManager](INFO): DefineOutput sci2.DiveMode = 0.000000 count
2025-06-05T12:17:17.943Z,1749125837.943 [MissionManager](INFO): DefineOutput sci2.DoingComms = 0.000000 count
2025-06-05T12:17:17.945Z,1749125837.945 [MissionManager](INFO): DefineOutput sci2.SurfaceSink = 1.000000 count
2025-06-05T12:17:17.956Z,1749125837.956 [MissionManager](INFO): DefineOutput sci2.YoYo = 2.000000 count
2025-06-05T12:17:17.956Z,1749125837.956 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-06-05T12:17:17.956Z,1749125837.956 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-06-05T12:17:17.966Z,1749125837.966 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-06-05T12:17:21.622Z,1749125841.622 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/Science.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="Science">
    <DefineArg Name="PeakDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="TimeWindowPeakReport">
        <Units:minute />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="HighestChlPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestSaltPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestOilPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="PatchTracking">
        <False />
    </DefineArg>
    <DefineArg Name="FilterWidthHorizontal">
        <Units:count />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesSlidingwindow">
        <Units:count />
        <Value>100</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionHorizontal">
        <Units:percent />
        <Value>80</Value>
    </DefineArg>
    <DefineArg Name="PeakDetectNO3Active">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectOilActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectFDOMActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectSalinityActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDinoflagellatesActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreDinoflagellatesActive">
        <False />
    </DefineArg>
    <DefineArg Name="UpwardDerivativeOfTemperatureActive">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledAanderaaO2">
        <Science:Aanderaa_O2.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledNeilBrown">
        <Science:CTD_NeilBrown.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledRBRTridente">
        <Science:RBRTridente.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledSeabird">
        <Science:CTD_Seabird.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsBB2FL">
        <Science:WetLabsBB2FL.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsSeaOWL_UV_A">
        <Science:WetLabsSeaOWL_UV_A.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsUBAT">
        <Science:WetLabsUBAT.loadAtStartup />
    </DefineArg>
    <DefineArg Name="LowPassWindowLength">
        <Units:count />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="MedianFilterLen">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="ShallowBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DeepBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DepChangeThreshForAttitudeFlip">
        <Units:meter />
        <Value>2.0</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionVerticalAscent">
        <Units:percent />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionVerticalDescent">
        <Units:percent />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlPeakThresh">
        <Units:microgram_per_liter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="ChlThreshTriggerActive">
        <False />
    </DefineArg>
    <DefineArg Name="ChlLowerThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlUpperThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesThresh">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreLMavgROIPeakThresh">
        <Units:count_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreHMavgROIPeakThresh">
        <Units:count_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreDiatomsPeakThresh">
        <Units:count_per_milliliter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreDinoflagellatesPeakThresh">
        <Units:count_per_milliliter />
        <Value>0</Value>
    </DefineArg>
    <DefineOutput Name="GoDown">
        <True />
    </DefineOutput>
    <DefineOutput Name="PeakChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3">
        <Units:micromole_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Depth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOil">
        <Units:kilogram_per_cubic_meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOM">
        <Units:part_per_billion />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatoms">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatoms">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOil">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="TriggeredOnChl">
        <False />
    </DefineOutput>
    <DefineOutput Name="ChlTriggering">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledAanderaaO2" />
        </While>
        <Universal:mass_concentration_of_oxygen_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
        </While>
        <Universal:sea_water_temperature />
        <Universal:sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledSeabird" />
        </While>
        <Science:CTD_Seabird.sea_water_temperature />
        <Science:CTD_Seabird.sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
            <And>
                <Arg Name="UpwardDerivativeOfTemperatureActive" />
            </And>
        </While>
        <Universal:upward_derivative_of_sea_water_temperature />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsBB2FL" />
            <Or>
                <Arg Name="EnabledRBRTridente" />
            </Or>
            <Or>
                <Arg Name="PeakDetectChlActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_chlorophyll_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsUBAT" />
        </While>
        <Science:WetLabsUBAT.average_bioluminescence />
    </ReadData>
    <ReadData Id="Read_Oil" Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsSeaOWL_UV_A" />
            <Or>
                <Arg Name="PeakDetectOilActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
    </ReadData>
    <Aggregate Id="OceanCurrent">
        <Sequence />
        <Estimation:CurrentEstimator>
            <Parallel />
        </Estimation:CurrentEstimator>
    </Aggregate>
    <Aggregate Id="PeakDetectChl">
        <While>
            <Arg Name="PeakDetectChlActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakChl">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectChl">
        <While>
            <Arg Name="EdgeDetectChlActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="ChlPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakChl">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgeChl">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgeChlDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgeChlTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgeChlLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgeChlLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, ChlPeakThresh, PeakChl, PeakChlDepth, EdgeChl, EdgeChlDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="ChlPeakThresh" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChlDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgeChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="EdgeChlDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
            <Arg Name="EdgeChl" />
            <Arg Name="EdgeChlDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestChlPeakReport">
        <While>
            <Arg Name="HighestChlPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakChlDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakChlLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakChlLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchChl">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchChlDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchChlLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchChlLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchChlDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectNO3">
        <While>
            <Arg Name="PeakDetectNO3Active" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mole_concentration_of_nitrate_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakNO3">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakNO3Depth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakNO3Latitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakNO3Longitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakNO3" />
            <Arg Name="PeakNO3Depth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectOil">
        <While>
            <Arg Name="PeakDetectOilActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakOil">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakOilDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakOilLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakOilLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakOil" />
            <Arg Name="PeakOilDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestOilPeakReport">
        <While>
            <Arg Name="HighestOilPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakOil" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakOilDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakOilLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakOilLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchOil">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchOilDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchOilLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchOilLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchOilDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectFDOM">
        <While>
            <Arg Name="PeakDetectFDOMActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:concentration_of_colored_dissolved_organic_matter_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakFDOM">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakFDOMDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakFDOMTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakFDOMLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakFDOMLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakFDOM" />
            <Arg Name="PeakFDOMDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectSalinity">
        <While>
            <Arg Name="PeakDetectSalinityActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:sea_water_salinity />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakSalt">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakSaltDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakSaltTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakSaltLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakSaltLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakSalt" />
            <Arg Name="PeakSaltDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestSaltPeakReport">
        <While>
            <Arg Name="HighestSaltPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakSalt" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakSaltDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakSaltLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakSaltLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchSalt">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchSaltDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchSaltLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchSaltLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchSaltDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="EdgeDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreLMavgROIPeakThresh, PeakPlanktivoreLMavgROI, PeakPlanktivoreLMavgROIDepth, EdgePlanktivoreLMavgROI, EdgePlanktivoreLMavgROIDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreHMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_HM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="EdgeDetectPlanktivoreHMavgROIActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_HM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreHMavgROIPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROI">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreHMavgROIPeakThresh, PeakPlanktivoreHMavgROI, PeakPlanktivoreHMavgROIDepth, EdgePlanktivoreHMavgROI, EdgePlanktivoreHMavgROIDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreHMavgROIPeakThresh" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreHMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="EdgePlanktivoreHMavgROIDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
            <Arg Name="EdgePlanktivoreHMavgROI" />
            <Arg Name="EdgePlanktivoreHMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="PeakDetectPlanktivoreDiatomsActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_diatoms</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="EdgeDetectPlanktivoreDiatomsActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_diatoms</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreDiatomsPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatoms">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreDiatomsPeakThresh, PeakPlanktivoreDiatoms, PeakPlanktivoreDiatomsDepth, EdgePlanktivoreDiatoms, EdgePlanktivoreDiatomsDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreDiatomsPeakThresh" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreDiatoms" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="EdgePlanktivoreDiatomsDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
            <Arg Name="EdgePlanktivoreDiatoms" />
            <Arg Name="EdgePlanktivoreDiatomsDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="PeakDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDinoflagellates">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="EdgeDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreDinoflagellatesPeakThresh" />
            </Setting>
            <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>

2025-06-05T12:17:21.663Z,1749125841.663 [MissionManager](INFO): DefineArg sci2:Science.PeakDetectChlActive = 0 bool
2025-06-05T12:17:21.665Z,1749125841.665 [MissionManager](INFO): DefineArg sci2:Science.EdgeDetectChlActive = 0 bool
2025-06-05T12:17:21.668Z,1749125841.668 [MissionManager](INFO): DefineArg sci2:Science.TimeWindowPeakReport = nan min
2025-06-05T12:17:21.669Z,1749125841.669 [MissionManager](INFO): DefineArg sci2:Science.HighestChlPeakReportActive = 0 bool
2025-06-05T12:17:21.671Z,1749125841.671 [MissionManager](INFO): DefineArg sci2:Science.HighestSaltPeakReportActive = 0 bool
2025-06-05T12:17:21.673Z,1749125841.673 [MissionManager](INFO): DefineArg sci2:Science.HighestOilPeakReportActive = 0 bool
2025-06-05T12:17:21.675Z,1749125841.675 [MissionManager](INFO): DefineArg sci2:Science.PatchTracking = 0 bool
2025-06-05T12:17:21.677Z,1749125841.677 [MissionManager](INFO): DefineArg sci2:Science.FilterWidthHorizontal = 3.000000 count
2025-06-05T12:17:21.716Z,1749125841.716 [MissionManager](INFO): DefineArg sci2:Science.NumProfilesSlidingwindow = 100.000000 count
2025-06-05T12:17:21.723Z,1749125841.723 [MissionManager](INFO): DefineArg sci2:Science.OffPeakFractionHorizontal = 80.000000 %
2025-06-05T12:17:21.725Z,1749125841.725 [MissionManager](INFO): DefineArg sci2:Science.PeakDetectNO3Active = 0 bool
2025-06-05T12:17:21.739Z,1749125841.739 [MissionManager](INFO): DefineArg sci2:Science.PeakDetectOilActive = 0 bool
2025-06-05T12:17:21.741Z,1749125841.741 [MissionManager](INFO): DefineArg sci2:Science.PeakDetectFDOMActive = 0 bool
2025-06-05T12:17:21.747Z,1749125841.747 [MissionManager](INFO): DefineArg sci2:Science.PeakDetectSalinityActive = 0 bool
2025-06-05T12:17:21.749Z,1749125841.749 [MissionManager](INFO): DefineArg sci2:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-06-05T12:17:21.774Z,1749125841.774 [MissionManager](INFO): DefineArg sci2:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-06-05T12:17:21.777Z,1749125841.777 [MissionManager](INFO): DefineArg sci2:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-06-05T12:17:21.791Z,1749125841.791 [MissionManager](INFO): DefineArg sci2:Science.EdgeDetectPlanktivoreHMavgROIActive = 0 bool
2025-06-05T12:17:21.793Z,1749125841.793 [MissionManager](INFO): DefineArg sci2:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-06-05T12:17:21.812Z,1749125841.812 [MissionManager](INFO): DefineArg sci2:Science.EdgeDetectPlanktivoreDiatomsActive = 0 bool
2025-06-05T12:17:21.814Z,1749125841.814 [MissionManager](INFO): DefineArg sci2:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-06-05T12:17:21.820Z,1749125841.820 [MissionManager](INFO): DefineArg sci2:Science.EdgeDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-06-05T12:17:21.831Z,1749125841.831 [MissionManager](INFO): DefineArg sci2:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-06-05T12:17:21.833Z,1749125841.833 [MissionManager](INFO): DefineArg sci2:Science.EnabledAanderaaO2 = 0 bool
2025-06-05T12:17:21.840Z,1749125841.840 [MissionManager](INFO): DefineArg sci2:Science.EnabledNeilBrown = 0 bool
2025-06-05T12:17:21.851Z,1749125841.851 [MissionManager](INFO): DefineArg sci2:Science.EnabledRBRTridente = 0 bool
2025-06-05T12:17:21.856Z,1749125841.856 [MissionManager](INFO): DefineArg sci2:Science.EnabledSeabird = 1 bool
2025-06-05T12:17:21.866Z,1749125841.866 [MissionManager](INFO): DefineArg sci2:Science.EnabledWetLabsBB2FL = 1 bool
2025-06-05T12:17:21.869Z,1749125841.869 [MissionManager](INFO): DefineArg sci2:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-06-05T12:17:21.876Z,1749125841.876 [MissionManager](INFO): DefineArg sci2:Science.EnabledWetLabsUBAT = 0 bool
2025-06-05T12:17:21.878Z,1749125841.878 [MissionManager](INFO): DefineArg sci2:Science.LowPassWindowLength = 20.000000 count
2025-06-05T12:17:21.888Z,1749125841.888 [MissionManager](INFO): DefineArg sci2:Science.MedianFilterLen = 5.000000 count
2025-06-05T12:17:21.895Z,1749125841.895 [MissionManager](INFO): DefineArg sci2:Science.ShallowBound = nan m
2025-06-05T12:17:21.897Z,1749125841.897 [MissionManager](INFO): DefineArg sci2:Science.DeepBound = nan m
2025-06-05T12:17:21.899Z,1749125841.899 [MissionManager](INFO): DefineArg sci2:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-06-05T12:17:21.901Z,1749125841.901 [MissionManager](INFO): DefineArg sci2:Science.OffPeakFractionVerticalAscent = nan %
2025-06-05T12:17:21.912Z,1749125841.912 [MissionManager](INFO): DefineArg sci2:Science.OffPeakFractionVerticalDescent = nan %
2025-06-05T12:17:21.918Z,1749125841.918 [MissionManager](INFO): DefineArg sci2:Science.ChlPeakThresh = 0.000000 ug/l
2025-06-05T12:17:21.920Z,1749125841.920 [MissionManager](INFO): DefineArg sci2:Science.ChlThreshTriggerActive = 0 bool
2025-06-05T12:17:21.923Z,1749125841.923 [MissionManager](INFO): DefineArg sci2:Science.ChlLowerThresh = nan ug/l
2025-06-05T12:17:21.925Z,1749125841.925 [MissionManager](INFO): DefineArg sci2:Science.ChlUpperThresh = nan ug/l
2025-06-05T12:17:21.936Z,1749125841.936 [MissionManager](INFO): DefineArg sci2:Science.NumProfilesThresh = 5.000000 count
2025-06-05T12:17:21.942Z,1749125841.942 [MissionManager](INFO): DefineArg sci2:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-06-05T12:17:21.944Z,1749125841.944 [MissionManager](INFO): DefineArg sci2:Science.PlanktivoreHMavgROIPeakThresh = 0.000000 count/s
2025-06-05T12:17:21.955Z,1749125841.955 [MissionManager](INFO): DefineArg sci2:Science.PlanktivoreDiatomsPeakThresh = 0.000000 count/ml
2025-06-05T12:17:21.957Z,1749125841.957 [MissionManager](INFO): DefineArg sci2:Science.PlanktivoreDinoflagellatesPeakThresh = 0.000000 count/ml
2025-06-05T12:17:21.971Z,1749125841.971 [MissionManager](INFO): DefineOutput sci2:Science.GoDown = 1 bool
2025-06-05T12:17:21.973Z,1749125841.973 [MissionManager](INFO): DefineOutput sci2:Science.PeakChl = nan ug/l
2025-06-05T12:17:21.980Z,1749125841.980 [MissionManager](INFO): DefineOutput sci2:Science.PeakChlDepth = nan m
2025-06-05T12:17:21.986Z,1749125841.986 [MissionManager](INFO): DefineOutput sci2:Science.PeakChlTemperature = nan degC
2025-06-05T12:17:21.989Z,1749125841.989 [MissionManager](INFO): DefineOutput sci2:Science.PeakChlLatitude = nan arcdeg
2025-06-05T12:17:21.995Z,1749125841.995 [MissionManager](INFO): DefineOutput sci2:Science.PeakChlLongitude = nan arcdeg
2025-06-05T12:17:21.997Z,1749125841.997 [MissionManager](INFO): DefineOutput sci2:Science.EdgeChl = nan ug/l
2025-06-05T12:17:22.012Z,1749125842.012 [MissionManager](INFO): DefineOutput sci2:Science.EdgeChlDepth = nan m
2025-06-05T12:17:22.019Z,1749125842.019 [MissionManager](INFO): DefineOutput sci2:Science.EdgeChlTemperature = nan degC
2025-06-05T12:17:22.021Z,1749125842.021 [MissionManager](INFO): DefineOutput sci2:Science.EdgeChlLatitude = nan arcdeg
2025-06-05T12:17:22.043Z,1749125842.043 [MissionManager](INFO): DefineOutput sci2:Science.EdgeChlLongitude = nan arcdeg
2025-06-05T12:17:22.046Z,1749125842.046 [MissionManager](INFO): DefineOutput sci2:Science.PeakNO3 = nan umol/l
2025-06-05T12:17:22.052Z,1749125842.052 [MissionManager](INFO): DefineOutput sci2:Science.PeakNO3Depth = nan m
2025-06-05T12:17:22.055Z,1749125842.055 [MissionManager](INFO): DefineOutput sci2:Science.PeakNO3Latitude = nan arcdeg
2025-06-05T12:17:22.057Z,1749125842.057 [MissionManager](INFO): DefineOutput sci2:Science.PeakNO3Longitude = nan arcdeg
2025-06-05T12:17:22.072Z,1749125842.072 [MissionManager](INFO): DefineOutput sci2:Science.PeakOil = nan kg/m3
2025-06-05T12:17:22.074Z,1749125842.074 [MissionManager](INFO): DefineOutput sci2:Science.PeakOilDepth = nan m
2025-06-05T12:17:22.080Z,1749125842.080 [MissionManager](INFO): DefineOutput sci2:Science.PeakOilLatitude = nan arcdeg
2025-06-05T12:17:22.127Z,1749125842.127 [MissionManager](INFO): DefineOutput sci2:Science.PeakOilLongitude = nan arcdeg
2025-06-05T12:17:22.129Z,1749125842.129 [MissionManager](INFO): DefineOutput sci2:Science.PeakFDOM = nan ppb
2025-06-05T12:17:22.144Z,1749125842.144 [MissionManager](INFO): DefineOutput sci2:Science.PeakFDOMDepth = nan m
2025-06-05T12:17:22.160Z,1749125842.160 [MissionManager](INFO): DefineOutput sci2:Science.PeakFDOMTemperature = nan degC
2025-06-05T12:17:22.169Z,1749125842.169 [MissionManager](INFO): DefineOutput sci2:Science.PeakFDOMLatitude = nan arcdeg
2025-06-05T12:17:22.193Z,1749125842.193 [MissionManager](INFO): DefineOutput sci2:Science.PeakFDOMLongitude = nan arcdeg
2025-06-05T12:17:22.201Z,1749125842.201 [MissionManager](INFO): DefineOutput sci2:Science.PeakSalt = nan psu
2025-06-05T12:17:22.209Z,1749125842.209 [MissionManager](INFO): DefineOutput sci2:Science.PeakSaltDepth = nan m
2025-06-05T12:17:22.223Z,1749125842.223 [MissionManager](INFO): DefineOutput sci2:Science.PeakSaltTemperature = nan degC
2025-06-05T12:17:22.231Z,1749125842.231 [MissionManager](INFO): DefineOutput sci2:Science.PeakSaltLatitude = nan arcdeg
2025-06-05T12:17:22.239Z,1749125842.239 [MissionManager](INFO): DefineOutput sci2:Science.PeakSaltLongitude = nan arcdeg
2025-06-05T12:17:22.247Z,1749125842.247 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-06-05T12:17:22.253Z,1749125842.253 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-06-05T12:17:22.264Z,1749125842.264 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-06-05T12:17:22.278Z,1749125842.278 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-06-05T12:17:22.288Z,1749125842.288 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-06-05T12:17:22.303Z,1749125842.303 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-06-05T12:17:22.305Z,1749125842.305 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-06-05T12:17:22.312Z,1749125842.312 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-06-05T12:17:22.318Z,1749125842.318 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-06-05T12:17:22.320Z,1749125842.320 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-06-05T12:17:22.323Z,1749125842.323 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-06-05T12:17:22.325Z,1749125842.325 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-06-05T12:17:22.337Z,1749125842.337 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-06-05T12:17:22.343Z,1749125842.343 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-06-05T12:17:22.345Z,1749125842.345 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-06-05T12:17:22.352Z,1749125842.352 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreHMavgROI = nan count/s
2025-06-05T12:17:22.359Z,1749125842.359 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreHMavgROIDepth = nan m
2025-06-05T12:17:22.361Z,1749125842.361 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreHMavgROITemperature = nan degC
2025-06-05T12:17:22.365Z,1749125842.365 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreHMavgROILatitude = nan arcdeg
2025-06-05T12:17:22.379Z,1749125842.379 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreHMavgROILongitude = nan arcdeg
2025-06-05T12:17:22.382Z,1749125842.382 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-06-05T12:17:22.396Z,1749125842.396 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-06-05T12:17:22.403Z,1749125842.403 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-06-05T12:17:22.405Z,1749125842.405 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-06-05T12:17:22.408Z,1749125842.408 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-06-05T12:17:22.422Z,1749125842.422 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreDiatoms = nan count/ml
2025-06-05T12:17:22.424Z,1749125842.424 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreDiatomsDepth = nan m
2025-06-05T12:17:22.438Z,1749125842.438 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreDiatomsTemperature = nan degC
2025-06-05T12:17:22.443Z,1749125842.443 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreDiatomsLatitude = nan arcdeg
2025-06-05T12:17:22.446Z,1749125842.446 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreDiatomsLongitude = nan arcdeg
2025-06-05T12:17:22.448Z,1749125842.448 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-06-05T12:17:22.463Z,1749125842.463 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-06-05T12:17:22.465Z,1749125842.465 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-06-05T12:17:22.472Z,1749125842.472 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-06-05T12:17:22.474Z,1749125842.474 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-06-05T12:17:22.484Z,1749125842.484 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreDinoflagellates = nan count/ml
2025-06-05T12:17:22.539Z,1749125842.539 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreDinoflagellatesDepth = nan m
2025-06-05T12:17:22.542Z,1749125842.542 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreDinoflagellatesTemperature = nan degC
2025-06-05T12:17:22.568Z,1749125842.568 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-06-05T12:17:22.575Z,1749125842.575 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-06-05T12:17:22.578Z,1749125842.578 [MissionManager](INFO): DefineOutput sci2:Science.PatchChl = nan ug/l
2025-06-05T12:17:22.593Z,1749125842.593 [MissionManager](INFO): DefineOutput sci2:Science.PatchChlDepth = nan m
2025-06-05T12:17:22.600Z,1749125842.600 [MissionManager](INFO): DefineOutput sci2:Science.PatchChlLatitude = nan arcdeg
2025-06-05T12:17:22.602Z,1749125842.602 [MissionManager](INFO): DefineOutput sci2:Science.PatchChlLongitude = nan arcdeg
2025-06-05T12:17:22.608Z,1749125842.608 [MissionManager](INFO): DefineOutput sci2:Science.PatchChlDistance = nan m
2025-06-05T12:17:22.615Z,1749125842.615 [MissionManager](INFO): DefineOutput sci2:Science.PatchSalt = nan psu
2025-06-05T12:17:22.617Z,1749125842.617 [MissionManager](INFO): DefineOutput sci2:Science.PatchSaltDepth = nan m
2025-06-05T12:17:22.621Z,1749125842.621 [MissionManager](INFO): DefineOutput sci2:Science.PatchSaltLatitude = nan arcdeg
2025-06-05T12:17:22.636Z,1749125842.636 [MissionManager](INFO): DefineOutput sci2:Science.PatchSaltLongitude = nan arcdeg
2025-06-05T12:17:22.643Z,1749125842.643 [MissionManager](INFO): DefineOutput sci2:Science.PatchSaltDistance = nan m
2025-06-05T12:17:22.645Z,1749125842.645 [MissionManager](INFO): DefineOutput sci2:Science.PatchOil = nan psu
2025-06-05T12:17:22.652Z,1749125842.652 [MissionManager](INFO): DefineOutput sci2:Science.PatchOilDepth = nan m
2025-06-05T12:17:22.666Z,1749125842.666 [MissionManager](INFO): DefineOutput sci2:Science.PatchOilLatitude = nan arcdeg
2025-06-05T12:17:22.669Z,1749125842.669 [MissionManager](INFO): DefineOutput sci2:Science.PatchOilLongitude = nan arcdeg
2025-06-05T12:17:22.675Z,1749125842.675 [MissionManager](INFO): DefineOutput sci2:Science.PatchOilDistance = nan m
2025-06-05T12:17:22.677Z,1749125842.677 [MissionManager](INFO): DefineOutput sci2:Science.TriggeredOnChl = 0 bool
2025-06-05T12:17:22.692Z,1749125842.692 [MissionManager](INFO): DefineOutput sci2:Science.ChlTriggering = nan ug/l
2025-06-05T12:17:22.734Z,1749125842.734 [sci2:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-05T12:17:22.767Z,1749125842.767 [sci2:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-06-05T12:17:22.816Z,1749125842.816 [sci2:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-06-05T12:17:22.852Z,1749125842.852 [sci2:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-05T12:17:22.931Z,1749125842.931 [sci2:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-05T12:17:22.964Z,1749125842.964 [sci2:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-06-05T12:17:23.002Z,1749125843.002 [sci2:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-05T12:17:23.021Z,1749125843.021 [sci2:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-05T12:17:23.038Z,1749125843.038 [sci2:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-06-05T12:17:23.080Z,1749125843.080 [sci2:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-05T12:17:23.105Z,1749125843.105 [sci2:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-06-05T12:17:23.163Z,1749125843.163 [sci2:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-05T12:17:23.192Z,1749125843.192 [sci2:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-06-05T12:17:23.248Z,1749125843.248 [sci2:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-05T12:17:23.272Z,1749125843.272 [sci2:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-06-05T12:17:23.345Z,1749125843.345 [sci2:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-05T12:17:23.381Z,1749125843.381 [sci2:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-06-05T12:17:23.422Z,1749125843.422 [sci2:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-06-05T12:17:23.431Z,1749125843.431 [MissionManager](INFO): RedefineArg sci2:Science.PeakDetectChlActive = reader:sci2.PeakDetectChl
2025-06-05T12:17:23.432Z,1749125843.432 [MissionManager](INFO): RedefineArg sci2:Science.ShallowBound = reader:sci2.ShallowBoundChl
2025-06-05T12:17:23.434Z,1749125843.434 [MissionManager](INFO): RedefineArg sci2:Science.DeepBound = reader:sci2.DeepBoundChl
2025-06-05T12:17:23.450Z,1749125843.450 [MissionManager](INFO): RedefineArg sci2:Science.ChlThreshTriggerActive = reader:sci2.ChlThreshTrigger
2025-06-05T12:17:23.452Z,1749125843.452 [MissionManager](INFO): RedefineArg sci2:Science.ChlLowerThresh = reader:sci2.ChlLowerThreshold
2025-06-05T12:17:23.453Z,1749125843.453 [MissionManager](INFO): RedefineArg sci2:Science.ChlUpperThresh = reader:sci2.ChlUpperThreshold
2025-06-05T12:17:23.455Z,1749125843.455 [MissionManager](INFO): RedefineArg sci2:Science.NumProfilesThresh = reader:sci2.NumProfilesThreshold
2025-06-05T12:17:23.455Z,1749125843.455 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-06-05T12:17:23.456Z,1749125843.456 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-06-05T12:17:23.457Z,1749125843.457 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-06-05T12:17:23.658Z,1749125843.658 [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>

2025-06-05T12:17:23.663Z,1749125843.663 [MissionManager](INFO): DefineArg sci2:NeedComms.DiveInterval = 1.000000 h
2025-06-05T12:17:23.665Z,1749125843.665 [MissionManager](INFO): DefineArg sci2:NeedComms.WaitForPitchUp = 10.000000 min
2025-06-05T12:17:23.667Z,1749125843.667 [MissionManager](INFO): DefineArg sci2:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-06-05T12:17:23.670Z,1749125843.670 [MissionManager](INFO): DefineArg sci2:NeedComms.SurfaceDepthRate = nan m/s
2025-06-05T12:17:23.672Z,1749125843.672 [MissionManager](INFO): DefineArg sci2:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-06-05T12:17:23.674Z,1749125843.674 [MissionManager](INFO): DefineArg sci2:NeedComms.SurfacingTimeout = 1000.000000 s
2025-06-05T12:17:23.676Z,1749125843.676 [MissionManager](INFO): DefineArg sci2:NeedComms.GPSTimeout = 7.000000 min
2025-06-05T12:17:23.679Z,1749125843.679 [MissionManager](INFO): DefineArg sci2:NeedComms.CommsTimeout = 30.000000 min
2025-06-05T12:17:23.684Z,1749125843.684 [sci2:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-06-05T12:17:23.752Z,1749125843.752 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-06-05T12:17:23.752Z,1749125843.752 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-06-05T12:17:23.753Z,1749125843.753 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-06-05T12:17:23.905Z,1749125843.905 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>1.5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-06-05T12:17:23.909Z,1749125843.909 [MissionManager](INFO): DefineArg sci2:StandardEnvelopes.MinAltitude = 5.000000 m
2025-06-05T12:17:23.918Z,1749125843.918 [MissionManager](INFO): DefineArg sci2:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2025-06-05T12:17:23.920Z,1749125843.920 [MissionManager](INFO): DefineArg sci2:StandardEnvelopes.MaxDepth = 200.000000 m
2025-06-05T12:17:23.923Z,1749125843.923 [MissionManager](INFO): DefineArg sci2:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-06-05T12:17:23.924Z,1749125843.924 [sci2:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-06-05T12:17:23.929Z,1749125843.929 [sci2:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-06-05T12:17:23.936Z,1749125843.936 [sci2:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-06-05T12:17:23.944Z,1749125843.944 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-06-05T12:17:23.944Z,1749125843.944 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-06-05T12:17:23.945Z,1749125843.945 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-06-05T12:17:23.984Z,1749125843.984 [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>

2025-06-05T12:17:23.987Z,1749125843.987 [MissionManager](INFO): DefineArg sci2:BackseatDriver.EnableBackseat = 0 bool
2025-06-05T12:17:23.989Z,1749125843.989 [sci2:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-06-05T12:17:23.996Z,1749125843.996 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-06-05T12:17:23.996Z,1749125843.996 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-06-05T12:17:23.997Z,1749125843.997 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-06-05T12:17:24.151Z,1749125844.151 [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>

2025-06-05T12:17:24.161Z,1749125844.161 [MissionManager](INFO): DefineArg sci2:PowerOnly.SampleAll = 0 bool
2025-06-05T12:17:24.168Z,1749125844.168 [MissionManager](INFO): DefineArg sci2:PowerOnly.SampleLoad1 = 0 bool
2025-06-05T12:17:24.201Z,1749125844.201 [MissionManager](INFO): DefineArg sci2:PowerOnly.SampleLoad2 = 0 bool
2025-06-05T12:17:24.208Z,1749125844.208 [MissionManager](INFO): DefineArg sci2:PowerOnly.SampleLoad3 = 0 bool
2025-06-05T12:17:24.213Z,1749125844.213 [MissionManager](INFO): DefineArg sci2:PowerOnly.EnabledPowerOnly = 1 bool
2025-06-05T12:17:24.252Z,1749125844.252 [sci2:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-06-05T12:17:24.297Z,1749125844.297 [sci2:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-06-05T12:17:24.300Z,1749125844.300 [sci2:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Construct.
2025-06-05T12:17:24.304Z,1749125844.304 [sci2:DiveCmd:SurfaceSink:sink:D.Pitch](DEBUG): Construct.
2025-06-05T12:17:24.313Z,1749125844.313 [sci2:DiveCmd:YoYoDive:dive:A.Pitch](DEBUG): Construct.
2025-06-05T12:17:24.317Z,1749125844.317 [sci2:DiveCmd:YoYoDive:dive:B.Buoyancy](DEBUG): Construct Buoyancy.
2025-06-05T12:17:24.323Z,1749125844.323 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:SurfaceDive:SurfaceSpeed:A.SetSpeed](DEBUG): Construct.
2025-06-05T12:17:24.328Z,1749125844.328 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:ProfileSpeed:A.SetSpeed](DEBUG): Construct.
2025-06-05T12:17:24.331Z,1749125844.331 [sci2:DiveCmd:YoYoDive:dive:D.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-06-05T12:17:24.339Z,1749125844.339 [sci2:DiveCmd:YoYoDive:dive:E.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-06-05T12:17:24.358Z,1749125844.358 [sci2:DiveCmd:YoYoDive:dive:F.YoYo](DEBUG): Construct YoYo.
2025-06-05T12:17:24.368Z,1749125844.368 [sci2:DiveCmd:YoYoDive:dive:YoYoFlip:A.Pitch](DEBUG): Construct.
2025-06-05T12:17:24.375Z,1749125844.375 [sci2:DiveCmd:YoYoDive:dive:StopIfTriggered:A.Execute](DEBUG): Construct Execute.
2025-06-05T12:17:24.380Z,1749125844.380 [sci2:Lap:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-06-05T12:17:24.387Z,1749125844.387 [sci2:Lap:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-06-05T12:17:24.393Z,1749125844.393 [sci2:Lap:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-06-05T12:17:24.409Z,1749125844.409 [sci2:Lap:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-06-05T12:17:24.415Z,1749125844.415 [sci2:Lap:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-06-05T12:17:24.421Z,1749125844.421 [sci2:Lap:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-06-05T12:17:24.427Z,1749125844.427 [sci2:Lap:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-06-05T12:17:24.494Z,1749125844.494 [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.

#! TethysL version initially based on automated translation from original Science/sci2.xml
#! and then (syntactically) simplified with use of array/macro extensions in TethysL.

mission sci2 {
  """
  Vehicle yo-yo's to the specified waypoints, with science turned on.
  """

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

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

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

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

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

    Speed = 1 meter_per_second
      """
      Speed while performing the YoYo behavior.
      """

    CaptureRadius = NaN meter
      """
      Use in Waypoint behavior.
      """

    YoYoMinDepth = 2 meter
      """
      Minimum depth while performing the YoYo behavior.
      """

    YoYoMaxDepth = 200 meter
      """
      Maximum depth while performing the YoYo behavior.
      """

    YoYoMinAltitude = 9 meter
      """
      Minimum altitude while performing the YoYo behavior (for
      bottom-terminated YoYos).
      """

    YoYoUpPitch = 20 degree
      """
      Vehicle up pitch while performing the YoYo behavior.
      """

    YoYoDownPitch = -20 degree
      """
      Vehicle down pitch while performing the YoYo behavior.
      """

    SurfaceDiveSpeed = NaN meter_per_second
      """
      Vehicle speed to get off of surface, same as speed if skipped
      """

    SurfaceThreshold = Control:VerticalControl.surfaceThreshold
      """
      Depth at which to return to normal speed, skipped if SurfaceDiveSpeed NaN
      """

    SinkOffSurface = false
      """
      If true, use buoyancy only to decend to SinkDepth before driving to first target depth
      """

    SinkDepth = 10 meter
      """
      Initial depth to decend using only buoyancy before driving
      """

    SinkDepthTimeout = 10 minute
      """
      Max wait time for the vehicle to reach the target depth
      """

    YoYoLightTerminate = false
      """
      Set true to terminate dive once PAR value falls below threshold.
      """

    YoYoLightTerminateThreshold = 0.1 micromole_per_second_per_square_meter
      """
      Threshold of PAR output at which pitch command will flip positive if vehicle is pitched down.
      """

    PeakDetectChl = false
      """
      Whether to enable peak chl detection on each yo-yo profile
      """

    ShallowBoundChl = NaN meter
      """
      Used only when PeakDetectChl is true. Shallow depth bound for peak chl detection
      """

    DeepBoundChl = NaN meter
      """
      Used only when PeakDetectChl is true. Deep depth bound for peak chl detection
      """

    ChlThreshTrigger = false
      """
      Whether to enable chl threshold triggering
      """

    ChlLowerThreshold = NaN microgram_per_liter
      """
      Used only when ChlThreshTrigger is true. Triggered when peak chl values on NumProfilesThreshold consecutive yo-yo profiles fall in [ChllowerThreshold ChlUpperThreshold]. ChllowerThreshold is ignored if NaN.
      """

    ChlUpperThreshold = NaN microgram_per_liter
      """
      Used only when ChlThreshTrigger is true. Triggered when peak chl values on NumProfilesThreshold consecutive yo-yo profiles fall in [ChllowerThreshold ChlUpperThreshold]. ChlUpperThreshold is ignored if NaN.
      """

    NumProfilesThreshold = 5 count
      """
      Used only when ChlThreshTrigger is true. Triggered when peak chl values on NumProfilesThreshold consecutive yo-yo profiles fall in [ChllowerThreshold ChlUpperThreshold]. ChlUpperThreshold is ignored if NaN.
      """

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

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

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

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

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

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

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

    SurfaceSink = 1 count
      """
      Mission variable (don't change). The mission will run in this mode
      when sinking from the surface using only buoyancy.
      """

    YoYo = 2 count
      """
      Mission variable (don't change). The mission will run in this mode
      when performing the profiles.
      """
  }

  timeout duration=MissionTimeout

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

    redefineArg PeakDetectChlActive = PeakDetectChl
    redefineArg ShallowBound = ShallowBoundChl
    redefineArg DeepBound = DeepBoundChl
    redefineArg ChlThreshTriggerActive = ChlThreshTrigger
    redefineArg ChlLowerThresh = ChlLowerThreshold
    redefineArg ChlUpperThresh = ChlUpperThreshold
    redefineArg NumProfilesThresh = NumProfilesThreshold
  }

  insert id="NeedComms" Insert/NeedComms.tl

  assign in sequence NeedComms:DiveInterval = NeedCommsTime

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

    assign in sequence DiveMode = DoingComms

    call priorityHere=false refId="NeedComms"

    aggregate setInitial {
      run in sequence

      break if ( SinkOffSurface )

      assign in sequence DiveMode = YoYo
    }

    aggregate setSink {
      run in sequence

      break if ( not SinkOffSurface )

      assign in sequence DiveMode = SurfaceSink
    }
  }

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

  aggregate DiveCmd {
    run when ( called )

    aggregate SurfaceSink {
      run while ( DiveMode == SurfaceSink )

      aggregate sink {
        run in sequence

        behavior Guidance:Buoyancy id="BuoyancyHold" {
          run in parallel

          set position = NaN cc
        }

        behavior Guidance:SetSpeed {
          run in parallel

          set speed = 0 m/s
        }

        syslog info "Sinking to " + SinkDepth~meter

        behavior Guidance:Pitch {
          run in sequence

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

          set depth = SinkDepth
        }

        assign in sequence DiveMode = YoYo
      }
    }

    aggregate YoYoDive {
      run while ( DiveMode == YoYo )

      aggregate dive {
        run in sequence

        behavior Guidance:Pitch {
          run in parallel

          set massPosition = MassDefault
        }

        behavior Guidance:Buoyancy {
          run in parallel

          set position = BuoyancyNeutral
        }

        aggregate SetSpeed {
          run in parallel

          aggregate SurfaceDive {
            run while (
              not isNaN ( SurfaceDiveSpeed )
              and Universal:depth <= SurfaceThreshold
            )

            aggregate SurfaceSpeed {
              run in parallel

              behavior Guidance:SetSpeed {
                run in parallel

                set speed = SurfaceDiveSpeed
              }
            }
          }

          aggregate ProfileSpeed {
            run while (
              isNaN ( SurfaceDiveSpeed )
              or Universal:depth > Control:VerticalControl.surfaceThreshold
            )

            behavior Guidance:SetSpeed {
              run in parallel

              set speed = Speed
            }
          }
        }

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

          run in parallel

          set minDepth = YoYoMinDepth
          set maxDepth = YoYoMaxDepth
          set downPitch = YoYoDownPitch
          set upPitch = YoYoUpPitch
        }

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

          run in parallel

          set minAltitude = YoYoMinAltitude
        }

        behavior Guidance:YoYo {
          run in parallel

          set downPitch = YoYoDownPitch
          set upPitch = YoYoUpPitch
        }

        aggregate YoYoFlip {
          """
          If light value falls below a threshold as we're pointed down, pitch the vehicle back up to terminate the yo.
          """

          run when (
            Science:PAR_Licor.loadAtStartup
            and ( YoYoLightTerminate )
            and ( Science:PAR_Licor.downwelling_photosynthetic_photon_flux_in_sea_water < YoYoLightTerminateThreshold )
            and ( Universal:platform_pitch_angle < 1 degree )
          )

          behavior Guidance:Pitch {
            run in parallel

            set pitch = YoYoUpPitch
          }
        }

        aggregate StopIfTriggered {
          """
          If peak chlorophyll values on NumProfilesThresh consecutive yo-yo profiles fall in [ChlLowerThreshold ChlUpperThreshold], stop mission.
          """

          run when ( Science:TriggeredOnChl )

          behavior Guidance:Execute {
            run in sequence

            set command = "stop"
          }
        }
      }
    }
  }

  aggregate Lap {
    run in sequence repeat=Repeat

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

      call priorityHere=false refId="DiveCmd"
    }

    aggregate Wpt1 {
      run in sequence

      behavior Guidance:Waypoint {
        run in sequence

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

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

        behavior Guidance:Waypoint {
          run in sequence

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


2025-06-05T12:17:24.495Z,1749125844.495 [CommandExec](IMPORTANT): Loaded ./Missions/Science/sci2.tl id=sci2
2025-06-05T12:17:24.596Z,1749125844.596 [MissionManager](IMPORTANT): Started mission Default
2025-06-05T12:17:24.596Z,1749125844.596 [Default] Running Loop=1
2025-06-05T12:17:24.596Z,1749125844.596 [Default](DEBUG): Aggregate::initialize Default
2025-06-05T12:17:24.597Z,1749125844.597 [Default:B.GoToSurface] Running Loop=1
2025-06-05T12:17:24.597Z,1749125844.597 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-06-05T12:17:24.597Z,1749125844.597 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-06-05T12:17:24.597Z,1749125844.597 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-06-05T12:17:24.597Z,1749125844.597 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-06-05T12:17:24.598Z,1749125844.598 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-06-05T12:17:24.622Z,1749125844.622 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-06-05T12:17:24.623Z,1749125844.623 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-06-05T12:17:24.623Z,1749125844.623 [Default:A.Wait] Running Loop=1
2025-06-05T12:17:24.623Z,1749125844.623 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-06-05T12:17:24.942Z,1749125844.942 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -13.00 mm (2 active estimators).
2025-06-05T12:17:25.042Z,1749125845.042 [Radio_Surface](INFO): Powering up
2025-06-05T12:17:30.863Z,1749125850.863 [DataOverHttps](INFO): Radio surface powered ON.
2025-06-05T12:17:37.973Z,1749125857.973 [Default:A.Wait](INFO): Done Waiting.
2025-06-05T12:17:37.973Z,1749125857.973 [Default:A.Wait] Stopped
2025-06-05T12:17:37.973Z,1749125857.973 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-06-05T12:17:44.586Z,1749125864.586 [CommandExec](IMPORTANT): got command set sci2.MissionTimeout 17 hour
2025-06-05T12:17:44.587Z,1749125864.587 [CommandExec](IMPORTANT): got command set sci2.NeedCommsTime 90 minute
2025-06-05T12:17:44.589Z,1749125864.589 [CommandExec](IMPORTANT): got command set sci2.Lat1 36.79815 degree
2025-06-05T12:17:44.590Z,1749125864.590 [CommandExec](IMPORTANT): got command set sci2.Lon1 -122.05519 degree
2025-06-05T12:17:44.591Z,1749125864.591 [CommandExec](IMPORTANT): got command set sci2.Lat2 36.82262 degree
2025-06-05T12:17:44.592Z,1749125864.592 [CommandExec](IMPORTANT): got command set sci2.Lon2 -121.96198 degree
2025-06-05T12:18:00.995Z,1749125880.995 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T12:18:01.800Z,1749125881.800 [CommandExec](IMPORTANT): got command set sci2.Lat3 36.8468 degree
2025-06-05T12:18:01.801Z,1749125881.801 [CommandExec](IMPORTANT): got command set sci2.Lon3 -121.97365 degree
2025-06-05T12:18:01.802Z,1749125881.802 [CommandExec](IMPORTANT): got command set sci2.Lat4 36.85834 degree
2025-06-05T12:18:01.803Z,1749125881.803 [CommandExec](IMPORTANT): got command set sci2.Lon4 -121.9479 degree
2025-06-05T12:18:01.804Z,1749125881.804 [CommandExec](IMPORTANT): got command set sci2.Lat5 36.87083 degree
2025-06-05T12:18:01.804Z,1749125881.804 [CommandExec](IMPORTANT): got command set sci2.Lon5 -121.9582 degree
2025-06-05T12:18:01.805Z,1749125881.805 [CommandExec](IMPORTANT): got command set sci2.Lat6 36.86575 degree
2025-06-05T12:18:22.920Z,1749125902.920 [Default:CheckIn] Running Loop=1
2025-06-05T12:18:22.920Z,1749125902.920 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-06-05T12:18:22.920Z,1749125902.920 [Default:CheckIn:Read_GPS] Running Loop=1
2025-06-05T12:18:26.393Z,1749125906.393 [CommandExec](IMPORTANT): got command set sci2.Lon6 -121.96661 degree
2025-06-05T12:18:26.394Z,1749125906.394 [CommandExec](IMPORTANT): got command set sci2.Lat7 36.84501 degree
2025-06-05T12:18:26.395Z,1749125906.395 [CommandExec](IMPORTANT): got command set sci2.Lon7 -121.95168 degree
2025-06-05T12:18:26.395Z,1749125906.395 [CommandExec](IMPORTANT): got command set sci2.Speed 1.2 meter_per_second
2025-06-05T12:18:26.396Z,1749125906.396 [CommandExec](IMPORTANT): got command set sci2.YoYoMinDepth 4 meter
2025-06-05T12:18:26.397Z,1749125906.397 [CommandExec](IMPORTANT): got command set sci2.YoYoMaxDepth 40 meter
2025-06-05T12:18:26.398Z,1749125906.398 [CommandExec](IMPORTANT): got command set sci2.SinkOffSurface 1 bool
2025-06-05T12:18:32.119Z,1749125912.119 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T12:18:32.949Z,1749125912.949 [CommandExec](IMPORTANT): got command set sci2.SinkDepth 3 meter
2025-06-05T12:18:32.949Z,1749125912.949 [CommandExec](IMPORTANT): got command set sci2.MaxDepth 55 meter
2025-06-05T12:18:32.974Z,1749125912.974 [CommandExec](IMPORTANT): got command run
2025-06-05T12:18:32.976Z,1749125912.976 [CommandExec](IMPORTANT): Running 
2025-06-05T12:18:33.034Z,1749125913.034 [Default] Stopped
2025-06-05T12:18:33.034Z,1749125913.034 [Default](DEBUG): Aggregate::uninitialize Default
2025-06-05T12:18:33.034Z,1749125913.034 [Default:B.GoToSurface] Stopped
2025-06-05T12:18:33.048Z,1749125913.048 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-06-05T12:18:33.048Z,1749125913.048 [Default:CheckIn] Stopped
2025-06-05T12:18:33.048Z,1749125913.048 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-06-05T12:18:33.048Z,1749125913.048 [Default:CheckIn:Read_GPS] Stopped
2025-06-05T12:18:33.048Z,1749125913.048 [MissionManager](IMPORTANT): Started mission sci2
2025-06-05T12:18:33.048Z,1749125913.048 [sci2] Running Loop=1
2025-06-05T12:18:33.048Z,1749125913.048 [sci2](DEBUG): Aggregate::initialize sci2
2025-06-05T12:18:33.048Z,1749125913.048 [sci2:Science] Running Loop=1
2025-06-05T12:18:33.049Z,1749125913.049 [sci2:Science](DEBUG): Aggregate::initialize sci2:Science
2025-06-05T12:18:33.049Z,1749125913.049 [sci2:Science:A] Running Loop=1
2025-06-05T12:18:33.049Z,1749125913.049 [sci2:Science:B] Running Loop=1
2025-06-05T12:18:33.049Z,1749125913.049 [sci2:Science:C] Running Loop=1
2025-06-05T12:18:33.049Z,1749125913.049 [sci2:Science:D] Running Loop=1
2025-06-05T12:18:33.049Z,1749125913.049 [sci2:Science:E] Running Loop=1
2025-06-05T12:18:33.049Z,1749125913.049 [sci2:Science:F] Running Loop=1
2025-06-05T12:18:33.049Z,1749125913.049 [sci2:Science:Read_Oil] Running Loop=1
2025-06-05T12:18:33.049Z,1749125913.049 [sci2:Science:PeakDetectChl] Running Loop=1
2025-06-05T12:18:33.049Z,1749125913.049 [sci2:Science:PeakDetectChl](DEBUG): Aggregate::initialize sci2:Science:PeakDetectChl
2025-06-05T12:18:33.049Z,1749125913.049 [sci2:Science:PeakDetectChl:A] Running Loop=1
2025-06-05T12:18:33.049Z,1749125913.049 [sci2:Science:EdgeDetectChl] Running Loop=1
2025-06-05T12:18:33.050Z,1749125913.050 [sci2:Science:EdgeDetectChl](DEBUG): Aggregate::initialize sci2:Science:EdgeDetectChl
2025-06-05T12:18:33.050Z,1749125913.050 [sci2:Science:EdgeDetectChl:A] Running Loop=1
2025-06-05T12:18:33.050Z,1749125913.050 [sci2:Science:HighestChlPeakReport] Running Loop=1
2025-06-05T12:18:33.050Z,1749125913.050 [sci2:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize sci2:Science:HighestChlPeakReport
2025-06-05T12:18:33.058Z,1749125913.058 [sci2:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-06-05T12:18:33.058Z,1749125913.058 [sci2:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-06-05T12:18:33.059Z,1749125913.059 [sci2:Science:PeakDetectNO3] Running Loop=1
2025-06-05T12:18:33.059Z,1749125913.059 [sci2:Science:PeakDetectNO3](DEBUG): Aggregate::initialize sci2:Science:PeakDetectNO3
2025-06-05T12:18:33.059Z,1749125913.059 [sci2:Science:PeakDetectNO3:A] Running Loop=1
2025-06-05T12:18:33.059Z,1749125913.059 [sci2:Science:PeakDetectOil] Running Loop=1
2025-06-05T12:18:33.059Z,1749125913.059 [sci2:Science:PeakDetectOil](DEBUG): Aggregate::initialize sci2:Science:PeakDetectOil
2025-06-05T12:18:33.059Z,1749125913.059 [sci2:Science:PeakDetectOil:A] Running Loop=1
2025-06-05T12:18:33.060Z,1749125913.060 [sci2:Science:HighestOilPeakReport] Running Loop=1
2025-06-05T12:18:33.060Z,1749125913.060 [sci2:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize sci2:Science:HighestOilPeakReport
2025-06-05T12:18:33.060Z,1749125913.060 [sci2:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-06-05T12:18:33.060Z,1749125913.060 [sci2:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-06-05T12:18:33.060Z,1749125913.060 [sci2:Science:PeakDetectFDOM] Running Loop=1
2025-06-05T12:18:33.060Z,1749125913.060 [sci2:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize sci2:Science:PeakDetectFDOM
2025-06-05T12:18:33.060Z,1749125913.060 [sci2:Science:PeakDetectFDOM:A] Running Loop=1
2025-06-05T12:18:33.061Z,1749125913.061 [sci2:Science:PeakDetectSalinity] Running Loop=1
2025-06-05T12:18:33.061Z,1749125913.061 [sci2:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize sci2:Science:PeakDetectSalinity
2025-06-05T12:18:33.061Z,1749125913.061 [sci2:Science:PeakDetectSalinity:A] Running Loop=1
2025-06-05T12:18:33.061Z,1749125913.061 [sci2:Science:HighestSaltPeakReport] Running Loop=1
2025-06-05T12:18:33.061Z,1749125913.061 [sci2:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize sci2:Science:HighestSaltPeakReport
2025-06-05T12:18:33.061Z,1749125913.061 [sci2:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-06-05T12:18:33.061Z,1749125913.061 [sci2:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-06-05T12:18:33.062Z,1749125913.062 [sci2:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-06-05T12:18:33.062Z,1749125913.062 [sci2:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize sci2:Science:PeakDetectPlanktivoreLMavgROI
2025-06-05T12:18:33.062Z,1749125913.062 [sci2:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-06-05T12:18:33.062Z,1749125913.062 [sci2:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2025-06-05T12:18:33.066Z,1749125913.066 [sci2:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize sci2:Science:EdgeDetectPlanktivoreLMavgROI
2025-06-05T12:18:33.066Z,1749125913.066 [sci2:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-06-05T12:18:33.066Z,1749125913.066 [sci2:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-06-05T12:18:33.067Z,1749125913.067 [sci2:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize sci2:Science:PeakDetectPlanktivoreHMavgROI
2025-06-05T12:18:33.067Z,1749125913.067 [sci2:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-06-05T12:18:33.067Z,1749125913.067 [sci2:Science:EdgeDetectPlanktivoreHMavgROI] Running Loop=1
2025-06-05T12:18:33.067Z,1749125913.067 [sci2:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize sci2:Science:EdgeDetectPlanktivoreHMavgROI
2025-06-05T12:18:33.067Z,1749125913.067 [sci2:Science:EdgeDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-06-05T12:18:33.067Z,1749125913.067 [sci2:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-06-05T12:18:33.067Z,1749125913.067 [sci2:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize sci2:Science:PeakDetectPlanktivoreDiatoms
2025-06-05T12:18:33.067Z,1749125913.067 [sci2:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2025-06-05T12:18:33.067Z,1749125913.067 [sci2:Science:EdgeDetectPlanktivoreDiatoms] Running Loop=1
2025-06-05T12:18:33.067Z,1749125913.067 [sci2:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize sci2:Science:EdgeDetectPlanktivoreDiatoms
2025-06-05T12:18:33.068Z,1749125913.068 [sci2:Science:EdgeDetectPlanktivoreDiatoms:A] Running Loop=1
2025-06-05T12:18:33.068Z,1749125913.068 [sci2:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-06-05T12:18:33.068Z,1749125913.068 [sci2:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize sci2:Science:PeakDetectPlanktivoreDinoflagellates
2025-06-05T12:18:33.068Z,1749125913.068 [sci2:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-06-05T12:18:33.068Z,1749125913.068 [sci2:Science:EdgeDetectPlanktivoreDinoflagellates] Running Loop=1
2025-06-05T12:18:33.068Z,1749125913.068 [sci2:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize sci2:Science:EdgeDetectPlanktivoreDinoflagellates
2025-06-05T12:18:33.069Z,1749125913.069 [sci2:Science:EdgeDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-06-05T12:18:33.069Z,1749125913.069 [sci2:Science:ChlThreshTrigger] Running Loop=1
2025-06-05T12:18:33.069Z,1749125913.069 [sci2:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize sci2:Science:ChlThreshTrigger
2025-06-05T12:18:33.069Z,1749125913.069 [sci2:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-06-05T12:18:33.069Z,1749125913.069 [sci2:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-06-05T12:18:33.069Z,1749125913.069 [sci2:Science:OceanCurrent] Running Loop=1
2025-06-05T12:18:33.069Z,1749125913.069 [sci2:Science:OceanCurrent](DEBUG): Aggregate::initialize sci2:Science:OceanCurrent
2025-06-05T12:18:33.070Z,1749125913.070 [sci2:Science:OceanCurrent:A.] Running Loop=1
2025-06-05T12:18:33.070Z,1749125913.070 [sci2:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-06-05T12:18:33.070Z,1749125913.070 [sci2:StandardEnvelopes] Running Loop=1
2025-06-05T12:18:33.070Z,1749125913.070 [sci2:StandardEnvelopes](DEBUG): Aggregate::initialize sci2:StandardEnvelopes
2025-06-05T12:18:33.074Z,1749125913.074 [sci2:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-06-05T12:18:33.074Z,1749125913.074 [sci2:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-06-05T12:18:33.074Z,1749125913.074 [sci2:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-06-05T12:18:33.075Z,1749125913.075 [sci2:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-06-05T12:18:33.075Z,1749125913.075 [sci2:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-06-05T12:18:33.075Z,1749125913.075 [sci2:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-06-05T12:18:33.075Z,1749125913.075 [sci2:BackseatDriver] Running Loop=1
2025-06-05T12:18:33.075Z,1749125913.075 [sci2:BackseatDriver](DEBUG): Aggregate::initialize sci2:BackseatDriver
2025-06-05T12:18:33.075Z,1749125913.075 [sci2:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-06-05T12:18:33.075Z,1749125913.075 [sci2:PowerOnly] Running Loop=1
2025-06-05T12:18:33.075Z,1749125913.075 [sci2:PowerOnly](DEBUG): Aggregate::initialize sci2:PowerOnly
2025-06-05T12:18:33.075Z,1749125913.075 [sci2:PowerOnly:A] Running Loop=1
2025-06-05T12:18:33.075Z,1749125913.075 [sci2:PowerOnly:B] Running Loop=1
2025-06-05T12:18:33.075Z,1749125913.075 [sci2:PowerOnly:C] Running Loop=1
2025-06-05T12:18:33.076Z,1749125913.076 [sci2:PowerOnly:D] Running Loop=1
2025-06-05T12:18:33.076Z,1749125913.076 [sci2:PowerOnly:E.Wait] Running Loop=1
2025-06-05T12:18:33.076Z,1749125913.076 [sci2:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-06-05T12:18:33.076Z,1749125913.076 [sci2:C] Running Loop=1
2025-06-05T12:18:33.077Z,1749125913.077 [sci2:PowerOnly] Running Loop=1
2025-06-05T12:18:33.077Z,1749125913.077 [sci2:PowerOnly:D] Stopped
2025-06-05T12:18:33.077Z,1749125913.077 [sci2:PowerOnly:C] Stopped
2025-06-05T12:18:33.077Z,1749125913.077 [sci2:PowerOnly:B] Stopped
2025-06-05T12:18:33.077Z,1749125913.077 [sci2:PowerOnly:A] Stopped
2025-06-05T12:18:33.077Z,1749125913.077 [sci2:BackseatDriver] Running Loop=1
2025-06-05T12:18:33.077Z,1749125913.077 [sci2:StandardEnvelopes] Running Loop=1
2025-06-05T12:18:33.078Z,1749125913.078 [sci2:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-06-05T12:18:33.078Z,1749125913.078 [sci2:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-06-05T12:18:33.083Z,1749125913.083 [sci2:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-06-05T12:18:33.083Z,1749125913.083 [sci2:C] Stopped
2025-06-05T12:18:33.083Z,1749125913.083 [sci2:E] Running Loop=1
2025-06-05T12:18:33.083Z,1749125913.083 [sci2:Science] Running Loop=1
2025-06-05T12:18:33.090Z,1749125913.090 [sci2:Science:ChlThreshTrigger] Stopped
2025-06-05T12:18:33.090Z,1749125913.090 [sci2:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize sci2:Science:ChlThreshTrigger
2025-06-05T12:18:33.090Z,1749125913.090 [sci2:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-06-05T12:18:33.091Z,1749125913.091 [sci2:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-06-05T12:18:33.091Z,1749125913.091 [sci2:Science:EdgeDetectPlanktivoreDinoflagellates] Stopped
2025-06-05T12:18:33.091Z,1749125913.091 [sci2:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize sci2:Science:EdgeDetectPlanktivoreDinoflagellates
2025-06-05T12:18:33.091Z,1749125913.091 [sci2:Science:EdgeDetectPlanktivoreDinoflagellates:A] Stopped
2025-06-05T12:18:33.091Z,1749125913.091 [sci2:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-06-05T12:18:33.091Z,1749125913.091 [sci2:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize sci2:Science:PeakDetectPlanktivoreDinoflagellates
2025-06-05T12:18:33.091Z,1749125913.091 [sci2:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2025-06-05T12:18:33.091Z,1749125913.091 [sci2:Science:EdgeDetectPlanktivoreDiatoms] Stopped
2025-06-05T12:18:33.091Z,1749125913.091 [sci2:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize sci2:Science:EdgeDetectPlanktivoreDiatoms
2025-06-05T12:18:33.091Z,1749125913.091 [sci2:Science:EdgeDetectPlanktivoreDiatoms:A] Stopped
2025-06-05T12:18:33.091Z,1749125913.091 [sci2:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-06-05T12:18:33.091Z,1749125913.091 [sci2:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize sci2:Science:PeakDetectPlanktivoreDiatoms
2025-06-05T12:18:33.091Z,1749125913.091 [sci2:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2025-06-05T12:18:33.092Z,1749125913.092 [sci2:Science:EdgeDetectPlanktivoreHMavgROI] Stopped
2025-06-05T12:18:33.092Z,1749125913.092 [sci2:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize sci2:Science:EdgeDetectPlanktivoreHMavgROI
2025-06-05T12:18:33.092Z,1749125913.092 [sci2:Science:EdgeDetectPlanktivoreHMavgROI:A] Stopped
2025-06-05T12:18:33.092Z,1749125913.092 [sci2:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-06-05T12:18:33.092Z,1749125913.092 [sci2:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize sci2:Science:PeakDetectPlanktivoreHMavgROI
2025-06-05T12:18:33.092Z,1749125913.092 [sci2:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2025-06-05T12:18:33.092Z,1749125913.092 [sci2:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2025-06-05T12:18:33.092Z,1749125913.092 [sci2:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize sci2:Science:EdgeDetectPlanktivoreLMavgROI
2025-06-05T12:18:33.092Z,1749125913.092 [sci2:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2025-06-05T12:18:33.092Z,1749125913.092 [sci2:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-06-05T12:18:33.092Z,1749125913.092 [sci2:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize sci2:Science:PeakDetectPlanktivoreLMavgROI
2025-06-05T12:18:33.092Z,1749125913.092 [sci2:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2025-06-05T12:18:33.092Z,1749125913.092 [sci2:Science:HighestSaltPeakReport] Stopped
2025-06-05T12:18:33.093Z,1749125913.093 [sci2:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize sci2:Science:HighestSaltPeakReport
2025-06-05T12:18:33.093Z,1749125913.093 [sci2:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-06-05T12:18:33.093Z,1749125913.093 [sci2:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-06-05T12:18:33.093Z,1749125913.093 [sci2:Science:PeakDetectSalinity] Stopped
2025-06-05T12:18:33.093Z,1749125913.093 [sci2:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize sci2:Science:PeakDetectSalinity
2025-06-05T12:18:33.093Z,1749125913.093 [sci2:Science:PeakDetectSalinity:A] Stopped
2025-06-05T12:18:33.093Z,1749125913.093 [sci2:Science:PeakDetectFDOM] Stopped
2025-06-05T12:18:33.093Z,1749125913.093 [sci2:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize sci2:Science:PeakDetectFDOM
2025-06-05T12:18:33.093Z,1749125913.093 [sci2:Science:PeakDetectFDOM:A] Stopped
2025-06-05T12:18:33.093Z,1749125913.093 [sci2:Science:HighestOilPeakReport] Stopped
2025-06-05T12:18:33.093Z,1749125913.093 [sci2:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize sci2:Science:HighestOilPeakReport
2025-06-05T12:18:33.093Z,1749125913.093 [sci2:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-06-05T12:18:33.093Z,1749125913.093 [sci2:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-06-05T12:18:33.093Z,1749125913.093 [sci2:Science:PeakDetectOil] Stopped
2025-06-05T12:18:33.094Z,1749125913.094 [sci2:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize sci2:Science:PeakDetectOil
2025-06-05T12:18:33.094Z,1749125913.094 [sci2:Science:PeakDetectOil:A] Stopped
2025-06-05T12:18:33.094Z,1749125913.094 [sci2:Science:PeakDetectNO3] Stopped
2025-06-05T12:18:33.098Z,1749125913.098 [sci2:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize sci2:Science:PeakDetectNO3
2025-06-05T12:18:33.098Z,1749125913.098 [sci2:Science:PeakDetectNO3:A] Stopped
2025-06-05T12:18:33.098Z,1749125913.098 [sci2:Science:HighestChlPeakReport] Stopped
2025-06-05T12:18:33.098Z,1749125913.098 [sci2:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize sci2:Science:HighestChlPeakReport
2025-06-05T12:18:33.098Z,1749125913.098 [sci2:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-06-05T12:18:33.099Z,1749125913.099 [sci2:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-06-05T12:18:33.099Z,1749125913.099 [sci2:Science:EdgeDetectChl] Stopped
2025-06-05T12:18:33.099Z,1749125913.099 [sci2:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize sci2:Science:EdgeDetectChl
2025-06-05T12:18:33.099Z,1749125913.099 [sci2:Science:EdgeDetectChl:A] Stopped
2025-06-05T12:18:33.099Z,1749125913.099 [sci2:Science:PeakDetectChl] Stopped
2025-06-05T12:18:33.099Z,1749125913.099 [sci2:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize sci2:Science:PeakDetectChl
2025-06-05T12:18:33.099Z,1749125913.099 [sci2:Science:PeakDetectChl:A] Stopped
2025-06-05T12:18:33.099Z,1749125913.099 [sci2:Science:OceanCurrent:A.] Running Loop=1
2025-06-05T12:18:33.099Z,1749125913.099 [sci2:Science:Read_Oil] Stopped
2025-06-05T12:18:33.099Z,1749125913.099 [sci2:Science:F] Stopped
2025-06-05T12:18:33.099Z,1749125913.099 [sci2:Science:E] Running Loop=1
2025-06-05T12:18:33.100Z,1749125913.100 [sci2:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2025-06-05T12:18:33.100Z,1749125913.100 [sci2:Science:D] Stopped
2025-06-05T12:18:33.100Z,1749125913.100 [sci2:Science:C] Running Loop=1
2025-06-05T12:18:33.100Z,1749125913.100 [sci2:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2025-06-05T12:18:33.101Z,1749125913.101 [sci2:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2025-06-05T12:18:33.101Z,1749125913.101 [sci2:Science:B] Running Loop=1
2025-06-05T12:18:33.101Z,1749125913.101 [sci2:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2025-06-05T12:18:33.106Z,1749125913.106 [sci2:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2025-06-05T12:18:33.106Z,1749125913.106 [sci2:Science:A] Stopped
2025-06-05T12:18:33.419Z,1749125913.419 [sci2:E] Stopped
2025-06-05T12:18:33.419Z,1749125913.419 [sci2:F] Running Loop=1
2025-06-05T12:18:33.435Z,1749125913.435 [WetLabsBB2FL](INFO): Powering up
2025-06-05T12:18:33.795Z,1749125913.795 [sci2:F] Stopped
2025-06-05T12:18:33.795Z,1749125913.795 [sci2:G] Running Loop=1
2025-06-05T12:18:34.213Z,1749125914.213 [sci2:G] Stopped
2025-06-05T12:18:34.213Z,1749125914.213 [sci2:StartingMission] Running Loop=1
2025-06-05T12:18:34.213Z,1749125914.213 [sci2:StartingMission](DEBUG): Aggregate::initialize sci2:StartingMission
2025-06-05T12:18:34.601Z,1749125914.601 [sci2:SurfaceComms] Running Loop=1
2025-06-05T12:18:34.601Z,1749125914.601 [sci2:SurfaceComms](DEBUG): Aggregate::initialize sci2:SurfaceComms
2025-06-05T12:18:34.601Z,1749125914.601 [sci2:SurfaceComms:A] Running Loop=1
2025-06-05T12:18:34.601Z,1749125914.601 [sci2:SurfaceComms:A] Stopped
2025-06-05T12:18:34.602Z,1749125914.602 [sci2:SurfaceComms:B] Running Loop=1
2025-06-05T12:18:34.602Z,1749125914.602 [sci2:SurfaceComms:B](DEBUG): Aggregate::initialize sci2:SurfaceComms:B
2025-06-05T12:18:35.010Z,1749125915.010 [sci2:NeedComms] Running Loop=1
2025-06-05T12:18:35.010Z,1749125915.010 [sci2:NeedComms](DEBUG): Aggregate::initialize sci2:NeedComms
2025-06-05T12:18:35.010Z,1749125915.010 [sci2:NeedComms:B.GoToSurface] Running Loop=1
2025-06-05T12:18:35.010Z,1749125915.010 [sci2:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-06-05T12:18:35.011Z,1749125915.011 [sci2:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-06-05T12:18:35.011Z,1749125915.011 [sci2:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-06-05T12:18:35.011Z,1749125915.011 [sci2:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-06-05T12:18:35.012Z,1749125915.012 [sci2:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-06-05T12:18:35.012Z,1749125915.012 [sci2:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-06-05T12:18:35.012Z,1749125915.012 [sci2:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-06-05T12:18:35.013Z,1749125915.013 [sci2:NeedComms:A] Running Loop=1
2025-06-05T12:18:35.014Z,1749125915.014 [sci2:NeedComms:A](INFO): last time_fix was:  1749123577.000000 second since 1970/01/01T00:00:00Z 
2025-06-05T12:18:35.014Z,1749125915.014 [sci2:NeedComms:A] Stopped
2025-06-05T12:18:35.418Z,1749125915.418 [sci2:NeedComms:C] Running Loop=1
2025-06-05T12:18:35.830Z,1749125915.830 [sci2:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-06-05T12:18:36.676Z,1749125916.676 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2025-06-05T12:18:39.704Z,1749125919.704 [CTD_Seabird](ERROR): Salinity reading out of range: 26.361582 psu
2025-06-05T12:18:39.705Z,1749125919.705 [CTD_Seabird](INFO): some bad data, not updating bins
2025-06-05T12:19:03.258Z,1749125943.258 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T12:19:15.826Z,1749125955.826 [NAL9602](INFO): SBD MO Status=2, MOMSN=21065, MT Status=2, MTMSN=0
2025-06-05T12:19:15.826Z,1749125955.826 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-06-05T12:19:34.391Z,1749125974.391 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T12:19:35.600Z,1749125975.600 [NAL9602](INFO): SBD MO Status=1, MOMSN=21065, MT Status=0, MTMSN=0
2025-06-05T12:19:35.600Z,1749125975.600 [NAL9602](INFO): No messages in MT queue
2025-06-05T12:19:36.813Z,1749125976.813 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,121936.00,A,3647.26081,N,12201.74572,W,0.408,112.73,050625,,,A*74
2025-06-05T12:19:36.815Z,1749125976.815 [NAL9602](INFO): GPS fix at 20250605T121936: (36.787680, -122.029095)
2025-06-05T12:19:36.851Z,1749125976.851 [UniversalFixResidualReporter](INFO): Fix residual: 66.8 %DT, over the last 1431.1 m. Residual distance 956.7 m at bearing -51.5 degrees. Fix at (36.7877, -122.0291) with 595.9 m made good.
2025-06-05T12:19:36.853Z,1749125976.853 [sci2:NeedComms:C] Stopped
2025-06-05T12:19:36.853Z,1749125976.853 [sci2:NeedComms:D] Running Loop=1
2025-06-05T12:19:37.281Z,1749125977.281 [sci2:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-06-05T12:19:43.443Z,1749125983.443 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003681
2025-06-05T12:19:45.159Z,1749125985.159 [DVL_micro](ERROR): Failed to parse:
:RD,+9999.99,+9999.99,+9999.99,+9999.99
2025-06-05T12:19:51.238Z,1749125991.238 [DataOverHttps](INFO): Sending 90 bytes from file Logs/20250605T040200/Courier0030.lzma
2025-06-05T12:19:51.638Z,1749125991.638 [NAL9602](INFO): SBD MO Status=1, MOMSN=21066, MT Status=0, MTMSN=0
2025-06-05T12:19:51.691Z,1749125991.691 [NAL9602](INFO): Sent 90 bytes from file Logs/20250605T040200/Courier0030.lzma
2025-06-05T12:19:51.691Z,1749125991.691 [NAL9602](INFO): Packets left to send: 0
2025-06-05T12:19:52.339Z,1749125992.339 [DataOverHttps](FAULT): Server acknowledged file Logs/20250605T040200/Courier0030.lzma, notLogs/20250605T121700/Courier0000.lzma
2025-06-05T12:19:52.339Z,1749125992.339 [DataOverHttps](INFO): SBD MOMSN=25100678
2025-06-05T12:20:09.275Z,1749126009.275 [DataOverHttps](INFO): Sending 326 bytes from file Logs/20250605T121700/Courier0000.lzma
2025-06-05T12:20:10.277Z,1749126010.277 [DataOverHttps](INFO): Moved sent file to Logs/20250605T121700/Courier0000.lzma.bak
2025-06-05T12:20:10.277Z,1749126010.277 [DataOverHttps](INFO): SBD MOMSN=25100682
2025-06-05T12:20:22.318Z,1749126022.318 [NAL9602](INFO): Not Powering down - fast GPS
2025-06-05T12:20:27.247Z,1749126027.247 [DataOverHttps](INFO): Sending 449 bytes from file Logs/20250605T040200/Express0031.lzma
2025-06-05T12:20:28.248Z,1749126028.248 [DataOverHttps](INFO): Moved sent file to Logs/20250605T040200/Express0031.lzma.bak
2025-06-05T12:20:28.248Z,1749126028.248 [DataOverHttps](INFO): SBD MOMSN=25100687
2025-06-05T12:20:47.937Z,1749126047.937 [DataOverHttps](INFO): Sending 1079 bytes from file Logs/20250605T121700/Express0001.lzma
2025-06-05T12:20:48.936Z,1749126048.936 [DataOverHttps](INFO): Moved sent file to Logs/20250605T121700/Express0001.lzma.bak
2025-06-05T12:20:48.936Z,1749126048.936 [DataOverHttps](INFO): SBD MOMSN=25100692
2025-06-05T12:20:50.256Z,1749126050.256 [sci2:NeedComms:D] Stopped
2025-06-05T12:20:50.256Z,1749126050.256 [sci2:NeedComms:E] Running Loop=1
2025-06-05T12:20:50.666Z,1749126050.666 [sci2:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-06-05T12:20:52.272Z,1749126052.272 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,122051.00,A,3647.25655,N,12201.72471,W,1.030,125.03,050625,,,A*7A
2025-06-05T12:20:52.279Z,1749126052.279 [NAL9602](INFO): GPS fix at 20250605T122051: (36.787609, -122.028745)
2025-06-05T12:20:52.323Z,1749126052.323 [sci2:NeedComms:E] Stopped
2025-06-05T12:20:52.324Z,1749126052.324 [sci2:NeedComms](INFO): Completed sci2:NeedComms
2025-06-05T12:20:52.324Z,1749126052.324 [sci2:NeedComms] Stopped
2025-06-05T12:20:52.324Z,1749126052.324 [sci2:NeedComms](DEBUG): Aggregate::uninitialize sci2:NeedComms
2025-06-05T12:20:52.324Z,1749126052.324 [sci2:NeedComms:B.GoToSurface] Stopped
2025-06-05T12:20:52.324Z,1749126052.324 [sci2:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-06-05T12:20:52.698Z,1749126052.698 [sci2:SurfaceComms:B](INFO): Completed sci2:SurfaceComms:B
2025-06-05T12:20:52.698Z,1749126052.698 [sci2:SurfaceComms:B] Stopped
2025-06-05T12:20:52.699Z,1749126052.699 [sci2:SurfaceComms:B](DEBUG): Aggregate::uninitialize sci2:SurfaceComms:B
2025-06-05T12:20:52.699Z,1749126052.699 [sci2:SurfaceComms:setInitial] Running Loop=1
2025-06-05T12:20:52.699Z,1749126052.699 [sci2:SurfaceComms:setInitial](DEBUG): Aggregate::initialize sci2:SurfaceComms:setInitial
2025-06-05T12:20:52.699Z,1749126052.699 [sci2:SurfaceComms:setInitial:A] Running Loop=1
2025-06-05T12:20:53.079Z,1749126053.079 [sci2:SurfaceComms:setInitial] Stopped
2025-06-05T12:20:53.080Z,1749126053.080 [sci2:SurfaceComms:setInitial](DEBUG): Aggregate::uninitialize sci2:SurfaceComms:setInitial
2025-06-05T12:20:53.080Z,1749126053.080 [sci2:SurfaceComms:setInitial:A] Stopped
2025-06-05T12:20:53.080Z,1749126053.080 [sci2:SurfaceComms:setSink] Running Loop=1
2025-06-05T12:20:53.080Z,1749126053.080 [sci2:SurfaceComms:setSink](DEBUG): Aggregate::initialize sci2:SurfaceComms:setSink
2025-06-05T12:20:53.080Z,1749126053.080 [sci2:SurfaceComms:setSink:A] Running Loop=1
2025-06-05T12:20:53.540Z,1749126053.540 [sci2:SurfaceComms:setSink:A] Stopped
2025-06-05T12:20:53.541Z,1749126053.541 [sci2:SurfaceComms:setSink](INFO): Completed sci2:SurfaceComms:setSink
2025-06-05T12:20:53.541Z,1749126053.541 [sci2:SurfaceComms:setSink] Stopped
2025-06-05T12:20:53.541Z,1749126053.541 [sci2:SurfaceComms:setSink](DEBUG): Aggregate::uninitialize sci2:SurfaceComms:setSink
2025-06-05T12:20:53.541Z,1749126053.541 [sci2:SurfaceComms](INFO): Completed sci2:SurfaceComms
2025-06-05T12:20:53.541Z,1749126053.541 [sci2:SurfaceComms] Stopped
2025-06-05T12:20:53.541Z,1749126053.541 [sci2:SurfaceComms](DEBUG): Aggregate::uninitialize sci2:SurfaceComms
2025-06-05T12:20:53.912Z,1749126053.912 [sci2:StartingMission](INFO): Completed sci2:StartingMission
2025-06-05T12:20:53.912Z,1749126053.912 [sci2:StartingMission] Stopped
2025-06-05T12:20:53.912Z,1749126053.912 [sci2:StartingMission](DEBUG): Aggregate::uninitialize sci2:StartingMission
2025-06-05T12:20:53.912Z,1749126053.912 [sci2:Lap] Running Loop=1
2025-06-05T12:20:53.912Z,1749126053.912 [sci2:Lap](DEBUG): Aggregate::initialize sci2:Lap
2025-06-05T12:20:53.913Z,1749126053.913 [sci2:Lap:Dive] Running Loop=1
2025-06-05T12:20:53.913Z,1749126053.913 [sci2:Lap:Dive](DEBUG): Aggregate::initialize sci2:Lap:Dive
2025-06-05T12:20:53.913Z,1749126053.913 [sci2:Lap:Dive:A] Running Loop=1
2025-06-05T12:20:53.913Z,1749126053.913 [sci2:Lap:Dive:A](DEBUG): Aggregate::initialize sci2:Lap:Dive:A
2025-06-05T12:20:53.913Z,1749126053.913 [sci2:Lap:Wpt1] Running Loop=1
2025-06-05T12:20:53.913Z,1749126053.913 [sci2:Lap:Wpt1](DEBUG): Aggregate::initialize sci2:Lap:Wpt1
2025-06-05T12:20:53.913Z,1749126053.913 [sci2:Lap:Wpt1:A.Waypoint] Running Loop=1
2025-06-05T12:20:53.913Z,1749126053.913 [sci2:Lap:Wpt1:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-06-05T12:20:53.934Z,1749126053.934 [sci2:Lap:Wpt1:A.Waypoint](IMPORTANT): Navigating to waypoint: 36.798149,-122.055191
2025-06-05T12:20:54.320Z,1749126054.320 [sci2:Lap:Wpt1:A.Waypoint](INFO): Navigating to waypoint: 36.798149,-122.055191
2025-06-05T12:20:54.320Z,1749126054.320 [sci2:Lap:Dive] Running Loop=1
2025-06-05T12:20:54.320Z,1749126054.320 [sci2:DiveCmd] Running Loop=1
2025-06-05T12:20:54.321Z,1749126054.321 [sci2:DiveCmd](DEBUG): Aggregate::initialize sci2:DiveCmd
2025-06-05T12:20:54.321Z,1749126054.321 [sci2:DiveCmd:SurfaceSink] Running Loop=1
2025-06-05T12:20:54.321Z,1749126054.321 [sci2:DiveCmd:SurfaceSink](DEBUG): Aggregate::initialize sci2:DiveCmd:SurfaceSink
2025-06-05T12:20:54.321Z,1749126054.321 [sci2:DiveCmd:SurfaceSink:sink] Running Loop=1
2025-06-05T12:20:54.321Z,1749126054.321 [sci2:DiveCmd:SurfaceSink:sink](DEBUG): Aggregate::initialize sci2:DiveCmd:SurfaceSink:sink
2025-06-05T12:20:54.321Z,1749126054.321 [sci2:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy] Running Loop=1
2025-06-05T12:20:54.321Z,1749126054.321 [sci2:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-06-05T12:20:54.321Z,1749126054.321 [sci2:DiveCmd:SurfaceSink:sink:B.SetSpeed] Running Loop=1
2025-06-05T12:20:54.321Z,1749126054.321 [sci2:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Initialize.
2025-06-05T12:20:54.322Z,1749126054.322 [sci2:DiveCmd:SurfaceSink:sink:C] Running Loop=1
2025-06-05T12:20:54.322Z,1749126054.322 [sci2:DiveCmd:YoYoDive] Running Loop=1
2025-06-05T12:20:54.322Z,1749126054.322 [sci2:DiveCmd:YoYoDive](DEBUG): Aggregate::initialize sci2:DiveCmd:YoYoDive
2025-06-05T12:20:54.322Z,1749126054.322 [sci2:DiveCmd:YoYoDive:dive] Running Loop=1
2025-06-05T12:20:54.326Z,1749126054.326 [sci2:DiveCmd:YoYoDive:dive](DEBUG): Aggregate::initialize sci2:DiveCmd:YoYoDive:dive
2025-06-05T12:20:54.326Z,1749126054.326 [sci2:DiveCmd:YoYoDive:dive:A.Pitch] Running Loop=1
2025-06-05T12:20:54.326Z,1749126054.326 [sci2:DiveCmd:YoYoDive:dive:A.Pitch](DEBUG): Initialize.
2025-06-05T12:20:54.327Z,1749126054.327 [sci2:DiveCmd:YoYoDive:dive:B.Buoyancy] Running Loop=1
2025-06-05T12:20:54.327Z,1749126054.327 [sci2:DiveCmd:YoYoDive:dive:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-06-05T12:20:54.327Z,1749126054.327 [sci2:DiveCmd:YoYoDive:dive:SetSpeed] Running Loop=1
2025-06-05T12:20:54.327Z,1749126054.327 [sci2:DiveCmd:YoYoDive:dive:SetSpeed](DEBUG): Aggregate::initialize sci2:DiveCmd:YoYoDive:dive:SetSpeed
2025-06-05T12:20:54.327Z,1749126054.327 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:SurfaceDive] Running Loop=1
2025-06-05T12:20:54.327Z,1749126054.327 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:SurfaceDive](DEBUG): Aggregate::initialize sci2:DiveCmd:YoYoDive:dive:SetSpeed:SurfaceDive
2025-06-05T12:20:54.327Z,1749126054.327 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:SurfaceDive:SurfaceSpeed] Running Loop=1
2025-06-05T12:20:54.327Z,1749126054.327 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:SurfaceDive:SurfaceSpeed](DEBUG): Aggregate::initialize sci2:DiveCmd:YoYoDive:dive:SetSpeed:SurfaceDive:SurfaceSpeed
2025-06-05T12:20:54.327Z,1749126054.327 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:SurfaceDive:SurfaceSpeed:A.SetSpeed] Running Loop=1
2025-06-05T12:20:54.327Z,1749126054.327 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:SurfaceDive:SurfaceSpeed:A.SetSpeed](DEBUG): Initialize.
2025-06-05T12:20:54.327Z,1749126054.327 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:ProfileSpeed] Running Loop=1
2025-06-05T12:20:54.328Z,1749126054.328 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:ProfileSpeed](DEBUG): Aggregate::initialize sci2:DiveCmd:YoYoDive:dive:SetSpeed:ProfileSpeed
2025-06-05T12:20:54.328Z,1749126054.328 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:ProfileSpeed:A.SetSpeed] Running Loop=1
2025-06-05T12:20:54.328Z,1749126054.328 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:ProfileSpeed:A.SetSpeed](DEBUG): Initialize.
2025-06-05T12:20:54.328Z,1749126054.328 [sci2:DiveCmd:YoYoDive:dive:D.DepthEnvelope] Running Loop=1
2025-06-05T12:20:54.328Z,1749126054.328 [sci2:DiveCmd:YoYoDive:dive:D.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-06-05T12:20:54.328Z,1749126054.328 [sci2:DiveCmd:YoYoDive:dive:E.AltitudeEnvelope] Running Loop=1
2025-06-05T12:20:54.328Z,1749126054.328 [sci2:DiveCmd:YoYoDive:dive:E.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-06-05T12:20:54.328Z,1749126054.328 [sci2:DiveCmd:YoYoDive:dive:F.YoYo] Running Loop=1
2025-06-05T12:20:54.329Z,1749126054.329 [sci2:DiveCmd:YoYoDive:dive:F.YoYo](DEBUG): Initialize YoYoComponent.
2025-06-05T12:20:54.329Z,1749126054.329 [sci2:DiveCmd:YoYoDive] Stopped
2025-06-05T12:20:54.329Z,1749126054.329 [sci2:DiveCmd:YoYoDive](DEBUG): Aggregate::uninitialize sci2:DiveCmd:YoYoDive
2025-06-05T12:20:54.329Z,1749126054.329 [sci2:DiveCmd:YoYoDive:dive] Stopped
2025-06-05T12:20:54.329Z,1749126054.329 [sci2:DiveCmd:YoYoDive:dive](DEBUG): Aggregate::uninitialize sci2:DiveCmd:YoYoDive:dive
2025-06-05T12:20:54.329Z,1749126054.329 [sci2:DiveCmd:YoYoDive:dive:A.Pitch] Stopped
2025-06-05T12:20:54.329Z,1749126054.329 [sci2:DiveCmd:YoYoDive:dive:B.Buoyancy] Stopped
2025-06-05T12:20:54.329Z,1749126054.329 [sci2:DiveCmd:YoYoDive:dive:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-06-05T12:20:54.329Z,1749126054.329 [sci2:DiveCmd:YoYoDive:dive:SetSpeed] Stopped
2025-06-05T12:20:54.330Z,1749126054.330 [sci2:DiveCmd:YoYoDive:dive:SetSpeed](DEBUG): Aggregate::uninitialize sci2:DiveCmd:YoYoDive:dive:SetSpeed
2025-06-05T12:20:54.330Z,1749126054.330 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:SurfaceDive] Stopped
2025-06-05T12:20:54.330Z,1749126054.330 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:SurfaceDive](DEBUG): Aggregate::uninitialize sci2:DiveCmd:YoYoDive:dive:SetSpeed:SurfaceDive
2025-06-05T12:20:54.330Z,1749126054.330 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:SurfaceDive:SurfaceSpeed] Stopped
2025-06-05T12:20:54.350Z,1749126054.350 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:SurfaceDive:SurfaceSpeed](DEBUG): Aggregate::uninitialize sci2:DiveCmd:YoYoDive:dive:SetSpeed:SurfaceDive:SurfaceSpeed
2025-06-05T12:20:54.350Z,1749126054.350 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:SurfaceDive:SurfaceSpeed:A.SetSpeed] Stopped
2025-06-05T12:20:54.350Z,1749126054.350 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:SurfaceDive:SurfaceSpeed:A.SetSpeed](DEBUG): Uninitialize.
2025-06-05T12:20:54.350Z,1749126054.350 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:ProfileSpeed] Stopped
2025-06-05T12:20:54.351Z,1749126054.351 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:ProfileSpeed](DEBUG): Aggregate::uninitialize sci2:DiveCmd:YoYoDive:dive:SetSpeed:ProfileSpeed
2025-06-05T12:20:54.351Z,1749126054.351 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:ProfileSpeed:A.SetSpeed] Stopped
2025-06-05T12:20:54.351Z,1749126054.351 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:ProfileSpeed:A.SetSpeed](DEBUG): Uninitialize.
2025-06-05T12:20:54.351Z,1749126054.351 [sci2:DiveCmd:YoYoDive:dive:D.DepthEnvelope] Stopped
2025-06-05T12:20:54.351Z,1749126054.351 [sci2:DiveCmd:YoYoDive:dive:D.DepthEnvelope](DEBUG): Uninitialize.
2025-06-05T12:20:54.351Z,1749126054.351 [sci2:DiveCmd:YoYoDive:dive:E.AltitudeEnvelope] Stopped
2025-06-05T12:20:54.351Z,1749126054.351 [sci2:DiveCmd:YoYoDive:dive:E.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-06-05T12:20:54.351Z,1749126054.351 [sci2:DiveCmd:YoYoDive:dive:F.YoYo] Stopped
2025-06-05T12:20:54.351Z,1749126054.351 [sci2:DiveCmd:YoYoDive:dive:F.YoYo](DEBUG): Uninitialize YoYoComponent.
2025-06-05T12:20:54.351Z,1749126054.351 [sci2:DiveCmd:SurfaceSink] Running Loop=1
2025-06-05T12:20:54.352Z,1749126054.352 [sci2:DiveCmd:SurfaceSink:sink:C](INFO): Sinking to  3.000000 m 
2025-06-05T12:20:54.352Z,1749126054.352 [sci2:DiveCmd:SurfaceSink:sink:C] Stopped
2025-06-05T12:20:54.352Z,1749126054.352 [sci2:DiveCmd:SurfaceSink:sink:D.Pitch] Running Loop=1
2025-06-05T12:20:54.352Z,1749126054.352 [sci2:DiveCmd:SurfaceSink:sink:D.Pitch](DEBUG): Initialize.
2025-06-05T12:20:54.352Z,1749126054.352 [sci2:DiveCmd:SurfaceSink:sink:B.SetSpeed] Running Loop=1
2025-06-05T12:20:54.353Z,1749126054.353 [sci2:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy] Running Loop=1
2025-06-05T12:21:24.428Z,1749126084.428 [NAL9602](INFO): SBD MO Status=2, MOMSN=21067, MT Status=2, MTMSN=0
2025-06-05T12:21:24.428Z,1749126084.428 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-06-05T12:21:43.396Z,1749126103.396 [NAL9602](INFO): SBD MO Status=2, MOMSN=21067, MT Status=2, MTMSN=0
2025-06-05T12:21:43.396Z,1749126103.396 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-06-05T12:22:21.105Z,1749126141.105 [NAL9602](INFO): SBD MO Status=2, MOMSN=21067, MT Status=2, MTMSN=0
2025-06-05T12:22:21.105Z,1749126141.105 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-06-05T12:22:52.059Z,1749126172.059 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T12:23:23.187Z,1749126203.187 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T12:23:39.553Z,1749126219.553 [sci2:DiveCmd:SurfaceSink:sink:D.Pitch] Stopped
2025-06-05T12:23:39.553Z,1749126219.553 [sci2:DiveCmd:SurfaceSink:sink:E] Running Loop=1
2025-06-05T12:23:39.964Z,1749126219.964 [sci2:DiveCmd:SurfaceSink:sink:E] Stopped
2025-06-05T12:23:39.964Z,1749126219.964 [sci2:DiveCmd:SurfaceSink:sink](INFO): Completed sci2:DiveCmd:SurfaceSink:sink
2025-06-05T12:23:39.964Z,1749126219.964 [sci2:DiveCmd:SurfaceSink:sink] Stopped
2025-06-05T12:23:39.964Z,1749126219.964 [sci2:DiveCmd:SurfaceSink:sink](DEBUG): Aggregate::uninitialize sci2:DiveCmd:SurfaceSink:sink
2025-06-05T12:23:39.965Z,1749126219.965 [sci2:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy] Stopped
2025-06-05T12:23:39.965Z,1749126219.965 [sci2:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-06-05T12:23:39.965Z,1749126219.965 [sci2:DiveCmd:SurfaceSink:sink:B.SetSpeed] Stopped
2025-06-05T12:23:39.965Z,1749126219.965 [sci2:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Uninitialize.
2025-06-05T12:23:39.965Z,1749126219.965 [sci2:DiveCmd:SurfaceSink](INFO): Completed sci2:DiveCmd:SurfaceSink
2025-06-05T12:23:40.356Z,1749126220.356 [sci2:DiveCmd:YoYoDive] Running Loop=1
2025-06-05T12:23:40.356Z,1749126220.356 [sci2:DiveCmd:YoYoDive](DEBUG): Aggregate::initialize sci2:DiveCmd:YoYoDive
2025-06-05T12:23:40.356Z,1749126220.356 [sci2:DiveCmd:YoYoDive:dive] Running Loop=1
2025-06-05T12:23:40.356Z,1749126220.356 [sci2:DiveCmd:YoYoDive:dive](DEBUG): Aggregate::initialize sci2:DiveCmd:YoYoDive:dive
2025-06-05T12:23:40.356Z,1749126220.356 [sci2:DiveCmd:YoYoDive:dive:A.Pitch] Running Loop=1
2025-06-05T12:23:40.356Z,1749126220.356 [sci2:DiveCmd:YoYoDive:dive:A.Pitch](DEBUG): Initialize.
2025-06-05T12:23:40.356Z,1749126220.356 [sci2:DiveCmd:YoYoDive:dive:B.Buoyancy] Running Loop=1
2025-06-05T12:23:40.356Z,1749126220.356 [sci2:DiveCmd:YoYoDive:dive:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-06-05T12:23:40.357Z,1749126220.357 [sci2:DiveCmd:YoYoDive:dive:SetSpeed] Running Loop=1
2025-06-05T12:23:40.357Z,1749126220.357 [sci2:DiveCmd:YoYoDive:dive:SetSpeed](DEBUG): Aggregate::initialize sci2:DiveCmd:YoYoDive:dive:SetSpeed
2025-06-05T12:23:40.357Z,1749126220.357 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:SurfaceDive] Running Loop=1
2025-06-05T12:23:40.357Z,1749126220.357 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:SurfaceDive](DEBUG): Aggregate::initialize sci2:DiveCmd:YoYoDive:dive:SetSpeed:SurfaceDive
2025-06-05T12:23:40.357Z,1749126220.357 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:SurfaceDive:SurfaceSpeed] Running Loop=1
2025-06-05T12:23:40.357Z,1749126220.357 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:SurfaceDive:SurfaceSpeed](DEBUG): Aggregate::initialize sci2:DiveCmd:YoYoDive:dive:SetSpeed:SurfaceDive:SurfaceSpeed
2025-06-05T12:23:40.357Z,1749126220.357 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:SurfaceDive:SurfaceSpeed:A.SetSpeed] Running Loop=1
2025-06-05T12:23:40.357Z,1749126220.357 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:SurfaceDive:SurfaceSpeed:A.SetSpeed](DEBUG): Initialize.
2025-06-05T12:23:40.357Z,1749126220.357 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:ProfileSpeed] Running Loop=1
2025-06-05T12:23:40.357Z,1749126220.357 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:ProfileSpeed](DEBUG): Aggregate::initialize sci2:DiveCmd:YoYoDive:dive:SetSpeed:ProfileSpeed
2025-06-05T12:23:40.357Z,1749126220.357 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:ProfileSpeed:A.SetSpeed] Running Loop=1
2025-06-05T12:23:40.358Z,1749126220.358 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:ProfileSpeed:A.SetSpeed](DEBUG): Initialize.
2025-06-05T12:23:40.358Z,1749126220.358 [sci2:DiveCmd:YoYoDive:dive:D.DepthEnvelope] Running Loop=1
2025-06-05T12:23:40.358Z,1749126220.358 [sci2:DiveCmd:YoYoDive:dive:D.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-06-05T12:23:40.358Z,1749126220.358 [sci2:DiveCmd:YoYoDive:dive:E.AltitudeEnvelope] Running Loop=1
2025-06-05T12:23:40.358Z,1749126220.358 [sci2:DiveCmd:YoYoDive:dive:E.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-06-05T12:23:40.359Z,1749126220.359 [sci2:DiveCmd:YoYoDive:dive:F.YoYo] Running Loop=1
2025-06-05T12:23:40.359Z,1749126220.359 [sci2:DiveCmd:YoYoDive:dive:F.YoYo](DEBUG): Initialize YoYoComponent.
2025-06-05T12:23:40.359Z,1749126220.359 [sci2:DiveCmd:YoYoDive] Running Loop=1
2025-06-05T12:23:40.359Z,1749126220.359 [sci2:DiveCmd:YoYoDive:dive:F.YoYo] Running Loop=1
2025-06-05T12:23:40.359Z,1749126220.359 [sci2:DiveCmd:YoYoDive:dive:E.AltitudeEnvelope] Running Loop=1
2025-06-05T12:23:40.360Z,1749126220.360 [sci2:DiveCmd:YoYoDive:dive:D.DepthEnvelope] Running Loop=1
2025-06-05T12:23:40.360Z,1749126220.360 [sci2:DiveCmd:YoYoDive:dive:SetSpeed] Running Loop=1
2025-06-05T12:23:40.361Z,1749126220.361 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:ProfileSpeed] Running Loop=1
2025-06-05T12:23:40.361Z,1749126220.361 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:ProfileSpeed:A.SetSpeed] Running Loop=1
2025-06-05T12:23:40.361Z,1749126220.361 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:SurfaceDive] Stopped
2025-06-05T12:23:40.361Z,1749126220.361 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:SurfaceDive](DEBUG): Aggregate::uninitialize sci2:DiveCmd:YoYoDive:dive:SetSpeed:SurfaceDive
2025-06-05T12:23:40.361Z,1749126220.361 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:SurfaceDive:SurfaceSpeed] Stopped
2025-06-05T12:23:40.361Z,1749126220.361 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:SurfaceDive:SurfaceSpeed](DEBUG): Aggregate::uninitialize sci2:DiveCmd:YoYoDive:dive:SetSpeed:SurfaceDive:SurfaceSpeed
2025-06-05T12:23:40.361Z,1749126220.361 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:SurfaceDive:SurfaceSpeed:A.SetSpeed] Stopped
2025-06-05T12:23:40.361Z,1749126220.361 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:SurfaceDive:SurfaceSpeed:A.SetSpeed](DEBUG): Uninitialize.
2025-06-05T12:23:40.362Z,1749126220.362 [sci2:DiveCmd:YoYoDive:dive:B.Buoyancy] Running Loop=1
2025-06-05T12:23:40.362Z,1749126220.362 [sci2:DiveCmd:YoYoDive:dive:A.Pitch] Running Loop=1
2025-06-05T12:23:40.801Z,1749126220.801 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.20 m/s, pitch -20.00 deg, mass-position 31.28 mm (3 active estimators).
2025-06-05T12:23:54.222Z,1749126234.222 [Radio_Surface](INFO): Powering down
2025-06-05T12:23:54.311Z,1749126234.311 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T12:23:55.315Z,1749126235.315 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-06-05T12:25:00.595Z,1749126300.595 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.743286
2025-06-05T12:25:54.595Z,1749126354.595 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2025-06-05T12:26:25.380Z,1749126385.380 [NAL9602](INFO): Not Powering down - fast GPS
2025-06-05T12:27:26.907Z,1749126446.907 [CTD_Seabird](ERROR): Failed to parse device response: 53,4001.33
2025-06-05T12:34:11.601Z,1749126851.601 [CTD_Seabird](ERROR): Failed to parse device response: .34
2025-06-05T12:50:10.275Z,1749127810.275 [BPC1](ERROR): Battery stick #2 (s/n: 0124) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-06-05T12:50:10.276Z,1749127810.276 [BPC1](INFO): Calculating totals. Valid battery stick count: 54. Valid reserve battery stick count: 6.
2025-06-05T12:50:10.279Z,1749127810.279 [BPC1](INFO): Received data from all battery sticks.
2025-06-05T12:53:17.287Z,1749127997.287 [CTD_Seabird](ERROR): Failed to parse device response: 6,3.84751,3762.07
2025-06-05T12:56:29.324Z,1749128189.324 [DVL_micro](ERROR): Failed to parse:
:SA,-19.20,+02.06,278.9
2025-06-05T13:02:50.252Z,1749128570.252 [sci2:Lap:Wpt1:A.Waypoint](IMPORTANT): Reached waypoint: 36.798149,-122.055191
2025-06-05T13:02:50.253Z,1749128570.253 [sci2:Lap:Wpt1:A.Waypoint] Stopped
2025-06-05T13:02:50.253Z,1749128570.253 [sci2:Lap:Wpt1:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-06-05T13:02:50.253Z,1749128570.253 [sci2:Lap:Wpt1](INFO): Completed sci2:Lap:Wpt1
2025-06-05T13:02:50.253Z,1749128570.253 [sci2:Lap:Wpt1] Stopped
2025-06-05T13:02:50.253Z,1749128570.253 [sci2:Lap:Wpt1](DEBUG): Aggregate::uninitialize sci2:Lap:Wpt1
2025-06-05T13:02:50.253Z,1749128570.253 [sci2:Lap:Wpt2] Running Loop=1
2025-06-05T13:02:50.253Z,1749128570.253 [sci2:Lap:Wpt2](DEBUG): Aggregate::initialize sci2:Lap:Wpt2
2025-06-05T13:02:50.254Z,1749128570.254 [sci2:Lap:Wpt2:A.Waypoint] Running Loop=1
2025-06-05T13:02:50.254Z,1749128570.254 [sci2:Lap:Wpt2:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-06-05T13:02:50.255Z,1749128570.255 [sci2:Lap:Wpt2:A.Waypoint](IMPORTANT): Navigating to waypoint: 36.822620,-121.961983
2025-06-05T13:02:50.674Z,1749128570.674 [sci2:Lap:Wpt2:A.Waypoint](INFO): Navigating to waypoint: 36.822620,-121.961983
2025-06-05T13:13:03.417Z,1749129183.417 [DVL_micro](ERROR): Failed to parse:
:WI,-00066,+01011,+00091,+00000,A
2025-06-05T13:14:43.218Z,1749129283.218 [DVL_micro](ERROR): Failed to parse:
:SA,-18.41,+04.05,053.3
2025-06-05T13:15:01.071Z,1749129301.071 [ElevatorServo](FAULT): Overload Error
2025-06-05T13:15:01.071Z,1749129301.071 [ElevatorServo] Hardware Fault, FailCount= 1
2025-06-05T13:15:01.071Z,1749129301.071 [ElevatorServo](ERROR): Hardware Fault
2025-06-05T13:15:01.252Z,1749129301.252 [CBIT](ERROR): Hardware Fault in component: ElevatorServo
2025-06-05T13:15:01.423Z,1749129301.423 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2025-06-05T13:15:01.423Z,1749129301.423 [ElevatorServo](INFO): Powering down
2025-06-05T13:15:02.231Z,1749129302.231 [ElevatorServo](DEBUG): Initializing EZServoServo.
2025-06-05T13:15:02.351Z,1749129302.351 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2025-06-05T13:15:02.356Z,1749129302.356 [CBIT](INFO): Clearing failed state for component ElevatorServo
2025-06-05T13:15:02.356Z,1749129302.356 [ElevatorServo] No Fault, FailCount= 1
2025-06-05T13:15:03.703Z,1749129303.703 [CTD_Seabird](ERROR): Failed to parse device response: 40.72,10.0824,3.67044,
2025-06-05T13:15:07.306Z,1749129307.306 [ThrusterHE](FAULT): Could not get status:serial timeout
2025-06-05T13:15:07.411Z,1749129307.411 [ThrusterHE](FAULT): getSpeed error serial timeout
2025-06-05T13:15:07.411Z,1749129307.411 [ThrusterHE](FAULT): Thruster uart error: serial timeout
2025-06-05T13:15:07.411Z,1749129307.411 [ThrusterHE] Communications Fault, FailCount= 1
2025-06-05T13:15:07.411Z,1749129307.411 [ThrusterHE](ERROR): Communications Fault
2025-06-05T13:15:07.415Z,1749129307.415 [CBIT](ERROR): Communications Fault in component: ThrusterHE
2025-06-05T13:15:07.541Z,1749129307.541 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-06-05T13:15:07.541Z,1749129307.541 [ThrusterHE](INFO): Powering down
2025-06-05T13:15:08.285Z,1749129308.285 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-06-05T13:15:08.399Z,1749129308.399 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-06-05T13:15:08.403Z,1749129308.403 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-06-05T13:15:08.403Z,1749129308.403 [ThrusterHE] No Fault, FailCount= 1
2025-06-05T13:15:16.430Z,1749129316.430 [ThrusterHE](FAULT): Could not get status:serial timeout
2025-06-05T13:15:16.514Z,1749129316.514 [ThrusterHE](FAULT): getSpeed error serial timeout
2025-06-05T13:15:16.515Z,1749129316.515 [ThrusterHE](FAULT): Thruster uart error: serial timeout
2025-06-05T13:15:16.515Z,1749129316.515 [ThrusterHE] Communications Fault, FailCount= 2
2025-06-05T13:15:16.515Z,1749129316.515 [ThrusterHE](ERROR): Communications Fault
2025-06-05T13:15:16.520Z,1749129316.520 [CBIT](ERROR): Communications Fault in component: ThrusterHE
2025-06-05T13:15:16.761Z,1749129316.761 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-06-05T13:15:16.761Z,1749129316.761 [ThrusterHE](INFO): Powering down
2025-06-05T13:15:17.625Z,1749129317.625 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-06-05T13:15:17.744Z,1749129317.744 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-06-05T13:15:17.748Z,1749129317.748 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-06-05T13:15:17.748Z,1749129317.748 [ThrusterHE] No Fault, FailCount= 2
2025-06-05T13:15:25.370Z,1749129325.370 [ThrusterHE](FAULT): Could not get status:serial timeout
2025-06-05T13:15:25.470Z,1749129325.470 [ThrusterHE](FAULT): getSpeed error serial timeout
2025-06-05T13:15:25.470Z,1749129325.470 [ThrusterHE](FAULT): Thruster uart error: serial timeout
2025-06-05T13:15:25.470Z,1749129325.470 [ThrusterHE] Communications Fault, FailCount= 3
2025-06-05T13:15:25.470Z,1749129325.470 [ThrusterHE](ERROR): Communications Fault
2025-06-05T13:15:25.474Z,1749129325.474 [CBIT](ERROR): Communications Fault in component: ThrusterHE
2025-06-05T13:15:25.655Z,1749129325.655 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-06-05T13:15:25.655Z,1749129325.655 [ThrusterHE](INFO): Powering down
2025-06-05T13:15:26.595Z,1749129326.595 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-06-05T13:15:26.715Z,1749129326.715 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-06-05T13:15:26.719Z,1749129326.719 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-06-05T13:15:26.719Z,1749129326.719 [ThrusterHE] No Fault, FailCount= 3
2025-06-05T13:15:34.222Z,1749129334.222 [ThrusterHE](FAULT): Could not get status:serial timeout
2025-06-05T13:15:34.310Z,1749129334.310 [ThrusterHE](FAULT): getSpeed error serial timeout
2025-06-05T13:15:34.310Z,1749129334.310 [ThrusterHE](FAULT): Thruster uart error: serial timeout
2025-06-05T13:15:34.310Z,1749129334.310 [ThrusterHE] Communications Fault, FailCount= 4
2025-06-05T13:15:34.310Z,1749129334.310 [ThrusterHE](ERROR): Communications Fault
2025-06-05T13:15:34.314Z,1749129334.314 [CBIT](ERROR): Communications Fault in component: ThrusterHE
2025-06-05T13:15:34.608Z,1749129334.608 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-06-05T13:15:34.609Z,1749129334.609 [ThrusterHE](INFO): Powering down
2025-06-05T13:15:35.359Z,1749129335.359 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-06-05T13:15:35.479Z,1749129335.479 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-06-05T13:15:35.483Z,1749129335.483 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-06-05T13:15:35.483Z,1749129335.483 [ThrusterHE] No Fault, FailCount= 4
2025-06-05T13:15:43.158Z,1749129343.158 [ThrusterHE](FAULT): Could not get status:serial timeout
2025-06-05T13:15:43.254Z,1749129343.254 [ThrusterHE](FAULT): getSpeed error serial timeout
2025-06-05T13:15:43.254Z,1749129343.254 [ThrusterHE](FAULT): Thruster uart error: serial timeout
2025-06-05T13:15:43.254Z,1749129343.254 [ThrusterHE] Communications Fault, FailCount= 5
2025-06-05T13:15:43.254Z,1749129343.254 [ThrusterHE](ERROR): Communications Fault
2025-06-05T13:15:43.258Z,1749129343.258 [CBIT](ERROR): Communications Fault in component: ThrusterHE
2025-06-05T13:15:43.259Z,1749129343.259 [CBIT](CRITICAL): Communications Fault in component: ThrusterHE
2025-06-05T13:15:43.457Z,1749129343.457 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-06-05T13:15:43.457Z,1749129343.457 [ThrusterHE](INFO): Powering down
2025-06-05T13:15:43.459Z,1749129343.459 [CommandExec](FAULT): Scheduling is paused
2025-06-05T13:15:43.459Z,1749129343.459 [CBIT](INFO): Critical error at 20250605T131543
2025-06-05T13:15:43.459Z,1749129343.459 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2025-06-05T13:15:43.814Z,1749129343.814 [MissionManager](INFO): MissionManager is completed.
2025-06-05T13:15:43.814Z,1749129343.814 [MissionManager](INFO): Uninitializing Mission sci2
2025-06-05T13:15:43.814Z,1749129343.814 [sci2] Stopped
2025-06-05T13:15:43.814Z,1749129343.814 [sci2](DEBUG): Aggregate::uninitialize sci2
2025-06-05T13:15:43.814Z,1749129343.814 [sci2:Science] Stopped
2025-06-05T13:15:43.815Z,1749129343.815 [sci2:Science](DEBUG): Aggregate::uninitialize sci2:Science
2025-06-05T13:15:43.815Z,1749129343.815 [sci2:Science:B] Stopped
2025-06-05T13:15:43.815Z,1749129343.815 [sci2:Science:C] Stopped
2025-06-05T13:15:43.815Z,1749129343.815 [sci2:Science:E] Stopped
2025-06-05T13:15:43.815Z,1749129343.815 [sci2:Science:OceanCurrent] Stopped
2025-06-05T13:15:43.815Z,1749129343.815 [sci2:Science:OceanCurrent](DEBUG): Aggregate::uninitialize sci2:Science:OceanCurrent
2025-06-05T13:15:43.815Z,1749129343.815 [sci2:Science:OceanCurrent:A.] Stopped
2025-06-05T13:15:43.815Z,1749129343.815 [sci2:StandardEnvelopes] Stopped
2025-06-05T13:15:43.815Z,1749129343.815 [sci2:StandardEnvelopes](DEBUG): Aggregate::uninitialize sci2:StandardEnvelopes
2025-06-05T13:15:43.815Z,1749129343.815 [sci2:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-06-05T13:15:43.815Z,1749129343.815 [sci2:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-06-05T13:15:43.815Z,1749129343.815 [sci2:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-06-05T13:15:43.815Z,1749129343.815 [sci2:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-06-05T13:15:43.816Z,1749129343.816 [sci2:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-06-05T13:15:43.816Z,1749129343.816 [sci2:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-06-05T13:15:43.816Z,1749129343.816 [sci2:BackseatDriver] Stopped
2025-06-05T13:15:43.816Z,1749129343.816 [sci2:BackseatDriver](DEBUG): Aggregate::uninitialize sci2:BackseatDriver
2025-06-05T13:15:43.816Z,1749129343.816 [sci2:BackseatDriver:A.BackseatDriver] Stopped
2025-06-05T13:15:43.816Z,1749129343.816 [sci2:PowerOnly] Stopped
2025-06-05T13:15:43.816Z,1749129343.816 [sci2:PowerOnly](DEBUG): Aggregate::uninitialize sci2:PowerOnly
2025-06-05T13:15:43.816Z,1749129343.816 [sci2:PowerOnly:E.Wait] Stopped
2025-06-05T13:15:43.816Z,1749129343.816 [sci2:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-06-05T13:15:43.816Z,1749129343.816 [sci2:DiveCmd] Stopped
2025-06-05T13:15:43.816Z,1749129343.816 [sci2:DiveCmd](DEBUG): Aggregate::uninitialize sci2:DiveCmd
2025-06-05T13:15:43.816Z,1749129343.816 [sci2:DiveCmd:SurfaceSink] Stopped
2025-06-05T13:15:43.816Z,1749129343.816 [sci2:DiveCmd:SurfaceSink](DEBUG): Aggregate::uninitialize sci2:DiveCmd:SurfaceSink
2025-06-05T13:15:43.817Z,1749129343.817 [sci2:DiveCmd:YoYoDive] Stopped
2025-06-05T13:15:43.817Z,1749129343.817 [sci2:DiveCmd:YoYoDive](DEBUG): Aggregate::uninitialize sci2:DiveCmd:YoYoDive
2025-06-05T13:15:43.817Z,1749129343.817 [sci2:DiveCmd:YoYoDive:dive] Stopped
2025-06-05T13:15:43.817Z,1749129343.817 [sci2:DiveCmd:YoYoDive:dive](DEBUG): Aggregate::uninitialize sci2:DiveCmd:YoYoDive:dive
2025-06-05T13:15:43.817Z,1749129343.817 [sci2:DiveCmd:YoYoDive:dive:A.Pitch] Stopped
2025-06-05T13:15:43.817Z,1749129343.817 [sci2:DiveCmd:YoYoDive:dive:B.Buoyancy] Stopped
2025-06-05T13:15:43.817Z,1749129343.817 [sci2:DiveCmd:YoYoDive:dive:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-06-05T13:15:43.817Z,1749129343.817 [sci2:DiveCmd:YoYoDive:dive:SetSpeed] Stopped
2025-06-05T13:15:43.817Z,1749129343.817 [sci2:DiveCmd:YoYoDive:dive:SetSpeed](DEBUG): Aggregate::uninitialize sci2:DiveCmd:YoYoDive:dive:SetSpeed
2025-06-05T13:15:43.817Z,1749129343.817 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:ProfileSpeed] Stopped
2025-06-05T13:15:43.817Z,1749129343.817 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:ProfileSpeed](DEBUG): Aggregate::uninitialize sci2:DiveCmd:YoYoDive:dive:SetSpeed:ProfileSpeed
2025-06-05T13:15:43.817Z,1749129343.817 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:ProfileSpeed:A.SetSpeed] Stopped
2025-06-05T13:15:43.817Z,1749129343.817 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:ProfileSpeed:A.SetSpeed](DEBUG): Uninitialize.
2025-06-05T13:15:43.818Z,1749129343.818 [sci2:DiveCmd:YoYoDive:dive:D.DepthEnvelope] Stopped
2025-06-05T13:15:43.818Z,1749129343.818 [sci2:DiveCmd:YoYoDive:dive:D.DepthEnvelope](DEBUG): Uninitialize.
2025-06-05T13:15:43.818Z,1749129343.818 [sci2:DiveCmd:YoYoDive:dive:E.AltitudeEnvelope] Stopped
2025-06-05T13:15:43.818Z,1749129343.818 [sci2:DiveCmd:YoYoDive:dive:E.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-06-05T13:15:43.818Z,1749129343.818 [sci2:DiveCmd:YoYoDive:dive:F.YoYo] Stopped
2025-06-05T13:15:43.818Z,1749129343.818 [sci2:DiveCmd:YoYoDive:dive:F.YoYo](DEBUG): Uninitialize YoYoComponent.
2025-06-05T13:15:43.818Z,1749129343.818 [sci2:Lap] Stopped
2025-06-05T13:15:43.818Z,1749129343.818 [sci2:Lap](DEBUG): Aggregate::uninitialize sci2:Lap
2025-06-05T13:15:43.818Z,1749129343.818 [sci2:Lap:Dive] Stopped
2025-06-05T13:15:43.818Z,1749129343.818 [sci2:Lap:Dive](DEBUG): Aggregate::uninitialize sci2:Lap:Dive
2025-06-05T13:15:43.819Z,1749129343.819 [sci2:Lap:Dive:A] Stopped
2025-06-05T13:15:43.819Z,1749129343.819 [sci2:Lap:Dive:A](DEBUG): Aggregate::uninitialize sci2:Lap:Dive:A
2025-06-05T13:15:43.819Z,1749129343.819 [sci2:Lap:Wpt2] Stopped
2025-06-05T13:15:43.819Z,1749129343.819 [sci2:Lap:Wpt2](DEBUG): Aggregate::uninitialize sci2:Lap:Wpt2
2025-06-05T13:15:43.819Z,1749129343.819 [sci2:Lap:Wpt2:A.Waypoint] Stopped
2025-06-05T13:15:43.819Z,1749129343.819 [sci2:Lap:Wpt2:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-06-05T13:15:44.215Z,1749129344.215 [MissionManager](IMPORTANT): Started mission Default
2025-06-05T13:15:44.215Z,1749129344.215 [Default] Running Loop=1
2025-06-05T13:15:44.215Z,1749129344.215 [Default](DEBUG): Aggregate::initialize Default
2025-06-05T13:15:44.215Z,1749129344.215 [Default:B.GoToSurface] Running Loop=1
2025-06-05T13:15:44.215Z,1749129344.215 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-06-05T13:15:44.215Z,1749129344.215 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-06-05T13:15:44.216Z,1749129344.216 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-06-05T13:15:44.216Z,1749129344.216 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-06-05T13:15:44.216Z,1749129344.216 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-06-05T13:15:44.216Z,1749129344.216 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-06-05T13:15:44.217Z,1749129344.217 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-06-05T13:15:44.217Z,1749129344.217 [Default:A.Wait] Running Loop=1
2025-06-05T13:15:44.217Z,1749129344.217 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-06-05T13:15:44.226Z,1749129344.226 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-06-05T13:15:44.266Z,1749129344.266 [WetLabsBB2FL](INFO): Powering down
2025-06-05T13:15:44.347Z,1749129344.347 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-06-05T13:15:44.706Z,1749129344.706 [Radio_Surface](INFO): Powering up
2025-06-05T13:15:50.279Z,1749129350.279 [DataOverHttps](INFO): Radio surface powered ON.
2025-06-05T13:15:57.623Z,1749129357.623 [Default:A.Wait](INFO): Done Waiting.
2025-06-05T13:15:57.623Z,1749129357.623 [Default:A.Wait] Stopped
2025-06-05T13:15:57.623Z,1749129357.623 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-06-05T13:16:20.399Z,1749129380.399 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T13:16:28.415Z,1749129388.415 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-06-05T13:16:28.415Z,1749129388.415 [ThrusterHE] No Fault, FailCount= 5
2025-06-05T13:16:51.531Z,1749129411.531 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T13:17:22.654Z,1749129442.654 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T13:17:26.096Z,1749129446.096 [Default:CheckIn] Running Loop=1
2025-06-05T13:17:26.096Z,1749129446.096 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-06-05T13:17:26.096Z,1749129446.096 [Default:CheckIn:Read_GPS] Running Loop=1
2025-06-05T13:17:53.798Z,1749129473.798 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T13:17:58.811Z,1749129478.811 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2025-06-05T13:17:58.886Z,1749129478.886 [NAL9602](ERROR): received: 
+CSQ:0

OK067, 2, 0, 0, 0

OK
2025-06-05T13:18:17.791Z,1749129497.791 [NAL9602](INFO): SBD MO Status=2, MOMSN=21067, MT Status=2, MTMSN=0
2025-06-05T13:18:17.792Z,1749129497.792 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-06-05T13:18:24.922Z,1749129504.922 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T13:18:28.293Z,1749129508.293 [NAL9602](INFO): SBD MO Status=0, MOMSN=21067, MT Status=0, MTMSN=0
2025-06-05T13:18:28.293Z,1749129508.293 [NAL9602](INFO): No messages in MT queue
2025-06-05T13:18:29.514Z,1749129509.514 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,131828.00,A,3647.43932,N,12202.13346,W,0.972,124.04,050625,,,A*7F
2025-06-05T13:18:29.516Z,1749129509.516 [NAL9602](INFO): GPS fix at 20250605T131828: (36.790655, -122.035558)
2025-06-05T13:18:29.548Z,1749129509.548 [UniversalFixResidualReporter](INFO): Fix residual: 41.6 %DT, over the last 3492.2 m. Residual distance 1453.4 m at bearing -43.7 degrees. Fix at (36.7907, -122.0356) with 694.8 m made good.
2025-06-05T13:18:29.548Z,1749129509.548 [Default:CheckIn:Read_GPS] Stopped
2025-06-05T13:18:29.549Z,1749129509.549 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-06-05T13:18:42.791Z,1749129522.791 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003197
2025-06-05T13:18:45.861Z,1749129525.861 [NAL9602](INFO): SBD MO Status=1, MOMSN=21068, MT Status=0, MTMSN=0
2025-06-05T13:18:45.923Z,1749129525.923 [NAL9602](INFO): Sent 274 bytes from file Logs/20250605T121700/Courier0003.lzma
2025-06-05T13:18:45.923Z,1749129525.923 [NAL9602](INFO): Packets left to send: 0
2025-06-05T13:18:50.043Z,1749129530.043 [DataOverHttps](INFO): Sending 1950 bytes from file Logs/20250605T121700/Express0004.lzma
2025-06-05T13:18:50.712Z,1749129530.712 [DataOverHttps](INFO): Moved sent file to Logs/20250605T121700/Express0004.lzma.bak
2025-06-05T13:18:50.712Z,1749129530.712 [DataOverHttps](INFO): SBD MOMSN=25100884
2025-06-05T13:18:52.313Z,1749129532.313 [Default:CheckIn:Read_Iridium] Stopped
2025-06-05T13:18:52.313Z,1749129532.313 [Default:CheckIn:C.Wait] Running Loop=1
2025-06-05T13:18:52.313Z,1749129532.313 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-06-05T13:19:16.551Z,1749129556.551 [NAL9602](INFO): Not Powering down - fast GPS
2025-06-05T13:22:09.465Z,1749129729.465 [DVL_micro](ERROR): Failed to parse:
:RD,+0000.30,+0000.68,+9999.99,+0000.62
2025-06-05T13:23:52.913Z,1749129832.913 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2025-06-05T13:23:52.913Z,1749129832.913 [Default:CheckIn:C.Wait] Stopped
2025-06-05T13:23:52.913Z,1749129832.913 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-06-05T13:23:52.913Z,1749129832.913 [Default:CheckIn:D] Running Loop=1
2025-06-05T13:23:53.316Z,1749129833.316 [Default:CheckIn:D] Stopped
2025-06-05T13:23:53.316Z,1749129833.316 [Default:CheckIn:E] Running Loop=1
2025-06-05T13:23:53.727Z,1749129833.727 [Default:CheckIn:E](IMPORTANT): Default mission has been running for  8.151690 min 
2025-06-05T13:23:53.727Z,1749129833.727 [Default:CheckIn:E] Stopped
2025-06-05T13:23:53.727Z,1749129833.727 [Default:CheckIn](INFO): Completed Default:CheckIn
2025-06-05T13:23:53.727Z,1749129833.727 [Default:CheckIn] Stopped
2025-06-05T13:23:53.727Z,1749129833.727 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-06-05T13:23:53.727Z,1749129833.727 [Default:CheckIn](INFO): Running loop #2
2025-06-05T13:23:53.727Z,1749129833.727 [Default:CheckIn] Running Loop=2
2025-06-05T13:23:53.727Z,1749129833.727 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-06-05T13:23:53.728Z,1749129833.728 [Default:CheckIn:Read_GPS] Running Loop=1
2025-06-05T13:23:55.738Z,1749129835.738 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,132355.00,A,3647.40643,N,12202.03788,W,0.816,126.50,050625,,,A*70
2025-06-05T13:23:55.740Z,1749129835.740 [NAL9602](INFO): GPS fix at 20250605T132355: (36.790107, -122.033965)
2025-06-05T13:23:55.751Z,1749129835.751 [Default:CheckIn:Read_GPS] Stopped
2025-06-05T13:23:55.751Z,1749129835.751 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-06-05T13:24:02.790Z,1749129842.790 [DataOverHttps](INFO): Sending 76 bytes from file Logs/20250605T121700/Courier0006.lzma
2025-06-05T13:24:03.792Z,1749129843.792 [DataOverHttps](INFO): Moved sent file to Logs/20250605T121700/Courier0006.lzma.bak
2025-06-05T13:24:03.792Z,1749129843.792 [DataOverHttps](INFO): SBD MOMSN=25100922
2025-06-05T13:24:13.524Z,1749129853.524 [NAL9602](INFO): SBD MO Status=0, MOMSN=21069, MT Status=0, MTMSN=0
2025-06-05T13:24:13.524Z,1749129853.524 [NAL9602](INFO): No messages in MT queue
2025-06-05T13:24:19.972Z,1749129859.972 [DataOverHttps](INFO): Sending 206 bytes from file Logs/20250605T121700/Express0007.lzma
2025-06-05T13:24:20.964Z,1749129860.964 [DataOverHttps](INFO): Moved sent file to Logs/20250605T121700/Express0007.lzma.bak
2025-06-05T13:24:20.964Z,1749129860.964 [DataOverHttps](INFO): SBD MOMSN=25100925
2025-06-05T13:24:22.447Z,1749129862.447 [Default:CheckIn:Read_Iridium] Stopped
2025-06-05T13:24:22.447Z,1749129862.447 [Default:CheckIn:C.Wait] Running Loop=1
2025-06-05T13:24:22.448Z,1749129862.448 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-06-05T13:24:44.230Z,1749129884.230 [NAL9602](INFO): Not Powering down - fast GPS
2025-06-05T13:26:01.876Z,1749129961.876 [DataOverHttps](IMPORTANT): SBD MTMSN=20250605T132600
2025-06-05T13:26:09.646Z,1749129969.646 [DataOverHttps](INFO): Received command: resume;schedule resume
2025-06-05T13:26:09.741Z,1749129969.741 [CommandExec](IMPORTANT): got command resume
2025-06-05T13:26:09.741Z,1749129969.741 [MissionManager](INFO): Loading Mission from file: ./Missions/Science/sci2.tl
2025-06-05T13:26:09.742Z,1749129969.742 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Science/sci2.tl
2025-06-05T13:26:09.744Z,1749129969.744 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Science/sci2.tl
2025-06-05T13:26:14.633Z,1749129974.633 [MissionManager](DEBUG): TethyslAPI: ./Missions/Science/sci2.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="sci2">
    <DefineArg Name="MissionTimeout">
        <Units:hour />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>60</Value>
    </DefineArg>
    <DefineArg Name="Repeat">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="Lat1">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat2">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat3">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat4">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat5">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat6">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat7">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon1">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon2">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon3">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon4">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon5">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon6">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon7">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Speed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="CaptureRadius">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="YoYoMinDepth">
        <Units:meter />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="YoYoMaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="YoYoMinAltitude">
        <Units:meter />
        <Value>9</Value>
    </DefineArg>
    <DefineArg Name="YoYoUpPitch">
        <Units:degree />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="YoYoDownPitch">
        <Units:degree />
        <Value>-20</Value>
    </DefineArg>
    <DefineArg Name="SurfaceDiveSpeed">
        <Units:meter_per_second />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="SurfaceThreshold">
        <Control:VerticalControl.surfaceThreshold />
    </DefineArg>
    <DefineArg Name="SinkOffSurface">
        <False />
    </DefineArg>
    <DefineArg Name="SinkDepth">
        <Units:meter />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="SinkDepthTimeout">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="YoYoLightTerminate">
        <False />
    </DefineArg>
    <DefineArg Name="YoYoLightTerminateThreshold">
        <Units:micromole_per_second_per_square_meter />
        <Value>0.1</Value>
    </DefineArg>
    <DefineArg Name="PeakDetectChl">
        <False />
    </DefineArg>
    <DefineArg Name="ShallowBoundChl">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DeepBoundChl">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlThreshTrigger">
        <False />
    </DefineArg>
    <DefineArg Name="ChlLowerThreshold">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlUpperThreshold">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesThreshold">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="BuoyancyNeutral">
        <Control:VerticalControl.buoyancyNeutral />
    </DefineArg>
    <DefineArg Name="MassDefault">
        <Control:VerticalControl.massDefault />
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>205</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <DefineOutput Name="DiveMode">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="DoingComms">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="SurfaceSink">
        <Units:count />
        <Value>1</Value>
    </DefineOutput>
    <DefineOutput Name="YoYo">
        <Units:count />
        <Value>2</Value>
    </DefineOutput>
    <Timeout Duration="MissionTimeout" />
    <Insert Filename="Insert/Science.tl">
        <RedefineArg Name="PeakDetectChlActive">
            <Arg Name="PeakDetectChl" />
        </RedefineArg>
        <RedefineArg Name="ShallowBound">
            <Arg Name="ShallowBoundChl" />
        </RedefineArg>
        <RedefineArg Name="DeepBound">
            <Arg Name="DeepBoundChl" />
        </RedefineArg>
        <RedefineArg Name="ChlThreshTriggerActive">
            <Arg Name="ChlThreshTrigger" />
        </RedefineArg>
        <RedefineArg Name="ChlLowerThresh">
            <Arg Name="ChlLowerThreshold" />
        </RedefineArg>
        <RedefineArg Name="ChlUpperThresh">
            <Arg Name="ChlUpperThreshold" />
        </RedefineArg>
        <RedefineArg Name="NumProfilesThresh">
            <Arg Name="NumProfilesThreshold" />
        </RedefineArg>
    </Insert>
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="NeedCommsTime" />
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Aggregate Id="SurfaceComms">
        <When>
            <Called />
            <Or>
                <Elapsed>
                    <Universal:time_fix />
                </Elapsed>
                <Gt>
                    <Arg Name="NeedCommsTime" />
                </Gt>
            </Or>
        </When>
        <Assign>
            <Sequence />
            <Arg Name="DiveMode" />
            <Arg Name="DoingComms" />
        </Assign>
        <Call RefId="NeedComms" PriorityHere="false" />
        <Aggregate Id="setInitial">
            <Sequence />
            <Break>
                <Arg Name="SinkOffSurface" />
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="DiveMode" />
                <Arg Name="YoYo" />
            </Assign>
        </Aggregate>
        <Aggregate Id="setSink">
            <Sequence />
            <Break>
                <Not>
                    <Arg Name="SinkOffSurface" />
                </Not>
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="DiveMode" />
                <Arg Name="SurfaceSink" />
            </Assign>
        </Aggregate>
    </Aggregate>
    <Call RefId="SurfaceComms" Id="StartingMission" PriorityHere="false" />
    <Aggregate Id="DiveCmd">
        <When>
            <Called />
        </When>
        <Aggregate Id="SurfaceSink">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="SurfaceSink" />
                </Eq>
            </While>
            <Aggregate Id="sink">
                <Sequence />
                <Guidance:Buoyancy Id="BuoyancyHold">
                    <Parallel />
                    <Setting>
                        <Guidance:Buoyancy.position />
                        <Units:cubic_centimeter />
                        <Value>NaN</Value>
                    </Setting>
                </Guidance:Buoyancy>
                <Guidance:SetSpeed>
                    <Parallel />
                    <Setting>
                        <Guidance:SetSpeed.speed />
                        <Units:meter_per_second />
                        <Value>0</Value>
                    </Setting>
                </Guidance:SetSpeed>
                <Syslog Severity="Info">
                    Sinking to 
                    <Arg Name="SinkDepth" />
                    <Units:meter />
                </Syslog>
                <Guidance:Pitch>
                    <Sequence />
                    <Timeout Duration="SinkDepthTimeout">
                        <Syslog Severity="Important">
                            Timed out while trying to reach target sink depth at current depth of 
                            <Universal:depth />
                            <Units:meter />
                        </Syslog>
                    </Timeout>
                    <Setting>
                        <Guidance:Pitch.depth />
                        <Arg Name="SinkDepth" />
                    </Setting>
                </Guidance:Pitch>
                <Assign>
                    <Sequence />
                    <Arg Name="DiveMode" />
                    <Arg Name="YoYo" />
                </Assign>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="YoYoDive">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="YoYo" />
                </Eq>
            </While>
            <Aggregate Id="dive">
                <Sequence />
                <Guidance:Pitch>
                    <Parallel />
                    <Setting>
                        <Guidance:Pitch.massPosition />
                        <Arg Name="MassDefault" />
                    </Setting>
                </Guidance:Pitch>
                <Guidance:Buoyancy>
                    <Parallel />
                    <Setting>
                        <Guidance:Buoyancy.position />
                        <Arg Name="BuoyancyNeutral" />
                    </Setting>
                </Guidance:Buoyancy>
                <Aggregate Id="SetSpeed">
                    <Parallel />
                    <Aggregate Id="SurfaceDive">
                        <While>
                            <Not>
                                <IsNaN>
                                    <Arg Name="SurfaceDiveSpeed" />
                                </IsNaN>
                            </Not>
                            <And>
                                <Universal:depth />
                                <Le>
                                    <Arg Name="SurfaceThreshold" />
                                </Le>
                            </And>
                        </While>
                        <Aggregate Id="SurfaceSpeed">
                            <Parallel />
                            <Guidance:SetSpeed>
                                <Parallel />
                                <Setting>
                                    <Guidance:SetSpeed.speed />
                                    <Arg Name="SurfaceDiveSpeed" />
                                </Setting>
                            </Guidance:SetSpeed>
                        </Aggregate>
                    </Aggregate>
                    <Aggregate Id="ProfileSpeed">
                        <While>
                            <IsNaN>
                                <Arg Name="SurfaceDiveSpeed" />
                            </IsNaN>
                            <Or>
                                <Universal:depth />
                                <Gt>
                                    <Control:VerticalControl.surfaceThreshold />
                                </Gt>
                            </Or>
                        </While>
                        <Guidance:SetSpeed>
                            <Parallel />
                            <Setting>
                                <Guidance:SetSpeed.speed />
                                <Arg Name="Speed" />
                            </Setting>
                        </Guidance:SetSpeed>
                    </Aggregate>
                </Aggregate>
                <Guidance:DepthEnvelope>
                    <Parallel />
                    <Setting>
                        <Guidance:DepthEnvelope.minDepth />
                        <Arg Name="YoYoMinDepth" />
                    </Setting>
                    <Setting>
                        <Guidance:DepthEnvelope.maxDepth />
                        <Arg Name="YoYoMaxDepth" />
                    </Setting>
                    <Setting>
                        <Guidance:DepthEnvelope.downPitch />
                        <Arg Name="YoYoDownPitch" />
                    </Setting>
                    <Setting>
                        <Guidance:DepthEnvelope.upPitch />
                        <Arg Name="YoYoUpPitch" />
                    </Setting>
                </Guidance:DepthEnvelope>
                <Guidance:AltitudeEnvelope>
                    <Parallel />
                    <Setting>
                        <Guidance:AltitudeEnvelope.minAltitude />
                        <Arg Name="YoYoMinAltitude" />
                    </Setting>
                </Guidance:AltitudeEnvelope>
                <Guidance:YoYo>
                    <Parallel />
                    <Setting>
                        <Guidance:YoYo.downPitch />
                        <Arg Name="YoYoDownPitch" />
                    </Setting>
                    <Setting>
                        <Guidance:YoYo.upPitch />
                        <Arg Name="YoYoUpPitch" />
                    </Setting>
                </Guidance:YoYo>
                <Aggregate Id="YoYoFlip">
                    <When>
                        <Science:PAR_Licor.loadAtStartup />
                        <And>
                            <Arg Name="YoYoLightTerminate" />
                        </And>
                        <And>
                            <Science:PAR_Licor.downwelling_photosynthetic_photon_flux_in_sea_water />
                            <Lt>
                                <Arg Name="YoYoLightTerminateThreshold" />
                            </Lt>
                        </And>
                        <And>
                            <Universal:platform_pitch_angle />
                            <Lt>
                                <Units:degree />
                                <Value>1</Value>
                            </Lt>
                        </And>
                    </When>
                    <Guidance:Pitch>
                        <Parallel />
                        <Setting>
                            <Guidance:Pitch.pitch />
                            <Arg Name="YoYoUpPitch" />
                        </Setting>
                    </Guidance:Pitch>
                </Aggregate>
                <Aggregate Id="StopIfTriggered">
                    <When>
                        <Arg Name="Science:TriggeredOnChl" />
                    </When>
                    <Guidance:Execute>
                        <Sequence />
                        <Setting>
                            <Guidance:Execute.command />
                            <String>stop</String>
                        </Setting>
                    </Guidance:Execute>
                </Aggregate>
            </Aggregate>
        </Aggregate>
    </Aggregate>
    <Aggregate Id="Lap">
        <Sequence Repeat="Repeat" />
        <Aggregate Id="Dive">
            <While>
                <Not>
                    <Arg Name="DiveMode" />
                    <Eq>
                        <Arg Name="DoingComms" />
                    </Eq>
                </Not>
            </While>
            <Call RefId="DiveCmd" PriorityHere="false" />
        </Aggregate>
        <Aggregate Id="Wpt1">
            <Sequence />
            <Guidance:Waypoint>
                <Sequence />
                <Setting>
                    <Guidance:Waypoint.latitude />
                    <Arg Name="Lat1" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.longitude />
                    <Arg Name="Lon1" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.captureRadius />
                    <Arg Name="CaptureRadius" />
                </Setting>
            </Guidance:Waypoint>
        </Aggregate>
        <Aggregate Id="Wpt2">
            <Sequence />
            <Guidance:Waypoint>
                <Sequence />
                <Setting>
                    <Guidance:Waypoint.latitude />
                    <Arg Name="Lat2" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.longitude />
                    <Arg Name="Lon2" />
                </Setting>
            </Guidance:Waypoint>
        </Aggregate>
        <Aggregate Id="Wpt3">
            <Sequence />
            <Guidance:Waypoint>
                <Sequence />
                <Setting>
                    <Guidance:Waypoint.latitude />
                    <Arg Name="Lat3" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.longitude />
                    <Arg Name="Lon3" />
                </Setting>
            </Guidance:Waypoint>
        </Aggregate>
        <Aggregate Id="Wpt4">
            <Sequence />
            <Guidance:Waypoint>
                <Sequence />
                <Setting>
                    <Guidance:Waypoint.latitude />
                    <Arg Name="Lat4" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.longitude />
                    <Arg Name="Lon4" />
                </Setting>
            </Guidance:Waypoint>
        </Aggregate>
        <Aggregate Id="Wpt5">
            <Sequence />
            <Guidance:Waypoint>
                <Sequence />
                <Setting>
                    <Guidance:Waypoint.latitude />
                    <Arg Name="Lat5" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.longitude />
                    <Arg Name="Lon5" />
                </Setting>
            </Guidance:Waypoint>
        </Aggregate>
        <Aggregate Id="Wpt6">
            <Sequence />
            <Guidance:Waypoint>
                <Sequence />
                <Setting>
                    <Guidance:Waypoint.latitude />
                    <Arg Name="Lat6" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.longitude />
                    <Arg Name="Lon6" />
                </Setting>
            </Guidance:Waypoint>
        </Aggregate>
        <Aggregate Id="Wpt7">
            <Sequence />
            <Guidance:Waypoint>
                <Sequence />
                <Setting>
                    <Guidance:Waypoint.latitude />
                    <Arg Name="Lat7" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.longitude />
                    <Arg Name="Lon7" />
                </Setting>
            </Guidance:Waypoint>
        </Aggregate>
    </Aggregate>
</Mission>

2025-06-05T13:26:14.646Z,1749129974.646 [MissionManager](INFO): DefineArg sci2.MissionTimeout = 2.000000 h
2025-06-05T13:26:14.648Z,1749129974.648 [MissionManager](INFO): DefineArg sci2.NeedCommsTime = 60.000000 min
2025-06-05T13:26:14.651Z,1749129974.651 [MissionManager](INFO): DefineArg sci2.Repeat = 1.000000 count
2025-06-05T13:26:14.653Z,1749129974.653 [MissionManager](INFO): DefineArg sci2.Lat1 = nan arcdeg
2025-06-05T13:26:14.656Z,1749129974.656 [MissionManager](INFO): DefineArg sci2.Lat2 = nan arcdeg
2025-06-05T13:26:14.658Z,1749129974.658 [MissionManager](INFO): DefineArg sci2.Lat3 = nan arcdeg
2025-06-05T13:26:14.660Z,1749129974.660 [MissionManager](INFO): DefineArg sci2.Lat4 = nan arcdeg
2025-06-05T13:26:14.663Z,1749129974.663 [MissionManager](INFO): DefineArg sci2.Lat5 = nan arcdeg
2025-06-05T13:26:14.666Z,1749129974.666 [MissionManager](INFO): DefineArg sci2.Lat6 = nan arcdeg
2025-06-05T13:26:14.668Z,1749129974.668 [MissionManager](INFO): DefineArg sci2.Lat7 = nan arcdeg
2025-06-05T13:26:14.670Z,1749129974.670 [MissionManager](INFO): DefineArg sci2.Lon1 = nan arcdeg
2025-06-05T13:26:14.672Z,1749129974.672 [MissionManager](INFO): DefineArg sci2.Lon2 = nan arcdeg
2025-06-05T13:26:14.674Z,1749129974.674 [MissionManager](INFO): DefineArg sci2.Lon3 = nan arcdeg
2025-06-05T13:26:14.677Z,1749129974.677 [MissionManager](INFO): DefineArg sci2.Lon4 = nan arcdeg
2025-06-05T13:26:14.679Z,1749129974.679 [MissionManager](INFO): DefineArg sci2.Lon5 = nan arcdeg
2025-06-05T13:26:14.681Z,1749129974.681 [MissionManager](INFO): DefineArg sci2.Lon6 = nan arcdeg
2025-06-05T13:26:14.739Z,1749129974.739 [MissionManager](INFO): DefineArg sci2.Lon7 = nan arcdeg
2025-06-05T13:26:14.741Z,1749129974.741 [MissionManager](INFO): DefineArg sci2.Speed = 1.000000 m/s
2025-06-05T13:26:14.760Z,1749129974.760 [MissionManager](INFO): DefineArg sci2.CaptureRadius = nan m
2025-06-05T13:26:14.762Z,1749129974.762 [MissionManager](INFO): DefineArg sci2.YoYoMinDepth = 2.000000 m
2025-06-05T13:26:14.776Z,1749129974.776 [MissionManager](INFO): DefineArg sci2.YoYoMaxDepth = 200.000000 m
2025-06-05T13:26:14.785Z,1749129974.785 [MissionManager](INFO): DefineArg sci2.YoYoMinAltitude = 9.000000 m
2025-06-05T13:26:14.796Z,1749129974.796 [MissionManager](INFO): DefineArg sci2.YoYoUpPitch = 20.000000 arcdeg
2025-06-05T13:26:14.798Z,1749129974.798 [MissionManager](INFO): DefineArg sci2.YoYoDownPitch = -20.000000 arcdeg
2025-06-05T13:26:14.804Z,1749129974.804 [MissionManager](INFO): DefineArg sci2.SurfaceDiveSpeed = nan m/s
2025-06-05T13:26:14.811Z,1749129974.811 [MissionManager](INFO): DefineArg sci2.SurfaceThreshold = 1.000000 m
2025-06-05T13:26:14.813Z,1749129974.813 [MissionManager](INFO): DefineArg sci2.SinkOffSurface = 0 bool
2025-06-05T13:26:14.816Z,1749129974.816 [MissionManager](INFO): DefineArg sci2.SinkDepth = 10.000000 m
2025-06-05T13:26:14.818Z,1749129974.818 [MissionManager](INFO): DefineArg sci2.SinkDepthTimeout = 10.000000 min
2025-06-05T13:26:14.832Z,1749129974.832 [MissionManager](INFO): DefineArg sci2.YoYoLightTerminate = 0 bool
2025-06-05T13:26:14.838Z,1749129974.838 [MissionManager](INFO): DefineArg sci2.YoYoLightTerminateThreshold = 0.100000 umol/s/m2
2025-06-05T13:26:14.840Z,1749129974.840 [MissionManager](INFO): DefineArg sci2.PeakDetectChl = 0 bool
2025-06-05T13:26:14.847Z,1749129974.847 [MissionManager](INFO): DefineArg sci2.ShallowBoundChl = nan m
2025-06-05T13:26:14.849Z,1749129974.849 [MissionManager](INFO): DefineArg sci2.DeepBoundChl = nan m
2025-06-05T13:26:14.856Z,1749129974.856 [MissionManager](INFO): DefineArg sci2.ChlThreshTrigger = 0 bool
2025-06-05T13:26:14.858Z,1749129974.858 [MissionManager](INFO): DefineArg sci2.ChlLowerThreshold = nan ug/l
2025-06-05T13:26:14.861Z,1749129974.861 [MissionManager](INFO): DefineArg sci2.ChlUpperThreshold = nan ug/l
2025-06-05T13:26:14.871Z,1749129974.871 [MissionManager](INFO): DefineArg sci2.NumProfilesThreshold = 5.000000 count
2025-06-05T13:26:14.874Z,1749129974.874 [MissionManager](INFO): DefineArg sci2.BuoyancyNeutral = 245.649597 cc
2025-06-05T13:26:14.884Z,1749129974.884 [MissionManager](INFO): DefineArg sci2.MassDefault = 3.127619 cm
2025-06-05T13:26:14.886Z,1749129974.886 [MissionManager](INFO): DefineArg sci2.MinAltitude = 5.000000 m
2025-06-05T13:26:14.889Z,1749129974.889 [MissionManager](INFO): DefineArg sci2.MaxDepth = 205.000000 m
2025-06-05T13:26:14.896Z,1749129974.896 [MissionManager](INFO): DefineArg sci2.MinOffshore = 2.000000 km
2025-06-05T13:26:14.898Z,1749129974.898 [MissionManager](INFO): DefineOutput sci2.DiveMode = 0.000000 count
2025-06-05T13:26:14.900Z,1749129974.900 [MissionManager](INFO): DefineOutput sci2.DoingComms = 0.000000 count
2025-06-05T13:26:14.904Z,1749129974.904 [MissionManager](INFO): DefineOutput sci2.SurfaceSink = 1.000000 count
2025-06-05T13:26:14.918Z,1749129974.918 [MissionManager](INFO): DefineOutput sci2.YoYo = 2.000000 count
2025-06-05T13:26:14.919Z,1749129974.919 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-06-05T13:26:14.919Z,1749129974.919 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-06-05T13:26:14.928Z,1749129974.928 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-06-05T13:26:18.597Z,1749129978.597 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/Science.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="Science">
    <DefineArg Name="PeakDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="TimeWindowPeakReport">
        <Units:minute />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="HighestChlPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestSaltPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestOilPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="PatchTracking">
        <False />
    </DefineArg>
    <DefineArg Name="FilterWidthHorizontal">
        <Units:count />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesSlidingwindow">
        <Units:count />
        <Value>100</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionHorizontal">
        <Units:percent />
        <Value>80</Value>
    </DefineArg>
    <DefineArg Name="PeakDetectNO3Active">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectOilActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectFDOMActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectSalinityActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDinoflagellatesActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreDinoflagellatesActive">
        <False />
    </DefineArg>
    <DefineArg Name="UpwardDerivativeOfTemperatureActive">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledAanderaaO2">
        <Science:Aanderaa_O2.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledNeilBrown">
        <Science:CTD_NeilBrown.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledRBRTridente">
        <Science:RBRTridente.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledSeabird">
        <Science:CTD_Seabird.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsBB2FL">
        <Science:WetLabsBB2FL.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsSeaOWL_UV_A">
        <Science:WetLabsSeaOWL_UV_A.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsUBAT">
        <Science:WetLabsUBAT.loadAtStartup />
    </DefineArg>
    <DefineArg Name="LowPassWindowLength">
        <Units:count />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="MedianFilterLen">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="ShallowBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DeepBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DepChangeThreshForAttitudeFlip">
        <Units:meter />
        <Value>2.0</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionVerticalAscent">
        <Units:percent />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionVerticalDescent">
        <Units:percent />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlPeakThresh">
        <Units:microgram_per_liter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="ChlThreshTriggerActive">
        <False />
    </DefineArg>
    <DefineArg Name="ChlLowerThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlUpperThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesThresh">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreLMavgROIPeakThresh">
        <Units:count_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreHMavgROIPeakThresh">
        <Units:count_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreDiatomsPeakThresh">
        <Units:count_per_milliliter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreDinoflagellatesPeakThresh">
        <Units:count_per_milliliter />
        <Value>0</Value>
    </DefineArg>
    <DefineOutput Name="GoDown">
        <True />
    </DefineOutput>
    <DefineOutput Name="PeakChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3">
        <Units:micromole_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Depth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOil">
        <Units:kilogram_per_cubic_meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOM">
        <Units:part_per_billion />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatoms">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatoms">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOil">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="TriggeredOnChl">
        <False />
    </DefineOutput>
    <DefineOutput Name="ChlTriggering">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledAanderaaO2" />
        </While>
        <Universal:mass_concentration_of_oxygen_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
        </While>
        <Universal:sea_water_temperature />
        <Universal:sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledSeabird" />
        </While>
        <Science:CTD_Seabird.sea_water_temperature />
        <Science:CTD_Seabird.sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
            <And>
                <Arg Name="UpwardDerivativeOfTemperatureActive" />
            </And>
        </While>
        <Universal:upward_derivative_of_sea_water_temperature />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsBB2FL" />
            <Or>
                <Arg Name="EnabledRBRTridente" />
            </Or>
            <Or>
                <Arg Name="PeakDetectChlActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_chlorophyll_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsUBAT" />
        </While>
        <Science:WetLabsUBAT.average_bioluminescence />
    </ReadData>
    <ReadData Id="Read_Oil" Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsSeaOWL_UV_A" />
            <Or>
                <Arg Name="PeakDetectOilActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
    </ReadData>
    <Aggregate Id="OceanCurrent">
        <Sequence />
        <Estimation:CurrentEstimator>
            <Parallel />
        </Estimation:CurrentEstimator>
    </Aggregate>
    <Aggregate Id="PeakDetectChl">
        <While>
            <Arg Name="PeakDetectChlActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakChl">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectChl">
        <While>
            <Arg Name="EdgeDetectChlActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="ChlPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakChl">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgeChl">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgeChlDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgeChlTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgeChlLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgeChlLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, ChlPeakThresh, PeakChl, PeakChlDepth, EdgeChl, EdgeChlDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="ChlPeakThresh" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChlDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgeChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="EdgeChlDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
            <Arg Name="EdgeChl" />
            <Arg Name="EdgeChlDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestChlPeakReport">
        <While>
            <Arg Name="HighestChlPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakChlDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakChlLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakChlLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchChl">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchChlDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchChlLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchChlLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchChlDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectNO3">
        <While>
            <Arg Name="PeakDetectNO3Active" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mole_concentration_of_nitrate_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakNO3">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakNO3Depth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakNO3Latitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakNO3Longitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakNO3" />
            <Arg Name="PeakNO3Depth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectOil">
        <While>
            <Arg Name="PeakDetectOilActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakOil">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakOilDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakOilLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakOilLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakOil" />
            <Arg Name="PeakOilDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestOilPeakReport">
        <While>
            <Arg Name="HighestOilPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakOil" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakOilDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakOilLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakOilLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchOil">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchOilDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchOilLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchOilLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchOilDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectFDOM">
        <While>
            <Arg Name="PeakDetectFDOMActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:concentration_of_colored_dissolved_organic_matter_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakFDOM">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakFDOMDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakFDOMTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakFDOMLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakFDOMLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakFDOM" />
            <Arg Name="PeakFDOMDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectSalinity">
        <While>
            <Arg Name="PeakDetectSalinityActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:sea_water_salinity />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakSalt">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakSaltDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakSaltTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakSaltLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakSaltLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakSalt" />
            <Arg Name="PeakSaltDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestSaltPeakReport">
        <While>
            <Arg Name="HighestSaltPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakSalt" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakSaltDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakSaltLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakSaltLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchSalt">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchSaltDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchSaltLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchSaltLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchSaltDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="EdgeDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreLMavgROIPeakThresh, PeakPlanktivoreLMavgROI, PeakPlanktivoreLMavgROIDepth, EdgePlanktivoreLMavgROI, EdgePlanktivoreLMavgROIDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreHMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_HM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="EdgeDetectPlanktivoreHMavgROIActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_HM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreHMavgROIPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROI">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreHMavgROIPeakThresh, PeakPlanktivoreHMavgROI, PeakPlanktivoreHMavgROIDepth, EdgePlanktivoreHMavgROI, EdgePlanktivoreHMavgROIDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreHMavgROIPeakThresh" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreHMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="EdgePlanktivoreHMavgROIDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
            <Arg Name="EdgePlanktivoreHMavgROI" />
            <Arg Name="EdgePlanktivoreHMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="PeakDetectPlanktivoreDiatomsActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_diatoms</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="EdgeDetectPlanktivoreDiatomsActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_diatoms</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreDiatomsPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatoms">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreDiatomsPeakThresh, PeakPlanktivoreDiatoms, PeakPlanktivoreDiatomsDepth, EdgePlanktivoreDiatoms, EdgePlanktivoreDiatomsDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreDiatomsPeakThresh" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreDiatoms" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="EdgePlanktivoreDiatomsDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
            <Arg Name="EdgePlanktivoreDiatoms" />
            <Arg Name="EdgePlanktivoreDiatomsDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="PeakDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDinoflagellates">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="EdgeDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreDinoflagellatesPeakThresh" />
            </Setting>
            <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>

2025-06-05T13:26:18.623Z,1749129978.623 [MissionManager](INFO): DefineArg sci2:Science.PeakDetectChlActive = 0 bool
2025-06-05T13:26:18.624Z,1749129978.624 [MissionManager](INFO): DefineArg sci2:Science.EdgeDetectChlActive = 0 bool
2025-06-05T13:26:18.627Z,1749129978.627 [MissionManager](INFO): DefineArg sci2:Science.TimeWindowPeakReport = nan min
2025-06-05T13:26:18.629Z,1749129978.629 [MissionManager](INFO): DefineArg sci2:Science.HighestChlPeakReportActive = 0 bool
2025-06-05T13:26:18.655Z,1749129978.655 [MissionManager](INFO): DefineArg sci2:Science.HighestSaltPeakReportActive = 0 bool
2025-06-05T13:26:18.657Z,1749129978.657 [MissionManager](INFO): DefineArg sci2:Science.HighestOilPeakReportActive = 0 bool
2025-06-05T13:26:18.663Z,1749129978.663 [MissionManager](INFO): DefineArg sci2:Science.PatchTracking = 0 bool
2025-06-05T13:26:18.665Z,1749129978.665 [MissionManager](INFO): DefineArg sci2:Science.FilterWidthHorizontal = 3.000000 count
2025-06-05T13:26:18.668Z,1749129978.668 [MissionManager](INFO): DefineArg sci2:Science.NumProfilesSlidingwindow = 100.000000 count
2025-06-05T13:26:18.670Z,1749129978.670 [MissionManager](INFO): DefineArg sci2:Science.OffPeakFractionHorizontal = 80.000000 %
2025-06-05T13:26:18.724Z,1749129978.724 [MissionManager](INFO): DefineArg sci2:Science.PeakDetectNO3Active = 0 bool
2025-06-05T13:26:18.735Z,1749129978.735 [MissionManager](INFO): DefineArg sci2:Science.PeakDetectOilActive = 0 bool
2025-06-05T13:26:18.736Z,1749129978.736 [MissionManager](INFO): DefineArg sci2:Science.PeakDetectFDOMActive = 0 bool
2025-06-05T13:26:18.775Z,1749129978.775 [MissionManager](INFO): DefineArg sci2:Science.PeakDetectSalinityActive = 0 bool
2025-06-05T13:26:18.777Z,1749129978.777 [MissionManager](INFO): DefineArg sci2:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-06-05T13:26:18.791Z,1749129978.791 [MissionManager](INFO): DefineArg sci2:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-06-05T13:26:18.793Z,1749129978.793 [MissionManager](INFO): DefineArg sci2:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-06-05T13:26:18.803Z,1749129978.803 [MissionManager](INFO): DefineArg sci2:Science.EdgeDetectPlanktivoreHMavgROIActive = 0 bool
2025-06-05T13:26:18.805Z,1749129978.805 [MissionManager](INFO): DefineArg sci2:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-06-05T13:26:18.815Z,1749129978.815 [MissionManager](INFO): DefineArg sci2:Science.EdgeDetectPlanktivoreDiatomsActive = 0 bool
2025-06-05T13:26:18.817Z,1749129978.817 [MissionManager](INFO): DefineArg sci2:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-06-05T13:26:18.823Z,1749129978.823 [MissionManager](INFO): DefineArg sci2:Science.EdgeDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-06-05T13:26:18.825Z,1749129978.825 [MissionManager](INFO): DefineArg sci2:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-06-05T13:26:18.835Z,1749129978.835 [MissionManager](INFO): DefineArg sci2:Science.EnabledAanderaaO2 = 0 bool
2025-06-05T13:26:18.847Z,1749129978.847 [MissionManager](INFO): DefineArg sci2:Science.EnabledNeilBrown = 0 bool
2025-06-05T13:26:18.849Z,1749129978.849 [MissionManager](INFO): DefineArg sci2:Science.EnabledRBRTridente = 0 bool
2025-06-05T13:26:18.852Z,1749129978.852 [MissionManager](INFO): DefineArg sci2:Science.EnabledSeabird = 1 bool
2025-06-05T13:26:18.871Z,1749129978.871 [MissionManager](INFO): DefineArg sci2:Science.EnabledWetLabsBB2FL = 1 bool
2025-06-05T13:26:18.875Z,1749129978.875 [MissionManager](INFO): DefineArg sci2:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-06-05T13:26:18.877Z,1749129978.877 [MissionManager](INFO): DefineArg sci2:Science.EnabledWetLabsUBAT = 0 bool
2025-06-05T13:26:18.880Z,1749129978.880 [MissionManager](INFO): DefineArg sci2:Science.LowPassWindowLength = 20.000000 count
2025-06-05T13:26:18.882Z,1749129978.882 [MissionManager](INFO): DefineArg sci2:Science.MedianFilterLen = 5.000000 count
2025-06-05T13:26:18.897Z,1749129978.897 [MissionManager](INFO): DefineArg sci2:Science.ShallowBound = nan m
2025-06-05T13:26:18.900Z,1749129978.900 [MissionManager](INFO): DefineArg sci2:Science.DeepBound = nan m
2025-06-05T13:26:18.911Z,1749129978.911 [MissionManager](INFO): DefineArg sci2:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-06-05T13:26:18.915Z,1749129978.915 [MissionManager](INFO): DefineArg sci2:Science.OffPeakFractionVerticalAscent = nan %
2025-06-05T13:26:18.917Z,1749129978.917 [MissionManager](INFO): DefineArg sci2:Science.OffPeakFractionVerticalDescent = nan %
2025-06-05T13:26:18.919Z,1749129978.919 [MissionManager](INFO): DefineArg sci2:Science.ChlPeakThresh = 0.000000 ug/l
2025-06-05T13:26:18.921Z,1749129978.921 [MissionManager](INFO): DefineArg sci2:Science.ChlThreshTriggerActive = 0 bool
2025-06-05T13:26:18.931Z,1749129978.931 [MissionManager](INFO): DefineArg sci2:Science.ChlLowerThresh = nan ug/l
2025-06-05T13:26:18.933Z,1749129978.933 [MissionManager](INFO): DefineArg sci2:Science.ChlUpperThresh = nan ug/l
2025-06-05T13:26:18.935Z,1749129978.935 [MissionManager](INFO): DefineArg sci2:Science.NumProfilesThresh = 5.000000 count
2025-06-05T13:26:18.937Z,1749129978.937 [MissionManager](INFO): DefineArg sci2:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-06-05T13:26:18.948Z,1749129978.948 [MissionManager](INFO): DefineArg sci2:Science.PlanktivoreHMavgROIPeakThresh = 0.000000 count/s
2025-06-05T13:26:18.954Z,1749129978.954 [MissionManager](INFO): DefineArg sci2:Science.PlanktivoreDiatomsPeakThresh = 0.000000 count/ml
2025-06-05T13:26:18.956Z,1749129978.956 [MissionManager](INFO): DefineArg sci2:Science.PlanktivoreDinoflagellatesPeakThresh = 0.000000 count/ml
2025-06-05T13:26:18.971Z,1749129978.971 [MissionManager](INFO): DefineOutput sci2:Science.GoDown = 1 bool
2025-06-05T13:26:18.973Z,1749129978.973 [MissionManager](INFO): DefineOutput sci2:Science.PeakChl = nan ug/l
2025-06-05T13:26:18.980Z,1749129978.980 [MissionManager](INFO): DefineOutput sci2:Science.PeakChlDepth = nan m
2025-06-05T13:26:18.982Z,1749129978.982 [MissionManager](INFO): DefineOutput sci2:Science.PeakChlTemperature = nan degC
2025-06-05T13:26:18.988Z,1749129978.988 [MissionManager](INFO): DefineOutput sci2:Science.PeakChlLatitude = nan arcdeg
2025-06-05T13:26:18.995Z,1749129978.995 [MissionManager](INFO): DefineOutput sci2:Science.PeakChlLongitude = nan arcdeg
2025-06-05T13:26:18.997Z,1749129978.997 [MissionManager](INFO): DefineOutput sci2:Science.EdgeChl = nan ug/l
2025-06-05T13:26:19.004Z,1749129979.004 [MissionManager](INFO): DefineOutput sci2:Science.EdgeChlDepth = nan m
2025-06-05T13:26:19.010Z,1749129979.010 [MissionManager](INFO): DefineOutput sci2:Science.EdgeChlTemperature = nan degC
2025-06-05T13:26:19.013Z,1749129979.013 [MissionManager](INFO): DefineOutput sci2:Science.EdgeChlLatitude = nan arcdeg
2025-06-05T13:26:19.031Z,1749129979.031 [MissionManager](INFO): DefineOutput sci2:Science.EdgeChlLongitude = nan arcdeg
2025-06-05T13:26:19.033Z,1749129979.033 [MissionManager](INFO): DefineOutput sci2:Science.PeakNO3 = nan umol/l
2025-06-05T13:26:19.040Z,1749129979.040 [MissionManager](INFO): DefineOutput sci2:Science.PeakNO3Depth = nan m
2025-06-05T13:26:19.046Z,1749129979.046 [MissionManager](INFO): DefineOutput sci2:Science.PeakNO3Latitude = nan arcdeg
2025-06-05T13:26:19.049Z,1749129979.049 [MissionManager](INFO): DefineOutput sci2:Science.PeakNO3Longitude = nan arcdeg
2025-06-05T13:26:19.063Z,1749129979.063 [MissionManager](INFO): DefineOutput sci2:Science.PeakOil = nan kg/m3
2025-06-05T13:26:19.065Z,1749129979.065 [MissionManager](INFO): DefineOutput sci2:Science.PeakOilDepth = nan m
2025-06-05T13:26:19.096Z,1749129979.096 [MissionManager](INFO): DefineOutput sci2:Science.PeakOilLatitude = nan arcdeg
2025-06-05T13:26:19.107Z,1749129979.107 [MissionManager](INFO): DefineOutput sci2:Science.PeakOilLongitude = nan arcdeg
2025-06-05T13:26:19.109Z,1749129979.109 [MissionManager](INFO): DefineOutput sci2:Science.PeakFDOM = nan ppb
2025-06-05T13:26:19.111Z,1749129979.111 [MissionManager](INFO): DefineOutput sci2:Science.PeakFDOMDepth = nan m
2025-06-05T13:26:19.113Z,1749129979.113 [MissionManager](INFO): DefineOutput sci2:Science.PeakFDOMTemperature = nan degC
2025-06-05T13:26:19.125Z,1749129979.125 [MissionManager](INFO): DefineOutput sci2:Science.PeakFDOMLatitude = nan arcdeg
2025-06-05T13:26:19.128Z,1749129979.128 [MissionManager](INFO): DefineOutput sci2:Science.PeakFDOMLongitude = nan arcdeg
2025-06-05T13:26:19.140Z,1749129979.140 [MissionManager](INFO): DefineOutput sci2:Science.PeakSalt = nan psu
2025-06-05T13:26:19.143Z,1749129979.143 [MissionManager](INFO): DefineOutput sci2:Science.PeakSaltDepth = nan m
2025-06-05T13:26:19.145Z,1749129979.145 [MissionManager](INFO): DefineOutput sci2:Science.PeakSaltTemperature = nan degC
2025-06-05T13:26:19.188Z,1749129979.188 [MissionManager](INFO): DefineOutput sci2:Science.PeakSaltLatitude = nan arcdeg
2025-06-05T13:26:19.199Z,1749129979.199 [MissionManager](INFO): DefineOutput sci2:Science.PeakSaltLongitude = nan arcdeg
2025-06-05T13:26:19.201Z,1749129979.201 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-06-05T13:26:19.216Z,1749129979.216 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-06-05T13:26:19.221Z,1749129979.221 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-06-05T13:26:19.232Z,1749129979.232 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-06-05T13:26:19.234Z,1749129979.234 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-06-05T13:26:19.251Z,1749129979.251 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-06-05T13:26:19.253Z,1749129979.253 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-06-05T13:26:19.260Z,1749129979.260 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-06-05T13:26:19.266Z,1749129979.266 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-06-05T13:26:19.269Z,1749129979.269 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-06-05T13:26:19.272Z,1749129979.272 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-06-05T13:26:19.274Z,1749129979.274 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-06-05T13:26:19.284Z,1749129979.284 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-06-05T13:26:19.288Z,1749129979.288 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-06-05T13:26:19.307Z,1749129979.307 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-06-05T13:26:19.309Z,1749129979.309 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreHMavgROI = nan count/s
2025-06-05T13:26:19.316Z,1749129979.316 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreHMavgROIDepth = nan m
2025-06-05T13:26:19.326Z,1749129979.326 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreHMavgROITemperature = nan degC
2025-06-05T13:26:19.329Z,1749129979.329 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreHMavgROILatitude = nan arcdeg
2025-06-05T13:26:19.333Z,1749129979.333 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreHMavgROILongitude = nan arcdeg
2025-06-05T13:26:19.343Z,1749129979.343 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-06-05T13:26:19.346Z,1749129979.346 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-06-05T13:26:19.352Z,1749129979.352 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-06-05T13:26:19.371Z,1749129979.371 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-06-05T13:26:19.373Z,1749129979.373 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-06-05T13:26:19.380Z,1749129979.380 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreDiatoms = nan count/ml
2025-06-05T13:26:19.386Z,1749129979.386 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreDiatomsDepth = nan m
2025-06-05T13:26:19.401Z,1749129979.401 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreDiatomsTemperature = nan degC
2025-06-05T13:26:19.411Z,1749129979.411 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreDiatomsLatitude = nan arcdeg
2025-06-05T13:26:19.413Z,1749129979.413 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreDiatomsLongitude = nan arcdeg
2025-06-05T13:26:19.421Z,1749129979.421 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-06-05T13:26:19.427Z,1749129979.427 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-06-05T13:26:19.430Z,1749129979.430 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-06-05T13:26:19.436Z,1749129979.436 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-06-05T13:26:19.443Z,1749129979.443 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-06-05T13:26:19.445Z,1749129979.445 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreDinoflagellates = nan count/ml
2025-06-05T13:26:19.452Z,1749129979.452 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreDinoflagellatesDepth = nan m
2025-06-05T13:26:19.458Z,1749129979.458 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreDinoflagellatesTemperature = nan degC
2025-06-05T13:26:19.461Z,1749129979.461 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-06-05T13:26:19.467Z,1749129979.467 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-06-05T13:26:19.469Z,1749129979.469 [MissionManager](INFO): DefineOutput sci2:Science.PatchChl = nan ug/l
2025-06-05T13:26:19.476Z,1749129979.476 [MissionManager](INFO): DefineOutput sci2:Science.PatchChlDepth = nan m
2025-06-05T13:26:19.482Z,1749129979.482 [MissionManager](INFO): DefineOutput sci2:Science.PatchChlLatitude = nan arcdeg
2025-06-05T13:26:19.485Z,1749129979.485 [MissionManager](INFO): DefineOutput sci2:Science.PatchChlLongitude = nan arcdeg
2025-06-05T13:26:19.510Z,1749129979.510 [MissionManager](INFO): DefineOutput sci2:Science.PatchChlDistance = nan m
2025-06-05T13:26:19.513Z,1749129979.513 [MissionManager](INFO): DefineOutput sci2:Science.PatchSalt = nan psu
2025-06-05T13:26:19.535Z,1749129979.535 [MissionManager](INFO): DefineOutput sci2:Science.PatchSaltDepth = nan m
2025-06-05T13:26:19.538Z,1749129979.538 [MissionManager](INFO): DefineOutput sci2:Science.PatchSaltLatitude = nan arcdeg
2025-06-05T13:26:19.544Z,1749129979.544 [MissionManager](INFO): DefineOutput sci2:Science.PatchSaltLongitude = nan arcdeg
2025-06-05T13:26:19.579Z,1749129979.579 [MissionManager](INFO): DefineOutput sci2:Science.PatchSaltDistance = nan m
2025-06-05T13:26:19.581Z,1749129979.581 [MissionManager](INFO): DefineOutput sci2:Science.PatchOil = nan psu
2025-06-05T13:26:19.588Z,1749129979.588 [MissionManager](INFO): DefineOutput sci2:Science.PatchOilDepth = nan m
2025-06-05T13:26:19.598Z,1749129979.598 [MissionManager](INFO): DefineOutput sci2:Science.PatchOilLatitude = nan arcdeg
2025-06-05T13:26:19.601Z,1749129979.601 [MissionManager](INFO): DefineOutput sci2:Science.PatchOilLongitude = nan arcdeg
2025-06-05T13:26:19.635Z,1749129979.635 [MissionManager](INFO): DefineOutput sci2:Science.PatchOilDistance = nan m
2025-06-05T13:26:19.637Z,1749129979.637 [MissionManager](INFO): DefineOutput sci2:Science.TriggeredOnChl = 0 bool
2025-06-05T13:26:19.647Z,1749129979.647 [MissionManager](INFO): DefineOutput sci2:Science.ChlTriggering = nan ug/l
2025-06-05T13:26:19.704Z,1749129979.704 [sci2:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-05T13:26:19.767Z,1749129979.767 [sci2:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-06-05T13:26:19.836Z,1749129979.836 [sci2:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-06-05T13:26:19.877Z,1749129979.877 [sci2:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-05T13:26:19.925Z,1749129979.925 [sci2:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-05T13:26:19.948Z,1749129979.948 [sci2:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-06-05T13:26:20.033Z,1749129980.033 [sci2:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-05T13:26:20.097Z,1749129980.097 [sci2:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-05T13:26:20.139Z,1749129980.139 [sci2:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-06-05T13:26:20.178Z,1749129980.178 [sci2:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-05T13:26:20.210Z,1749129980.210 [sci2:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-06-05T13:26:20.261Z,1749129980.261 [sci2:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-05T13:26:20.281Z,1749129980.281 [sci2:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-06-05T13:26:20.343Z,1749129980.343 [sci2:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-05T13:26:20.404Z,1749129980.404 [sci2:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-06-05T13:26:20.463Z,1749129980.463 [sci2:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-05T13:26:20.484Z,1749129980.484 [sci2:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-06-05T13:26:20.506Z,1749129980.506 [sci2:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-06-05T13:26:20.514Z,1749129980.514 [MissionManager](INFO): RedefineArg sci2:Science.PeakDetectChlActive = reader:sci2.PeakDetectChl
2025-06-05T13:26:20.515Z,1749129980.515 [MissionManager](INFO): RedefineArg sci2:Science.ShallowBound = reader:sci2.ShallowBoundChl
2025-06-05T13:26:20.517Z,1749129980.517 [MissionManager](INFO): RedefineArg sci2:Science.DeepBound = reader:sci2.DeepBoundChl
2025-06-05T13:26:20.518Z,1749129980.518 [MissionManager](INFO): RedefineArg sci2:Science.ChlThreshTriggerActive = reader:sci2.ChlThreshTrigger
2025-06-05T13:26:20.520Z,1749129980.520 [MissionManager](INFO): RedefineArg sci2:Science.ChlLowerThresh = reader:sci2.ChlLowerThreshold
2025-06-05T13:26:20.521Z,1749129980.521 [MissionManager](INFO): RedefineArg sci2:Science.ChlUpperThresh = reader:sci2.ChlUpperThreshold
2025-06-05T13:26:20.523Z,1749129980.523 [MissionManager](INFO): RedefineArg sci2:Science.NumProfilesThresh = reader:sci2.NumProfilesThreshold
2025-06-05T13:26:20.523Z,1749129980.523 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-06-05T13:26:20.524Z,1749129980.524 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-06-05T13:26:20.525Z,1749129980.525 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-06-05T13:26:20.829Z,1749129980.829 [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>

2025-06-05T13:26:20.850Z,1749129980.850 [MissionManager](INFO): DefineArg sci2:NeedComms.DiveInterval = 1.000000 h
2025-06-05T13:26:20.852Z,1749129980.852 [MissionManager](INFO): DefineArg sci2:NeedComms.WaitForPitchUp = 10.000000 min
2025-06-05T13:26:20.859Z,1749129980.859 [MissionManager](INFO): DefineArg sci2:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-06-05T13:26:20.861Z,1749129980.861 [MissionManager](INFO): DefineArg sci2:NeedComms.SurfaceDepthRate = nan m/s
2025-06-05T13:26:20.883Z,1749129980.883 [MissionManager](INFO): DefineArg sci2:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-06-05T13:26:20.885Z,1749129980.885 [MissionManager](INFO): DefineArg sci2:NeedComms.SurfacingTimeout = 1000.000000 s
2025-06-05T13:26:20.900Z,1749129980.900 [MissionManager](INFO): DefineArg sci2:NeedComms.GPSTimeout = 7.000000 min
2025-06-05T13:26:20.902Z,1749129980.902 [MissionManager](INFO): DefineArg sci2:NeedComms.CommsTimeout = 30.000000 min
2025-06-05T13:26:20.925Z,1749129980.925 [sci2:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-06-05T13:26:20.974Z,1749129980.974 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-06-05T13:26:20.974Z,1749129980.974 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-06-05T13:26:20.981Z,1749129980.981 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-06-05T13:26:21.042Z,1749129981.042 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>1.5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-06-05T13:26:21.046Z,1749129981.046 [MissionManager](INFO): DefineArg sci2:StandardEnvelopes.MinAltitude = 5.000000 m
2025-06-05T13:26:21.048Z,1749129981.048 [MissionManager](INFO): DefineArg sci2:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2025-06-05T13:26:21.051Z,1749129981.051 [MissionManager](INFO): DefineArg sci2:StandardEnvelopes.MaxDepth = 200.000000 m
2025-06-05T13:26:21.053Z,1749129981.053 [MissionManager](INFO): DefineArg sci2:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-06-05T13:26:21.054Z,1749129981.054 [sci2:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-06-05T13:26:21.059Z,1749129981.059 [sci2:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-06-05T13:26:21.066Z,1749129981.066 [sci2:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-06-05T13:26:21.074Z,1749129981.074 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-06-05T13:26:21.075Z,1749129981.075 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-06-05T13:26:21.076Z,1749129981.076 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-06-05T13:26:21.135Z,1749129981.135 [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>

2025-06-05T13:26:21.138Z,1749129981.138 [MissionManager](INFO): DefineArg sci2:BackseatDriver.EnableBackseat = 0 bool
2025-06-05T13:26:21.140Z,1749129981.140 [sci2:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-06-05T13:26:21.142Z,1749129981.142 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-06-05T13:26:21.143Z,1749129981.143 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-06-05T13:26:21.144Z,1749129981.144 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-06-05T13:26:21.316Z,1749129981.316 [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>

2025-06-05T13:26:21.320Z,1749129981.320 [MissionManager](INFO): DefineArg sci2:PowerOnly.SampleAll = 0 bool
2025-06-05T13:26:21.322Z,1749129981.322 [MissionManager](INFO): DefineArg sci2:PowerOnly.SampleLoad1 = 0 bool
2025-06-05T13:26:21.324Z,1749129981.324 [MissionManager](INFO): DefineArg sci2:PowerOnly.SampleLoad2 = 0 bool
2025-06-05T13:26:21.325Z,1749129981.325 [MissionManager](INFO): DefineArg sci2:PowerOnly.SampleLoad3 = 0 bool
2025-06-05T13:26:21.328Z,1749129981.328 [MissionManager](INFO): DefineArg sci2:PowerOnly.EnabledPowerOnly = 1 bool
2025-06-05T13:26:21.334Z,1749129981.334 [sci2:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-06-05T13:26:21.377Z,1749129981.377 [sci2:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-06-05T13:26:21.379Z,1749129981.379 [sci2:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Construct.
2025-06-05T13:26:21.383Z,1749129981.383 [sci2:DiveCmd:SurfaceSink:sink:D.Pitch](DEBUG): Construct.
2025-06-05T13:26:21.398Z,1749129981.398 [sci2:DiveCmd:YoYoDive:dive:A.Pitch](DEBUG): Construct.
2025-06-05T13:26:21.402Z,1749129981.402 [sci2:DiveCmd:YoYoDive:dive:B.Buoyancy](DEBUG): Construct Buoyancy.
2025-06-05T13:26:21.408Z,1749129981.408 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:SurfaceDive:SurfaceSpeed:A.SetSpeed](DEBUG): Construct.
2025-06-05T13:26:21.413Z,1749129981.413 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:ProfileSpeed:A.SetSpeed](DEBUG): Construct.
2025-06-05T13:26:21.416Z,1749129981.416 [sci2:DiveCmd:YoYoDive:dive:D.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-06-05T13:26:21.424Z,1749129981.424 [sci2:DiveCmd:YoYoDive:dive:E.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-06-05T13:26:21.429Z,1749129981.429 [sci2:DiveCmd:YoYoDive:dive:F.YoYo](DEBUG): Construct YoYo.
2025-06-05T13:26:21.439Z,1749129981.439 [sci2:DiveCmd:YoYoDive:dive:YoYoFlip:A.Pitch](DEBUG): Construct.
2025-06-05T13:26:21.455Z,1749129981.455 [sci2:DiveCmd:YoYoDive:dive:StopIfTriggered:A.Execute](DEBUG): Construct Execute.
2025-06-05T13:26:21.459Z,1749129981.459 [sci2:Lap:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-06-05T13:26:21.466Z,1749129981.466 [sci2:Lap:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-06-05T13:26:21.471Z,1749129981.471 [sci2:Lap:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-06-05T13:26:21.477Z,1749129981.477 [sci2:Lap:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-06-05T13:26:21.483Z,1749129981.483 [sci2:Lap:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-06-05T13:26:21.489Z,1749129981.489 [sci2:Lap:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-06-05T13:26:21.504Z,1749129981.504 [sci2:Lap:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-06-05T13:26:21.632Z,1749129981.632 [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.

#! TethysL version initially based on automated translation from original Science/sci2.xml
#! and then (syntactically) simplified with use of array/macro extensions in TethysL.

mission sci2 {
  """
  Vehicle yo-yo's to the specified waypoints, with science turned on.
  """

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

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

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

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

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

    Speed = 1 meter_per_second
      """
      Speed while performing the YoYo behavior.
      """

    CaptureRadius = NaN meter
      """
      Use in Waypoint behavior.
      """

    YoYoMinDepth = 2 meter
      """
      Minimum depth while performing the YoYo behavior.
      """

    YoYoMaxDepth = 200 meter
      """
      Maximum depth while performing the YoYo behavior.
      """

    YoYoMinAltitude = 9 meter
      """
      Minimum altitude while performing the YoYo behavior (for
      bottom-terminated YoYos).
      """

    YoYoUpPitch = 20 degree
      """
      Vehicle up pitch while performing the YoYo behavior.
      """

    YoYoDownPitch = -20 degree
      """
      Vehicle down pitch while performing the YoYo behavior.
      """

    SurfaceDiveSpeed = NaN meter_per_second
      """
      Vehicle speed to get off of surface, same as speed if skipped
      """

    SurfaceThreshold = Control:VerticalControl.surfaceThreshold
      """
      Depth at which to return to normal speed, skipped if SurfaceDiveSpeed NaN
      """

    SinkOffSurface = false
      """
      If true, use buoyancy only to decend to SinkDepth before driving to first target depth
      """

    SinkDepth = 10 meter
      """
      Initial depth to decend using only buoyancy before driving
      """

    SinkDepthTimeout = 10 minute
      """
      Max wait time for the vehicle to reach the target depth
      """

    YoYoLightTerminate = false
      """
      Set true to terminate dive once PAR value falls below threshold.
      """

    YoYoLightTerminateThreshold = 0.1 micromole_per_second_per_square_meter
      """
      Threshold of PAR output at which pitch command will flip positive if vehicle is pitched down.
      """

    PeakDetectChl = false
      """
      Whether to enable peak chl detection on each yo-yo profile
      """

    ShallowBoundChl = NaN meter
      """
      Used only when PeakDetectChl is true. Shallow depth bound for peak chl detection
      """

    DeepBoundChl = NaN meter
      """
      Used only when PeakDetectChl is true. Deep depth bound for peak chl detection
      """

    ChlThreshTrigger = false
      """
      Whether to enable chl threshold triggering
      """

    ChlLowerThreshold = NaN microgram_per_liter
      """
      Used only when ChlThreshTrigger is true. Triggered when peak chl values on NumProfilesThreshold consecutive yo-yo profiles fall in [ChllowerThreshold ChlUpperThreshold]. ChllowerThreshold is ignored if NaN.
      """

    ChlUpperThreshold = NaN microgram_per_liter
      """
      Used only when ChlThreshTrigger is true. Triggered when peak chl values on NumProfilesThreshold consecutive yo-yo profiles fall in [ChllowerThreshold ChlUpperThreshold]. ChlUpperThreshold is ignored if NaN.
      """

    NumProfilesThreshold = 5 count
      """
      Used only when ChlThreshTrigger is true. Triggered when peak chl values on NumProfilesThreshold consecutive yo-yo profiles fall in [ChllowerThreshold ChlUpperThreshold]. ChlUpperThreshold is ignored if NaN.
      """

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

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

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

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

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

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

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

    SurfaceSink = 1 count
      """
      Mission variable (don't change). The mission will run in this mode
      when sinking from the surface using only buoyancy.
      """

    YoYo = 2 count
      """
      Mission variable (don't change). The mission will run in this mode
      when performing the profiles.
      """
  }

  timeout duration=MissionTimeout

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

    redefineArg PeakDetectChlActive = PeakDetectChl
    redefineArg ShallowBound = ShallowBoundChl
    redefineArg DeepBound = DeepBoundChl
    redefineArg ChlThreshTriggerActive = ChlThreshTrigger
    redefineArg ChlLowerThresh = ChlLowerThreshold
    redefineArg ChlUpperThresh = ChlUpperThreshold
    redefineArg NumProfilesThresh = NumProfilesThreshold
  }

  insert id="NeedComms" Insert/NeedComms.tl

  assign in sequence NeedComms:DiveInterval = NeedCommsTime

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

    assign in sequence DiveMode = DoingComms

    call priorityHere=false refId="NeedComms"

    aggregate setInitial {
      run in sequence

      break if ( SinkOffSurface )

      assign in sequence DiveMode = YoYo
    }

    aggregate setSink {
      run in sequence

      break if ( not SinkOffSurface )

      assign in sequence DiveMode = SurfaceSink
    }
  }

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

  aggregate DiveCmd {
    run when ( called )

    aggregate SurfaceSink {
      run while ( DiveMode == SurfaceSink )

      aggregate sink {
        run in sequence

        behavior Guidance:Buoyancy id="BuoyancyHold" {
          run in parallel

          set position = NaN cc
        }

        behavior Guidance:SetSpeed {
          run in parallel

          set speed = 0 m/s
        }

        syslog info "Sinking to " + SinkDepth~meter

        behavior Guidance:Pitch {
          run in sequence

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

          set depth = SinkDepth
        }

        assign in sequence DiveMode = YoYo
      }
    }

    aggregate YoYoDive {
      run while ( DiveMode == YoYo )

      aggregate dive {
        run in sequence

        behavior Guidance:Pitch {
          run in parallel

          set massPosition = MassDefault
        }

        behavior Guidance:Buoyancy {
          run in parallel

          set position = BuoyancyNeutral
        }

        aggregate SetSpeed {
          run in parallel

          aggregate SurfaceDive {
            run while (
              not isNaN ( SurfaceDiveSpeed )
              and Universal:depth <= SurfaceThreshold
            )

            aggregate SurfaceSpeed {
              run in parallel

              behavior Guidance:SetSpeed {
                run in parallel

                set speed = SurfaceDiveSpeed
              }
            }
          }

          aggregate ProfileSpeed {
            run while (
              isNaN ( SurfaceDiveSpeed )
              or Universal:depth > Control:VerticalControl.surfaceThreshold
            )

            behavior Guidance:SetSpeed {
              run in parallel

              set speed = Speed
            }
          }
        }

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

          run in parallel

          set minDepth = YoYoMinDepth
          set maxDepth = YoYoMaxDepth
          set downPitch = YoYoDownPitch
          set upPitch = YoYoUpPitch
        }

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

          run in parallel

          set minAltitude = YoYoMinAltitude
        }

        behavior Guidance:YoYo {
          run in parallel

          set downPitch = YoYoDownPitch
          set upPitch = YoYoUpPitch
        }

        aggregate YoYoFlip {
          """
          If light value falls below a threshold as we're pointed down, pitch the vehicle back up to terminate the yo.
          """

          run when (
            Science:PAR_Licor.loadAtStartup
            and ( YoYoLightTerminate )
            and ( Science:PAR_Licor.downwelling_photosynthetic_photon_flux_in_sea_water < YoYoLightTerminateThreshold )
            and ( Universal:platform_pitch_angle < 1 degree )
          )

          behavior Guidance:Pitch {
            run in parallel

            set pitch = YoYoUpPitch
          }
        }

        aggregate StopIfTriggered {
          """
          If peak chlorophyll values on NumProfilesThresh consecutive yo-yo profiles fall in [ChlLowerThreshold ChlUpperThreshold], stop mission.
          """

          run when ( Science:TriggeredOnChl )

          behavior Guidance:Execute {
            run in sequence

            set command = "stop"
          }
        }
      }
    }
  }

  aggregate Lap {
    run in sequence repeat=Repeat

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

      call priorityHere=false refId="DiveCmd"
    }

    aggregate Wpt1 {
      run in sequence

      behavior Guidance:Waypoint {
        run in sequence

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

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

        behavior Guidance:Waypoint {
          run in sequence

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


2025-06-05T13:26:21.641Z,1749129981.641 [MissionManager](IMPORTANT): Resuming from info in Logs/20250605T121700/Science_sci2_tl.state
2025-06-05T13:26:21.685Z,1749129981.685 [MissionManager](INFO): Default->Default:CheckIn/0
2025-06-05T13:26:21.685Z,1749129981.685 [MissionManager](INFO): Default:A.Wait->null/0
2025-06-05T13:26:21.686Z,1749129981.686 [MissionManager](INFO): Default:B.GoToSurface->null/0
2025-06-05T13:26:21.686Z,1749129981.686 [MissionManager](INFO): Default:CheckIn->Default:CheckIn:C.Wait/1
2025-06-05T13:26:21.687Z,1749129981.687 [MissionManager](INFO): Default:CheckIn:Read_GPS->null/0
2025-06-05T13:26:21.687Z,1749129981.687 [MissionManager](INFO): Default:CheckIn:Read_Iridium->null/0
2025-06-05T13:26:21.687Z,1749129981.687 [MissionManager](INFO): Default:CheckIn:C.Wait->null/0
2025-06-05T13:26:21.688Z,1749129981.688 [MissionManager](INFO): Default:CheckIn:D->null/0
2025-06-05T13:26:21.688Z,1749129981.688 [MissionManager](INFO): Default:CheckIn:E->null/0
2025-06-05T13:26:21.689Z,1749129981.689 [MissionManager](INFO): sci2->sci2:Lap/0
2025-06-05T13:26:21.689Z,1749129981.689 [MissionManager](INFO): sci2:Science->sci2:Science:OceanCurrent/0
2025-06-05T13:26:21.689Z,1749129981.689 [MissionManager](INFO): sci2:Science:OceanCurrent->null/0
2025-06-05T13:26:21.690Z,1749129981.690 [MissionManager](INFO): sci2:Science:PeakDetectChl->sci2:Science:PeakDetectChl:A/0
2025-06-05T13:26:21.691Z,1749129981.691 [MissionManager](INFO): sci2:Science:PeakDetectChl:A->null/0
2025-06-05T13:26:21.691Z,1749129981.691 [MissionManager](INFO): sci2:Science:EdgeDetectChl->sci2:Science:EdgeDetectChl:A/0
2025-06-05T13:26:21.692Z,1749129981.692 [MissionManager](INFO): sci2:Science:EdgeDetectChl:A->null/0
2025-06-05T13:26:21.692Z,1749129981.692 [MissionManager](INFO): sci2:Science:HighestChlPeakReport->sci2:Science:HighestChlPeakReport:A.PeakDetectHorizontal/0
2025-06-05T13:26:21.693Z,1749129981.693 [MissionManager](INFO): sci2:Science:HighestChlPeakReport:A.PeakDetectHorizontal->null/0
2025-06-05T13:26:21.693Z,1749129981.693 [MissionManager](INFO): sci2:Science:PeakDetectNO3->sci2:Science:PeakDetectNO3:A/0
2025-06-05T13:26:21.693Z,1749129981.693 [MissionManager](INFO): sci2:Science:PeakDetectNO3:A->null/0
2025-06-05T13:26:21.694Z,1749129981.694 [MissionManager](INFO): sci2:Science:PeakDetectOil->sci2:Science:PeakDetectOil:A/0
2025-06-05T13:26:21.694Z,1749129981.694 [MissionManager](INFO): sci2:Science:PeakDetectOil:A->null/0
2025-06-05T13:26:21.695Z,1749129981.695 [MissionManager](INFO): sci2:Science:HighestOilPeakReport->sci2:Science:HighestOilPeakReport:A.PeakDetectHorizontal/0
2025-06-05T13:26:21.695Z,1749129981.695 [MissionManager](INFO): sci2:Science:HighestOilPeakReport:A.PeakDetectHorizontal->null/0
2025-06-05T13:26:21.695Z,1749129981.695 [MissionManager](INFO): sci2:Science:PeakDetectFDOM->sci2:Science:PeakDetectFDOM:A/0
2025-06-05T13:26:21.696Z,1749129981.696 [MissionManager](INFO): sci2:Science:PeakDetectFDOM:A->null/0
2025-06-05T13:26:21.696Z,1749129981.696 [MissionManager](INFO): sci2:Science:PeakDetectSalinity->sci2:Science:PeakDetectSalinity:A/0
2025-06-05T13:26:21.697Z,1749129981.697 [MissionManager](INFO): sci2:Science:PeakDetectSalinity:A->null/0
2025-06-05T13:26:21.697Z,1749129981.697 [MissionManager](INFO): sci2:Science:HighestSaltPeakReport->sci2:Science:HighestSaltPeakReport:A.PeakDetectHorizontal/0
2025-06-05T13:26:21.697Z,1749129981.697 [MissionManager](INFO): sci2:Science:HighestSaltPeakReport:A.PeakDetectHorizontal->null/0
2025-06-05T13:26:21.698Z,1749129981.698 [MissionManager](INFO): sci2:Science:PeakDetectPlanktivoreLMavgROI->sci2:Science:PeakDetectPlanktivoreLMavgROI:A/0
2025-06-05T13:26:21.698Z,1749129981.698 [MissionManager](INFO): sci2:Science:PeakDetectPlanktivoreLMavgROI:A->null/0
2025-06-05T13:26:21.699Z,1749129981.699 [MissionManager](INFO): sci2:Science:EdgeDetectPlanktivoreLMavgROI->sci2:Science:EdgeDetectPlanktivoreLMavgROI:A/0
2025-06-05T13:26:21.699Z,1749129981.699 [MissionManager](INFO): sci2:Science:EdgeDetectPlanktivoreLMavgROI:A->null/0
2025-06-05T13:26:21.699Z,1749129981.699 [MissionManager](INFO): sci2:Science:PeakDetectPlanktivoreHMavgROI->sci2:Science:PeakDetectPlanktivoreHMavgROI:A/0
2025-06-05T13:26:21.700Z,1749129981.700 [MissionManager](INFO): sci2:Science:PeakDetectPlanktivoreHMavgROI:A->null/0
2025-06-05T13:26:21.700Z,1749129981.700 [MissionManager](INFO): sci2:Science:EdgeDetectPlanktivoreHMavgROI->sci2:Science:EdgeDetectPlanktivoreHMavgROI:A/0
2025-06-05T13:26:21.701Z,1749129981.701 [MissionManager](INFO): sci2:Science:EdgeDetectPlanktivoreHMavgROI:A->null/0
2025-06-05T13:26:21.701Z,1749129981.701 [MissionManager](INFO): sci2:Science:PeakDetectPlanktivoreDiatoms->sci2:Science:PeakDetectPlanktivoreDiatoms:A/0
2025-06-05T13:26:21.701Z,1749129981.701 [MissionManager](INFO): sci2:Science:PeakDetectPlanktivoreDiatoms:A->null/0
2025-06-05T13:26:21.702Z,1749129981.702 [MissionManager](INFO): sci2:Science:EdgeDetectPlanktivoreDiatoms->sci2:Science:EdgeDetectPlanktivoreDiatoms:A/0
2025-06-05T13:26:21.723Z,1749129981.723 [MissionManager](INFO): sci2:Science:EdgeDetectPlanktivoreDiatoms:A->null/0
2025-06-05T13:26:21.723Z,1749129981.723 [MissionManager](INFO): sci2:Science:PeakDetectPlanktivoreDinoflagellates->sci2:Science:PeakDetectPlanktivoreDinoflagellates:A/0
2025-06-05T13:26:21.724Z,1749129981.724 [MissionManager](INFO): sci2:Science:PeakDetectPlanktivoreDinoflagellates:A->null/0
2025-06-05T13:26:21.724Z,1749129981.724 [MissionManager](INFO): sci2:Science:EdgeDetectPlanktivoreDinoflagellates->sci2:Science:EdgeDetectPlanktivoreDinoflagellates:A/0
2025-06-05T13:26:21.724Z,1749129981.724 [MissionManager](INFO): sci2:Science:EdgeDetectPlanktivoreDinoflagellates:A->null/0
2025-06-05T13:26:21.725Z,1749129981.725 [MissionManager](INFO): sci2:Science:ChlThreshTrigger->sci2:Science:ChlThreshTrigger:A.ValueDetect/0
2025-06-05T13:26:21.725Z,1749129981.725 [MissionManager](INFO): sci2:Science:ChlThreshTrigger:A.ValueDetect->null/0
2025-06-05T13:26:21.726Z,1749129981.726 [MissionManager](INFO): sci2:NeedComms->null/0
2025-06-05T13:26:21.730Z,1749129981.730 [MissionManager](INFO): sci2:NeedComms:A->null/0
2025-06-05T13:26:21.731Z,1749129981.731 [MissionManager](INFO): sci2:NeedComms:B.GoToSurface->null/0
2025-06-05T13:26:21.731Z,1749129981.731 [MissionManager](INFO): sci2:NeedComms:C->null/0
2025-06-05T13:26:21.731Z,1749129981.731 [MissionManager](INFO): sci2:NeedComms:D->null/0
2025-06-05T13:26:21.732Z,1749129981.732 [MissionManager](INFO): sci2:NeedComms:E->null/0
2025-06-05T13:26:21.732Z,1749129981.732 [MissionManager](INFO): sci2:C->null/0
2025-06-05T13:26:21.733Z,1749129981.733 [MissionManager](INFO): sci2:E->null/0
2025-06-05T13:26:21.733Z,1749129981.733 [MissionManager](INFO): sci2:F->null/0
2025-06-05T13:26:21.733Z,1749129981.733 [MissionManager](INFO): sci2:G->null/0
2025-06-05T13:26:21.734Z,1749129981.734 [MissionManager](INFO): sci2:BackseatDriver->sci2:BackseatDriver:A.BackseatDriver/0
2025-06-05T13:26:21.750Z,1749129981.750 [MissionManager](INFO): sci2:BackseatDriver:A.BackseatDriver->null/0
2025-06-05T13:26:21.751Z,1749129981.751 [MissionManager](INFO): sci2:PowerOnly->sci2:PowerOnly:E.Wait/0
2025-06-05T13:26:21.751Z,1749129981.751 [MissionManager](INFO): sci2:PowerOnly:E.Wait->null/0
2025-06-05T13:26:21.751Z,1749129981.751 [MissionManager](INFO): sci2:SurfaceComms->null/0
2025-06-05T13:26:21.752Z,1749129981.752 [MissionManager](INFO): sci2:SurfaceComms:A->null/0
2025-06-05T13:26:21.752Z,1749129981.752 [MissionManager](INFO): sci2:SurfaceComms:B->null/0
2025-06-05T13:26:21.753Z,1749129981.753 [MissionManager](INFO): sci2:SurfaceComms:setInitial->sci2:SurfaceComms:setInitial:A/0
2025-06-05T13:26:21.753Z,1749129981.753 [MissionManager](INFO): sci2:SurfaceComms:setInitial:A->null/0
2025-06-05T13:26:21.753Z,1749129981.753 [MissionManager](INFO): sci2:SurfaceComms:setSink->null/0
2025-06-05T13:26:21.754Z,1749129981.754 [MissionManager](INFO): sci2:SurfaceComms:setSink:A->null/0
2025-06-05T13:26:21.771Z,1749129981.771 [MissionManager](INFO): sci2:StartingMission->null/0
2025-06-05T13:26:21.771Z,1749129981.771 [MissionManager](INFO): sci2:DiveCmd:SurfaceSink->null/0
2025-06-05T13:26:21.772Z,1749129981.772 [MissionManager](INFO): sci2:DiveCmd:SurfaceSink:sink->null/0
2025-06-05T13:26:21.772Z,1749129981.772 [MissionManager](INFO): sci2:DiveCmd:SurfaceSink:sink:C->null/0
2025-06-05T13:26:21.772Z,1749129981.772 [MissionManager](INFO): sci2:DiveCmd:SurfaceSink:sink:D.Pitch->null/0
2025-06-05T13:26:21.773Z,1749129981.773 [MissionManager](INFO): sci2:DiveCmd:SurfaceSink:sink:E->null/0
2025-06-05T13:26:21.773Z,1749129981.773 [MissionManager](INFO): sci2:DiveCmd:YoYoDive->sci2:DiveCmd:YoYoDive:dive/0
2025-06-05T13:26:21.774Z,1749129981.774 [MissionManager](INFO): sci2:DiveCmd:YoYoDive:dive->null/0
2025-06-05T13:26:21.787Z,1749129981.787 [MissionManager](INFO): sci2:Lap->sci2:Lap:Wpt2/0
2025-06-05T13:26:21.787Z,1749129981.787 [MissionManager](INFO): sci2:Lap:Dive->sci2:Lap:Dive:A/0
2025-06-05T13:26:21.788Z,1749129981.788 [MissionManager](INFO): sci2:Lap:Dive:A->null/0
2025-06-05T13:26:21.788Z,1749129981.788 [MissionManager](INFO): sci2:Lap:Wpt1->null/0
2025-06-05T13:26:21.788Z,1749129981.788 [MissionManager](INFO): sci2:Lap:Wpt1:A.Waypoint->null/0
2025-06-05T13:26:21.789Z,1749129981.789 [MissionManager](INFO): sci2:Lap:Wpt2->sci2:Lap:Wpt2:A.Waypoint/0
2025-06-05T13:26:21.789Z,1749129981.789 [MissionManager](INFO): sci2:Lap:Wpt2:A.Waypoint->null/0
2025-06-05T13:26:21.789Z,1749129981.789 [CommandExec](IMPORTANT): Resuming mission and schedule
2025-06-05T13:26:21.789Z,1749129981.789 [CommandExec](IMPORTANT): Scheduling is resumed
2025-06-05T13:26:21.790Z,1749129981.790 [CommandExec](IMPORTANT): Nothing is scheduled
2025-06-05T13:26:21.790Z,1749129981.790 [CommandExec](IMPORTANT): got command schedule resume
2025-06-05T13:26:22.046Z,1749129982.046 [Default] Stopped
2025-06-05T13:26:22.046Z,1749129982.046 [Default](DEBUG): Aggregate::uninitialize Default
2025-06-05T13:26:22.046Z,1749129982.046 [Default:B.GoToSurface] Stopped
2025-06-05T13:26:22.047Z,1749129982.047 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-06-05T13:26:22.047Z,1749129982.047 [Default:CheckIn] Stopped
2025-06-05T13:26:22.047Z,1749129982.047 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-06-05T13:26:22.047Z,1749129982.047 [Default:CheckIn:C.Wait] Stopped
2025-06-05T13:26:22.047Z,1749129982.047 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-06-05T13:26:22.047Z,1749129982.047 [MissionManager](IMPORTANT): Started mission sci2
2025-06-05T13:26:22.048Z,1749129982.048 [sci2] Running Loop=1
2025-06-05T13:26:22.048Z,1749129982.048 [sci2](DEBUG): Aggregate::initialize sci2
2025-06-05T13:26:22.048Z,1749129982.048 [sci2:Science] Running Loop=1
2025-06-05T13:26:22.048Z,1749129982.048 [sci2:Science](DEBUG): Aggregate::initialize sci2:Science
2025-06-05T13:26:22.048Z,1749129982.048 [sci2:Science:A] Running Loop=1
2025-06-05T13:26:22.048Z,1749129982.048 [sci2:Science:B] Running Loop=1
2025-06-05T13:26:22.049Z,1749129982.049 [sci2:Science:C] Running Loop=1
2025-06-05T13:26:22.049Z,1749129982.049 [sci2:Science:D] Running Loop=1
2025-06-05T13:26:22.049Z,1749129982.049 [sci2:Science:E] Running Loop=1
2025-06-05T13:26:22.049Z,1749129982.049 [sci2:Science:F] Running Loop=1
2025-06-05T13:26:22.049Z,1749129982.049 [sci2:Science:Read_Oil] Running Loop=1
2025-06-05T13:26:22.049Z,1749129982.049 [sci2:Science:PeakDetectChl] Running Loop=1
2025-06-05T13:26:22.049Z,1749129982.049 [sci2:Science:PeakDetectChl](DEBUG): Aggregate::initialize sci2:Science:PeakDetectChl
2025-06-05T13:26:22.049Z,1749129982.049 [sci2:Science:PeakDetectChl:A] Running Loop=1
2025-06-05T13:26:22.049Z,1749129982.049 [sci2:Science:EdgeDetectChl] Running Loop=1
2025-06-05T13:26:22.050Z,1749129982.050 [sci2:Science:EdgeDetectChl](DEBUG): Aggregate::initialize sci2:Science:EdgeDetectChl
2025-06-05T13:26:22.050Z,1749129982.050 [sci2:Science:EdgeDetectChl:A] Running Loop=1
2025-06-05T13:26:22.050Z,1749129982.050 [sci2:Science:HighestChlPeakReport] Running Loop=1
2025-06-05T13:26:22.062Z,1749129982.062 [sci2:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize sci2:Science:HighestChlPeakReport
2025-06-05T13:26:22.062Z,1749129982.062 [sci2:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-06-05T13:26:22.063Z,1749129982.063 [sci2:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-06-05T13:26:22.063Z,1749129982.063 [sci2:Science:PeakDetectNO3] Running Loop=1
2025-06-05T13:26:22.063Z,1749129982.063 [sci2:Science:PeakDetectNO3](DEBUG): Aggregate::initialize sci2:Science:PeakDetectNO3
2025-06-05T13:26:22.064Z,1749129982.064 [sci2:Science:PeakDetectNO3:A] Running Loop=1
2025-06-05T13:26:22.064Z,1749129982.064 [sci2:Science:PeakDetectOil] Running Loop=1
2025-06-05T13:26:22.064Z,1749129982.064 [sci2:Science:PeakDetectOil](DEBUG): Aggregate::initialize sci2:Science:PeakDetectOil
2025-06-05T13:26:22.064Z,1749129982.064 [sci2:Science:PeakDetectOil:A] Running Loop=1
2025-06-05T13:26:22.064Z,1749129982.064 [sci2:Science:HighestOilPeakReport] Running Loop=1
2025-06-05T13:26:22.064Z,1749129982.064 [sci2:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize sci2:Science:HighestOilPeakReport
2025-06-05T13:26:22.064Z,1749129982.064 [sci2:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-06-05T13:26:22.065Z,1749129982.065 [sci2:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-06-05T13:26:22.065Z,1749129982.065 [sci2:Science:PeakDetectFDOM] Running Loop=1
2025-06-05T13:26:22.065Z,1749129982.065 [sci2:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize sci2:Science:PeakDetectFDOM
2025-06-05T13:26:22.065Z,1749129982.065 [sci2:Science:PeakDetectFDOM:A] Running Loop=1
2025-06-05T13:26:22.065Z,1749129982.065 [sci2:Science:PeakDetectSalinity] Running Loop=1
2025-06-05T13:26:22.066Z,1749129982.066 [sci2:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize sci2:Science:PeakDetectSalinity
2025-06-05T13:26:22.066Z,1749129982.066 [sci2:Science:PeakDetectSalinity:A] Running Loop=1
2025-06-05T13:26:22.066Z,1749129982.066 [sci2:Science:HighestSaltPeakReport] Running Loop=1
2025-06-05T13:26:22.067Z,1749129982.067 [sci2:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize sci2:Science:HighestSaltPeakReport
2025-06-05T13:26:22.067Z,1749129982.067 [sci2:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-06-05T13:26:22.067Z,1749129982.067 [sci2:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-06-05T13:26:22.067Z,1749129982.067 [sci2:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-06-05T13:26:22.068Z,1749129982.068 [sci2:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize sci2:Science:PeakDetectPlanktivoreLMavgROI
2025-06-05T13:26:22.068Z,1749129982.068 [sci2:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-06-05T13:26:22.068Z,1749129982.068 [sci2:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2025-06-05T13:26:22.068Z,1749129982.068 [sci2:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize sci2:Science:EdgeDetectPlanktivoreLMavgROI
2025-06-05T13:26:22.068Z,1749129982.068 [sci2:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-06-05T13:26:22.068Z,1749129982.068 [sci2:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-06-05T13:26:22.068Z,1749129982.068 [sci2:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize sci2:Science:PeakDetectPlanktivoreHMavgROI
2025-06-05T13:26:22.068Z,1749129982.068 [sci2:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-06-05T13:26:22.069Z,1749129982.069 [sci2:Science:EdgeDetectPlanktivoreHMavgROI] Running Loop=1
2025-06-05T13:26:22.069Z,1749129982.069 [sci2:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize sci2:Science:EdgeDetectPlanktivoreHMavgROI
2025-06-05T13:26:22.069Z,1749129982.069 [sci2:Science:EdgeDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-06-05T13:26:22.069Z,1749129982.069 [sci2:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-06-05T13:26:22.069Z,1749129982.069 [sci2:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize sci2:Science:PeakDetectPlanktivoreDiatoms
2025-06-05T13:26:22.069Z,1749129982.069 [sci2:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2025-06-05T13:26:22.069Z,1749129982.069 [sci2:Science:EdgeDetectPlanktivoreDiatoms] Running Loop=1
2025-06-05T13:26:22.069Z,1749129982.069 [sci2:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize sci2:Science:EdgeDetectPlanktivoreDiatoms
2025-06-05T13:26:22.070Z,1749129982.070 [sci2:Science:EdgeDetectPlanktivoreDiatoms:A] Running Loop=1
2025-06-05T13:26:22.070Z,1749129982.070 [sci2:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-06-05T13:26:22.076Z,1749129982.076 [sci2:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize sci2:Science:PeakDetectPlanktivoreDinoflagellates
2025-06-05T13:26:22.077Z,1749129982.077 [sci2:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-06-05T13:26:22.077Z,1749129982.077 [sci2:Science:EdgeDetectPlanktivoreDinoflagellates] Running Loop=1
2025-06-05T13:26:22.077Z,1749129982.077 [sci2:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize sci2:Science:EdgeDetectPlanktivoreDinoflagellates
2025-06-05T13:26:22.077Z,1749129982.077 [sci2:Science:EdgeDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-06-05T13:26:22.077Z,1749129982.077 [sci2:Science:ChlThreshTrigger] Running Loop=1
2025-06-05T13:26:22.077Z,1749129982.077 [sci2:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize sci2:Science:ChlThreshTrigger
2025-06-05T13:26:22.077Z,1749129982.077 [sci2:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-06-05T13:26:22.078Z,1749129982.078 [sci2:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-06-05T13:26:22.098Z,1749129982.098 [sci2:Science:OceanCurrent] Running Loop=1
2025-06-05T13:26:22.099Z,1749129982.099 [sci2:Science:OceanCurrent](DEBUG): Aggregate::initialize sci2:Science:OceanCurrent
2025-06-05T13:26:22.099Z,1749129982.099 [sci2:Science:OceanCurrent:A.] Running Loop=1
2025-06-05T13:26:22.099Z,1749129982.099 [sci2:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-06-05T13:26:22.099Z,1749129982.099 [sci2:StandardEnvelopes] Running Loop=1
2025-06-05T13:26:22.099Z,1749129982.099 [sci2:StandardEnvelopes](DEBUG): Aggregate::initialize sci2:StandardEnvelopes
2025-06-05T13:26:22.099Z,1749129982.099 [sci2:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-06-05T13:26:22.099Z,1749129982.099 [sci2:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-06-05T13:26:22.100Z,1749129982.100 [sci2:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-06-05T13:26:22.100Z,1749129982.100 [sci2:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-06-05T13:26:22.100Z,1749129982.100 [sci2:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-06-05T13:26:22.100Z,1749129982.100 [sci2:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-06-05T13:26:22.100Z,1749129982.100 [sci2:BackseatDriver] Running Loop=1
2025-06-05T13:26:22.100Z,1749129982.100 [sci2:BackseatDriver](DEBUG): Aggregate::initialize sci2:BackseatDriver
2025-06-05T13:26:22.101Z,1749129982.101 [sci2:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-06-05T13:26:22.101Z,1749129982.101 [sci2:PowerOnly] Running Loop=1
2025-06-05T13:26:22.101Z,1749129982.101 [sci2:PowerOnly](DEBUG): Aggregate::initialize sci2:PowerOnly
2025-06-05T13:26:22.101Z,1749129982.101 [sci2:PowerOnly:A] Running Loop=1
2025-06-05T13:26:22.101Z,1749129982.101 [sci2:PowerOnly:B] Running Loop=1
2025-06-05T13:26:22.101Z,1749129982.101 [sci2:PowerOnly:C] Running Loop=1
2025-06-05T13:26:22.101Z,1749129982.101 [sci2:PowerOnly:D] Running Loop=1
2025-06-05T13:26:22.101Z,1749129982.101 [sci2:PowerOnly:E.Wait] Running Loop=1
2025-06-05T13:26:22.101Z,1749129982.101 [sci2:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-06-05T13:26:22.102Z,1749129982.102 [sci2:Lap] Running Loop=1
2025-06-05T13:26:22.102Z,1749129982.102 [sci2:Lap](DEBUG): Aggregate::initialize sci2:Lap
2025-06-05T13:26:22.102Z,1749129982.102 [sci2:Lap:Dive] Running Loop=1
2025-06-05T13:26:22.110Z,1749129982.110 [sci2:Lap:Dive](DEBUG): Aggregate::initialize sci2:Lap:Dive
2025-06-05T13:26:22.111Z,1749129982.111 [sci2:Lap:Dive:A] Running Loop=1
2025-06-05T13:26:22.111Z,1749129982.111 [sci2:Lap:Dive:A](DEBUG): Aggregate::initialize sci2:Lap:Dive:A
2025-06-05T13:26:22.111Z,1749129982.111 [sci2:Lap:Wpt2] Running Loop=1
2025-06-05T13:26:22.111Z,1749129982.111 [sci2:Lap:Wpt2](DEBUG): Aggregate::initialize sci2:Lap:Wpt2
2025-06-05T13:26:22.111Z,1749129982.111 [sci2:Lap:Wpt2:A.Waypoint] Running Loop=1
2025-06-05T13:26:22.111Z,1749129982.111 [sci2:Lap:Wpt2:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-06-05T13:26:22.113Z,1749129982.113 [sci2:Lap:Wpt2:A.Waypoint](IMPORTANT): Navigating to waypoint: 36.822619,-121.961989
2025-06-05T13:26:22.124Z,1749129982.124 [sci2:Lap:Wpt2:A.Waypoint](INFO): Navigating to waypoint: 36.822619,-121.961989
2025-06-05T13:26:22.125Z,1749129982.125 [sci2:Lap:Dive] Running Loop=1
2025-06-05T13:26:22.125Z,1749129982.125 [sci2:DiveCmd] Running Loop=1
2025-06-05T13:26:22.125Z,1749129982.125 [sci2:DiveCmd](DEBUG): Aggregate::initialize sci2:DiveCmd
2025-06-05T13:26:22.125Z,1749129982.125 [sci2:DiveCmd:SurfaceSink] Running Loop=1
2025-06-05T13:26:22.125Z,1749129982.125 [sci2:DiveCmd:SurfaceSink](DEBUG): Aggregate::initialize sci2:DiveCmd:SurfaceSink
2025-06-05T13:26:22.126Z,1749129982.126 [sci2:DiveCmd:SurfaceSink:sink] Running Loop=1
2025-06-05T13:26:22.126Z,1749129982.126 [sci2:DiveCmd:SurfaceSink:sink](DEBUG): Aggregate::initialize sci2:DiveCmd:SurfaceSink:sink
2025-06-05T13:26:22.126Z,1749129982.126 [sci2:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy] Running Loop=1
2025-06-05T13:26:22.134Z,1749129982.134 [sci2:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-06-05T13:26:22.134Z,1749129982.134 [sci2:DiveCmd:SurfaceSink:sink:B.SetSpeed] Running Loop=1
2025-06-05T13:26:22.134Z,1749129982.134 [sci2:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Initialize.
2025-06-05T13:26:22.135Z,1749129982.135 [sci2:DiveCmd:SurfaceSink:sink:C] Running Loop=1
2025-06-05T13:26:22.135Z,1749129982.135 [sci2:DiveCmd:YoYoDive] Running Loop=1
2025-06-05T13:26:22.135Z,1749129982.135 [sci2:DiveCmd:YoYoDive](DEBUG): Aggregate::initialize sci2:DiveCmd:YoYoDive
2025-06-05T13:26:22.135Z,1749129982.135 [sci2:DiveCmd:YoYoDive:dive] Running Loop=1
2025-06-05T13:26:22.135Z,1749129982.135 [sci2:DiveCmd:YoYoDive:dive](DEBUG): Aggregate::initialize sci2:DiveCmd:YoYoDive:dive
2025-06-05T13:26:22.135Z,1749129982.135 [sci2:DiveCmd:YoYoDive:dive:A.Pitch] Running Loop=1
2025-06-05T13:26:22.135Z,1749129982.135 [sci2:DiveCmd:YoYoDive:dive:A.Pitch](DEBUG): Initialize.
2025-06-05T13:26:22.135Z,1749129982.135 [sci2:DiveCmd:YoYoDive:dive:B.Buoyancy] Running Loop=1
2025-06-05T13:26:22.135Z,1749129982.135 [sci2:DiveCmd:YoYoDive:dive:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-06-05T13:26:22.136Z,1749129982.136 [sci2:DiveCmd:YoYoDive:dive:SetSpeed] Running Loop=1
2025-06-05T13:26:22.136Z,1749129982.136 [sci2:DiveCmd:YoYoDive:dive:SetSpeed](DEBUG): Aggregate::initialize sci2:DiveCmd:YoYoDive:dive:SetSpeed
2025-06-05T13:26:22.136Z,1749129982.136 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:SurfaceDive] Running Loop=1
2025-06-05T13:26:22.136Z,1749129982.136 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:SurfaceDive](DEBUG): Aggregate::initialize sci2:DiveCmd:YoYoDive:dive:SetSpeed:SurfaceDive
2025-06-05T13:26:22.136Z,1749129982.136 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:SurfaceDive:SurfaceSpeed] Running Loop=1
2025-06-05T13:26:22.136Z,1749129982.136 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:SurfaceDive:SurfaceSpeed](DEBUG): Aggregate::initialize sci2:DiveCmd:YoYoDive:dive:SetSpeed:SurfaceDive:SurfaceSpeed
2025-06-05T13:26:22.136Z,1749129982.136 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:SurfaceDive:SurfaceSpeed:A.SetSpeed] Running Loop=1
2025-06-05T13:26:22.136Z,1749129982.136 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:SurfaceDive:SurfaceSpeed:A.SetSpeed](DEBUG): Initialize.
2025-06-05T13:26:22.136Z,1749129982.136 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:ProfileSpeed] Running Loop=1
2025-06-05T13:26:22.136Z,1749129982.136 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:ProfileSpeed](DEBUG): Aggregate::initialize sci2:DiveCmd:YoYoDive:dive:SetSpeed:ProfileSpeed
2025-06-05T13:26:22.137Z,1749129982.137 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:ProfileSpeed:A.SetSpeed] Running Loop=1
2025-06-05T13:26:22.137Z,1749129982.137 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:ProfileSpeed:A.SetSpeed](DEBUG): Initialize.
2025-06-05T13:26:22.137Z,1749129982.137 [sci2:DiveCmd:YoYoDive:dive:D.DepthEnvelope] Running Loop=1
2025-06-05T13:26:22.137Z,1749129982.137 [sci2:DiveCmd:YoYoDive:dive:D.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-06-05T13:26:22.137Z,1749129982.137 [sci2:DiveCmd:YoYoDive:dive:E.AltitudeEnvelope] Running Loop=1
2025-06-05T13:26:22.137Z,1749129982.137 [sci2:DiveCmd:YoYoDive:dive:E.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-06-05T13:26:22.137Z,1749129982.137 [sci2:DiveCmd:YoYoDive:dive:F.YoYo] Running Loop=1
2025-06-05T13:26:22.137Z,1749129982.137 [sci2:DiveCmd:YoYoDive:dive:F.YoYo](DEBUG): Initialize YoYoComponent.
2025-06-05T13:26:22.142Z,1749129982.142 [sci2:DiveCmd:YoYoDive] Running Loop=1
2025-06-05T13:26:22.142Z,1749129982.142 [sci2:DiveCmd:YoYoDive:dive:F.YoYo] Running Loop=1
2025-06-05T13:26:22.143Z,1749129982.143 [sci2:DiveCmd:YoYoDive:dive:E.AltitudeEnvelope] Running Loop=1
2025-06-05T13:26:22.143Z,1749129982.143 [sci2:DiveCmd:YoYoDive:dive:D.DepthEnvelope] Running Loop=1
2025-06-05T13:26:22.144Z,1749129982.144 [sci2:DiveCmd:YoYoDive:dive:SetSpeed] Running Loop=1
2025-06-05T13:26:22.144Z,1749129982.144 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:ProfileSpeed] Running Loop=1
2025-06-05T13:26:22.144Z,1749129982.144 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:ProfileSpeed:A.SetSpeed] Running Loop=1
2025-06-05T13:26:22.144Z,1749129982.144 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:SurfaceDive] Stopped
2025-06-05T13:26:22.145Z,1749129982.145 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:SurfaceDive](DEBUG): Aggregate::uninitialize sci2:DiveCmd:YoYoDive:dive:SetSpeed:SurfaceDive
2025-06-05T13:26:22.145Z,1749129982.145 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:SurfaceDive:SurfaceSpeed] Stopped
2025-06-05T13:26:22.145Z,1749129982.145 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:SurfaceDive:SurfaceSpeed](DEBUG): Aggregate::uninitialize sci2:DiveCmd:YoYoDive:dive:SetSpeed:SurfaceDive:SurfaceSpeed
2025-06-05T13:26:22.145Z,1749129982.145 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:SurfaceDive:SurfaceSpeed:A.SetSpeed] Stopped
2025-06-05T13:26:22.145Z,1749129982.145 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:SurfaceDive:SurfaceSpeed:A.SetSpeed](DEBUG): Uninitialize.
2025-06-05T13:26:22.145Z,1749129982.145 [sci2:DiveCmd:YoYoDive:dive:B.Buoyancy] Running Loop=1
2025-06-05T13:26:22.145Z,1749129982.145 [sci2:DiveCmd:YoYoDive:dive:A.Pitch] Running Loop=1
2025-06-05T13:26:22.146Z,1749129982.146 [sci2:DiveCmd:SurfaceSink] Stopped
2025-06-05T13:26:22.146Z,1749129982.146 [sci2:DiveCmd:SurfaceSink](DEBUG): Aggregate::uninitialize sci2:DiveCmd:SurfaceSink
2025-06-05T13:26:22.146Z,1749129982.146 [sci2:DiveCmd:SurfaceSink:sink] Stopped
2025-06-05T13:26:22.150Z,1749129982.150 [sci2:DiveCmd:SurfaceSink:sink](DEBUG): Aggregate::uninitialize sci2:DiveCmd:SurfaceSink:sink
2025-06-05T13:26:22.150Z,1749129982.150 [sci2:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy] Stopped
2025-06-05T13:26:22.150Z,1749129982.150 [sci2:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-06-05T13:26:22.150Z,1749129982.150 [sci2:DiveCmd:SurfaceSink:sink:B.SetSpeed] Stopped
2025-06-05T13:26:22.150Z,1749129982.150 [sci2:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Uninitialize.
2025-06-05T13:26:22.150Z,1749129982.150 [sci2:DiveCmd:SurfaceSink:sink:C] Stopped
2025-06-05T13:26:22.151Z,1749129982.151 [sci2:PowerOnly] Running Loop=1
2025-06-05T13:26:22.151Z,1749129982.151 [sci2:PowerOnly:D] Stopped
2025-06-05T13:26:22.151Z,1749129982.151 [sci2:PowerOnly:C] Stopped
2025-06-05T13:26:22.151Z,1749129982.151 [sci2:PowerOnly:B] Stopped
2025-06-05T13:26:22.151Z,1749129982.151 [sci2:PowerOnly:A] Stopped
2025-06-05T13:26:22.151Z,1749129982.151 [sci2:BackseatDriver] Running Loop=1
2025-06-05T13:26:22.151Z,1749129982.151 [sci2:StandardEnvelopes] Running Loop=1
2025-06-05T13:26:22.151Z,1749129982.151 [sci2:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-06-05T13:26:22.152Z,1749129982.152 [sci2:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-06-05T13:26:22.152Z,1749129982.152 [sci2:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-06-05T13:26:22.152Z,1749129982.152 [sci2:Science] Running Loop=1
2025-06-05T13:26:22.159Z,1749129982.159 [sci2:Science:ChlThreshTrigger] Stopped
2025-06-05T13:26:22.160Z,1749129982.160 [sci2:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize sci2:Science:ChlThreshTrigger
2025-06-05T13:26:22.160Z,1749129982.160 [sci2:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-06-05T13:26:22.160Z,1749129982.160 [sci2:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-06-05T13:26:22.160Z,1749129982.160 [sci2:Science:EdgeDetectPlanktivoreDinoflagellates] Stopped
2025-06-05T13:26:22.160Z,1749129982.160 [sci2:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize sci2:Science:EdgeDetectPlanktivoreDinoflagellates
2025-06-05T13:26:22.160Z,1749129982.160 [sci2:Science:EdgeDetectPlanktivoreDinoflagellates:A] Stopped
2025-06-05T13:26:22.160Z,1749129982.160 [sci2:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-06-05T13:26:22.160Z,1749129982.160 [sci2:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize sci2:Science:PeakDetectPlanktivoreDinoflagellates
2025-06-05T13:26:22.160Z,1749129982.160 [sci2:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2025-06-05T13:26:22.160Z,1749129982.160 [sci2:Science:EdgeDetectPlanktivoreDiatoms] Stopped
2025-06-05T13:26:22.160Z,1749129982.160 [sci2:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize sci2:Science:EdgeDetectPlanktivoreDiatoms
2025-06-05T13:26:22.161Z,1749129982.161 [sci2:Science:EdgeDetectPlanktivoreDiatoms:A] Stopped
2025-06-05T13:26:22.161Z,1749129982.161 [sci2:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-06-05T13:26:22.161Z,1749129982.161 [sci2:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize sci2:Science:PeakDetectPlanktivoreDiatoms
2025-06-05T13:26:22.161Z,1749129982.161 [sci2:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2025-06-05T13:26:22.161Z,1749129982.161 [sci2:Science:EdgeDetectPlanktivoreHMavgROI] Stopped
2025-06-05T13:26:22.161Z,1749129982.161 [sci2:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize sci2:Science:EdgeDetectPlanktivoreHMavgROI
2025-06-05T13:26:22.161Z,1749129982.161 [sci2:Science:EdgeDetectPlanktivoreHMavgROI:A] Stopped
2025-06-05T13:26:22.161Z,1749129982.161 [sci2:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-06-05T13:26:22.161Z,1749129982.161 [sci2:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize sci2:Science:PeakDetectPlanktivoreHMavgROI
2025-06-05T13:26:22.161Z,1749129982.161 [sci2:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2025-06-05T13:26:22.161Z,1749129982.161 [sci2:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2025-06-05T13:26:22.161Z,1749129982.161 [sci2:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize sci2:Science:EdgeDetectPlanktivoreLMavgROI
2025-06-05T13:26:22.161Z,1749129982.161 [sci2:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2025-06-05T13:26:22.161Z,1749129982.161 [sci2:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-06-05T13:26:22.162Z,1749129982.162 [sci2:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize sci2:Science:PeakDetectPlanktivoreLMavgROI
2025-06-05T13:26:22.162Z,1749129982.162 [sci2:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2025-06-05T13:26:22.162Z,1749129982.162 [sci2:Science:HighestSaltPeakReport] Stopped
2025-06-05T13:26:22.162Z,1749129982.162 [sci2:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize sci2:Science:HighestSaltPeakReport
2025-06-05T13:26:22.166Z,1749129982.166 [sci2:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-06-05T13:26:22.166Z,1749129982.166 [sci2:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-06-05T13:26:22.166Z,1749129982.166 [sci2:Science:PeakDetectSalinity] Stopped
2025-06-05T13:26:22.166Z,1749129982.166 [sci2:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize sci2:Science:PeakDetectSalinity
2025-06-05T13:26:22.167Z,1749129982.167 [sci2:Science:PeakDetectSalinity:A] Stopped
2025-06-05T13:26:22.167Z,1749129982.167 [sci2:Science:PeakDetectFDOM] Stopped
2025-06-05T13:26:22.167Z,1749129982.167 [sci2:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize sci2:Science:PeakDetectFDOM
2025-06-05T13:26:22.167Z,1749129982.167 [sci2:Science:PeakDetectFDOM:A] Stopped
2025-06-05T13:26:22.167Z,1749129982.167 [sci2:Science:HighestOilPeakReport] Stopped
2025-06-05T13:26:22.167Z,1749129982.167 [sci2:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize sci2:Science:HighestOilPeakReport
2025-06-05T13:26:22.167Z,1749129982.167 [sci2:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-06-05T13:26:22.167Z,1749129982.167 [sci2:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-06-05T13:26:22.167Z,1749129982.167 [sci2:Science:PeakDetectOil] Stopped
2025-06-05T13:26:22.167Z,1749129982.167 [sci2:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize sci2:Science:PeakDetectOil
2025-06-05T13:26:22.167Z,1749129982.167 [sci2:Science:PeakDetectOil:A] Stopped
2025-06-05T13:26:22.167Z,1749129982.167 [sci2:Science:PeakDetectNO3] Stopped
2025-06-05T13:26:22.167Z,1749129982.167 [sci2:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize sci2:Science:PeakDetectNO3
2025-06-05T13:26:22.168Z,1749129982.168 [sci2:Science:PeakDetectNO3:A] Stopped
2025-06-05T13:26:22.168Z,1749129982.168 [sci2:Science:HighestChlPeakReport] Stopped
2025-06-05T13:26:22.168Z,1749129982.168 [sci2:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize sci2:Science:HighestChlPeakReport
2025-06-05T13:26:22.168Z,1749129982.168 [sci2:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-06-05T13:26:22.168Z,1749129982.168 [sci2:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-06-05T13:26:22.168Z,1749129982.168 [sci2:Science:EdgeDetectChl] Stopped
2025-06-05T13:26:22.168Z,1749129982.168 [sci2:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize sci2:Science:EdgeDetectChl
2025-06-05T13:26:22.168Z,1749129982.168 [sci2:Science:EdgeDetectChl:A] Stopped
2025-06-05T13:26:22.168Z,1749129982.168 [sci2:Science:PeakDetectChl] Stopped
2025-06-05T13:26:22.168Z,1749129982.168 [sci2:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize sci2:Science:PeakDetectChl
2025-06-05T13:26:22.168Z,1749129982.168 [sci2:Science:PeakDetectChl:A] Stopped
2025-06-05T13:26:22.168Z,1749129982.168 [sci2:Science:OceanCurrent:A.] Running Loop=1
2025-06-05T13:26:22.169Z,1749129982.169 [sci2:Science:Read_Oil] Stopped
2025-06-05T13:26:22.169Z,1749129982.169 [sci2:Science:F] Stopped
2025-06-05T13:26:22.169Z,1749129982.169 [sci2:Science:E] Running Loop=1
2025-06-05T13:26:22.169Z,1749129982.169 [sci2:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2025-06-05T13:26:22.169Z,1749129982.169 [sci2:Science:D] Stopped
2025-06-05T13:26:22.169Z,1749129982.169 [sci2:Science:C] Running Loop=1
2025-06-05T13:26:22.170Z,1749129982.170 [sci2:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2025-06-05T13:26:22.183Z,1749129982.183 [sci2:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2025-06-05T13:26:22.183Z,1749129982.183 [sci2:Science:B] Running Loop=1
2025-06-05T13:26:22.183Z,1749129982.183 [sci2:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2025-06-05T13:26:22.184Z,1749129982.184 [sci2:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2025-06-05T13:26:22.184Z,1749129982.184 [sci2:Science:A] Stopped
2025-06-05T13:26:22.239Z,1749129982.239 [WetLabsBB2FL](INFO): Powering up
2025-06-05T13:26:25.583Z,1749129985.583 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2025-06-05T13:28:05.303Z,1749130085.303 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T13:28:15.382Z,1749130095.382 [ThrusterHE](INFO): Failure count cleared after critical for ThrusterHE
2025-06-05T13:28:32.106Z,1749130112.106 [Radio_Surface](INFO): Powering down
2025-06-05T13:28:36.427Z,1749130116.427 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T13:28:37.431Z,1749130117.431 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-06-05T13:30:13.831Z,1749130213.831 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.767624
2025-06-05T13:33:48.237Z,1749130428.237 [DVL_micro](ERROR): DVL BIT error. See manual. Result code: 99
Device respsone is::TS,00000000000000,35.0,+12.1,0000.0,1489.0,99.99
2025-06-05T13:33:48.240Z,1749130428.240 [DVL_micro](ERROR): Failed to parse:
:TS,00000000000000,35.0,+12.0,0000.0,1489.0,000
2025-06-05T13:37:23.316Z,1749130643.316 [CTD_Seabird](ERROR): Failed to parse device response: 21,2830.73
2025-06-05T13:41:36.658Z,1749130896.658 [DVL_micro](ERROR): only read 1 of 4 data items for beam range. Device response is::RD,+99
2025-06-05T13:41:36.659Z,1749130896.659 [DVL_micro](ERROR): Failed to parse:
:RD,+99
2025-06-05T13:44:38.241Z,1749131078.241 [DVL_micro](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00000000000000,35.0,+0.0,1489.0,000
2025-06-05T13:44:38.241Z,1749131078.241 [DVL_micro](ERROR): Failed to parse:
:TS,00000000000000,35.0,+0.0,1489.0,000
2025-06-05T13:57:47.800Z,1749131867.800 [BPC1](ERROR): Battery stick #2 (s/n: 0124) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-06-05T13:57:47.801Z,1749131867.801 [BPC1](INFO): Calculating totals. Valid battery stick count: 54. Valid reserve battery stick count: 6.
2025-06-05T13:57:47.804Z,1749131867.804 [BPC1](INFO): Received data from all battery sticks.
2025-06-05T14:00:31.862Z,1749132031.862 [DVL_micro](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00000000000000,.5.0,+11.9,0000.0,1489.0,000
2025-06-05T14:00:31.862Z,1749132031.862 [DVL_micro](ERROR): Failed to parse:
:TS,00000000000000,.5.0,+11.9,0000.0,1489.0,000
2025-06-05T14:01:30.922Z,1749132090.922 [ElevatorServo](FAULT): Overload Error
2025-06-05T14:01:30.922Z,1749132090.922 [ElevatorServo] Hardware Fault, FailCount= 1
2025-06-05T14:01:30.922Z,1749132090.922 [ElevatorServo](ERROR): Hardware Fault
2025-06-05T14:01:31.050Z,1749132091.050 [CBIT](ERROR): Hardware Fault in component: ElevatorServo
2025-06-05T14:01:31.268Z,1749132091.268 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2025-06-05T14:01:31.269Z,1749132091.269 [ElevatorServo](INFO): Powering down
2025-06-05T14:01:32.091Z,1749132092.091 [ElevatorServo](DEBUG): Initializing EZServoServo.
2025-06-05T14:01:32.212Z,1749132092.212 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2025-06-05T14:01:32.362Z,1749132092.362 [CBIT](INFO): Clearing failed state for component ElevatorServo
2025-06-05T14:01:32.362Z,1749132092.362 [ElevatorServo] No Fault, FailCount= 1
2025-06-05T14:01:37.110Z,1749132097.110 [ThrusterHE](FAULT): Could not get status:serial timeout
2025-06-05T14:01:37.206Z,1749132097.206 [ThrusterHE](FAULT): getSpeed error serial timeout
2025-06-05T14:01:37.206Z,1749132097.206 [ThrusterHE](FAULT): Thruster uart error: serial timeout
2025-06-05T14:01:37.206Z,1749132097.206 [ThrusterHE] Communications Fault, FailCount= 1
2025-06-05T14:01:37.207Z,1749132097.207 [ThrusterHE](ERROR): Communications Fault
2025-06-05T14:01:37.211Z,1749132097.211 [CBIT](ERROR): Communications Fault in component: ThrusterHE
2025-06-05T14:01:37.334Z,1749132097.334 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-06-05T14:01:37.334Z,1749132097.334 [ThrusterHE](INFO): Powering down
2025-06-05T14:01:38.148Z,1749132098.148 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-06-05T14:01:38.268Z,1749132098.268 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-06-05T14:01:38.272Z,1749132098.272 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-06-05T14:01:38.272Z,1749132098.272 [ThrusterHE] No Fault, FailCount= 1
2025-06-05T14:01:45.530Z,1749132105.530 [ThrusterHE](FAULT): Could not get status:serial timeout
2025-06-05T14:01:45.626Z,1749132105.626 [ThrusterHE](FAULT): getSpeed error serial timeout
2025-06-05T14:01:45.626Z,1749132105.626 [ThrusterHE](FAULT): Thruster uart error: serial timeout
2025-06-05T14:01:45.626Z,1749132105.626 [ThrusterHE] Communications Fault, FailCount= 2
2025-06-05T14:01:45.626Z,1749132105.626 [ThrusterHE](ERROR): Communications Fault
2025-06-05T14:01:45.633Z,1749132105.633 [CBIT](ERROR): Communications Fault in component: ThrusterHE
2025-06-05T14:01:45.959Z,1749132105.959 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-06-05T14:01:45.959Z,1749132105.959 [ThrusterHE](INFO): Powering down
2025-06-05T14:01:46.613Z,1749132106.613 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-06-05T14:01:46.736Z,1749132106.736 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-06-05T14:01:46.752Z,1749132106.752 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-06-05T14:01:46.752Z,1749132106.752 [ThrusterHE] No Fault, FailCount= 2
2025-06-05T14:01:51.514Z,1749132111.514 [DVL_micro](ERROR): only read 1 of 4 data items for beam range. Device response is::RD,+99
2025-06-05T14:01:51.515Z,1749132111.515 [DVL_micro](ERROR): Failed to parse:
:RD,+99
2025-06-05T14:01:53.610Z,1749132113.610 [ThrusterHE](FAULT): Could not get status:serial timeout
2025-06-05T14:01:53.706Z,1749132113.706 [ThrusterHE](FAULT): getSpeed error serial timeout
2025-06-05T14:01:53.706Z,1749132113.706 [ThrusterHE](FAULT): Thruster uart error: serial timeout
2025-06-05T14:01:53.706Z,1749132113.706 [ThrusterHE] Communications Fault, FailCount= 3
2025-06-05T14:01:53.706Z,1749132113.706 [ThrusterHE](ERROR): Communications Fault
2025-06-05T14:01:53.710Z,1749132113.710 [CBIT](ERROR): Communications Fault in component: ThrusterHE
2025-06-05T14:01:53.904Z,1749132113.904 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-06-05T14:01:53.904Z,1749132113.904 [ThrusterHE](INFO): Powering down
2025-06-05T14:01:54.694Z,1749132114.694 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-06-05T14:01:54.807Z,1749132114.807 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-06-05T14:01:54.811Z,1749132114.811 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-06-05T14:01:54.811Z,1749132114.811 [ThrusterHE] No Fault, FailCount= 3
2025-06-05T14:02:02.894Z,1749132122.894 [ThrusterHE](FAULT): Could not get status:serial timeout
2025-06-05T14:02:02.982Z,1749132122.982 [ThrusterHE](FAULT): getSpeed error serial timeout
2025-06-05T14:02:02.983Z,1749132122.983 [ThrusterHE](FAULT): Thruster uart error: serial timeout
2025-06-05T14:02:02.983Z,1749132122.983 [ThrusterHE] Communications Fault, FailCount= 4
2025-06-05T14:02:02.983Z,1749132122.983 [ThrusterHE](ERROR): Communications Fault
2025-06-05T14:02:02.987Z,1749132122.987 [CBIT](ERROR): Communications Fault in component: ThrusterHE
2025-06-05T14:02:03.184Z,1749132123.184 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-06-05T14:02:03.184Z,1749132123.184 [ThrusterHE](INFO): Powering down
2025-06-05T14:02:04.147Z,1749132124.147 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-06-05T14:02:04.267Z,1749132124.267 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-06-05T14:02:04.271Z,1749132124.271 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-06-05T14:02:04.271Z,1749132124.271 [ThrusterHE] No Fault, FailCount= 4
2025-06-05T14:02:11.748Z,1749132131.748 [ThrusterHE](FAULT): Could not get status:serial timeout
2025-06-05T14:02:11.854Z,1749132131.854 [ThrusterHE](FAULT): getSpeed error serial timeout
2025-06-05T14:02:11.854Z,1749132131.854 [ThrusterHE](FAULT): Thruster uart error: serial timeout
2025-06-05T14:02:11.854Z,1749132131.854 [ThrusterHE] Communications Fault, FailCount= 5
2025-06-05T14:02:11.854Z,1749132131.854 [ThrusterHE](ERROR): Communications Fault
2025-06-05T14:02:11.858Z,1749132131.858 [CBIT](ERROR): Communications Fault in component: ThrusterHE
2025-06-05T14:02:11.858Z,1749132131.858 [CBIT](CRITICAL): Communications Fault in component: ThrusterHE
2025-06-05T14:02:12.070Z,1749132132.070 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-06-05T14:02:12.070Z,1749132132.070 [ThrusterHE](INFO): Powering down
2025-06-05T14:02:12.072Z,1749132132.072 [CommandExec](FAULT): Scheduling is paused
2025-06-05T14:02:12.072Z,1749132132.072 [CBIT](INFO): Critical error at 20250605T140211
2025-06-05T14:02:12.073Z,1749132132.073 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2025-06-05T14:02:12.479Z,1749132132.479 [MissionManager](INFO): MissionManager is completed.
2025-06-05T14:02:12.480Z,1749132132.480 [MissionManager](INFO): Uninitializing Mission sci2
2025-06-05T14:02:12.480Z,1749132132.480 [sci2] Stopped
2025-06-05T14:02:12.480Z,1749132132.480 [sci2](DEBUG): Aggregate::uninitialize sci2
2025-06-05T14:02:12.480Z,1749132132.480 [sci2:Science] Stopped
2025-06-05T14:02:12.480Z,1749132132.480 [sci2:Science](DEBUG): Aggregate::uninitialize sci2:Science
2025-06-05T14:02:12.480Z,1749132132.480 [sci2:Science:B] Stopped
2025-06-05T14:02:12.480Z,1749132132.480 [sci2:Science:C] Stopped
2025-06-05T14:02:12.480Z,1749132132.480 [sci2:Science:E] Stopped
2025-06-05T14:02:12.480Z,1749132132.480 [sci2:Science:OceanCurrent] Stopped
2025-06-05T14:02:12.480Z,1749132132.480 [sci2:Science:OceanCurrent](DEBUG): Aggregate::uninitialize sci2:Science:OceanCurrent
2025-06-05T14:02:12.480Z,1749132132.480 [sci2:Science:OceanCurrent:A.] Stopped
2025-06-05T14:02:12.480Z,1749132132.480 [sci2:StandardEnvelopes] Stopped
2025-06-05T14:02:12.481Z,1749132132.481 [sci2:StandardEnvelopes](DEBUG): Aggregate::uninitialize sci2:StandardEnvelopes
2025-06-05T14:02:12.481Z,1749132132.481 [sci2:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-06-05T14:02:12.481Z,1749132132.481 [sci2:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-06-05T14:02:12.481Z,1749132132.481 [sci2:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-06-05T14:02:12.481Z,1749132132.481 [sci2:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-06-05T14:02:12.481Z,1749132132.481 [sci2:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-06-05T14:02:12.481Z,1749132132.481 [sci2:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-06-05T14:02:12.481Z,1749132132.481 [sci2:BackseatDriver] Stopped
2025-06-05T14:02:12.481Z,1749132132.481 [sci2:BackseatDriver](DEBUG): Aggregate::uninitialize sci2:BackseatDriver
2025-06-05T14:02:12.481Z,1749132132.481 [sci2:BackseatDriver:A.BackseatDriver] Stopped
2025-06-05T14:02:12.481Z,1749132132.481 [sci2:PowerOnly] Stopped
2025-06-05T14:02:12.481Z,1749132132.481 [sci2:PowerOnly](DEBUG): Aggregate::uninitialize sci2:PowerOnly
2025-06-05T14:02:12.481Z,1749132132.481 [sci2:PowerOnly:E.Wait] Stopped
2025-06-05T14:02:12.482Z,1749132132.482 [sci2:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-06-05T14:02:12.482Z,1749132132.482 [sci2:DiveCmd] Stopped
2025-06-05T14:02:12.482Z,1749132132.482 [sci2:DiveCmd](DEBUG): Aggregate::uninitialize sci2:DiveCmd
2025-06-05T14:02:12.482Z,1749132132.482 [sci2:DiveCmd:YoYoDive] Stopped
2025-06-05T14:02:12.482Z,1749132132.482 [sci2:DiveCmd:YoYoDive](DEBUG): Aggregate::uninitialize sci2:DiveCmd:YoYoDive
2025-06-05T14:02:12.482Z,1749132132.482 [sci2:DiveCmd:YoYoDive:dive] Stopped
2025-06-05T14:02:12.482Z,1749132132.482 [sci2:DiveCmd:YoYoDive:dive](DEBUG): Aggregate::uninitialize sci2:DiveCmd:YoYoDive:dive
2025-06-05T14:02:12.482Z,1749132132.482 [sci2:DiveCmd:YoYoDive:dive:A.Pitch] Stopped
2025-06-05T14:02:12.482Z,1749132132.482 [sci2:DiveCmd:YoYoDive:dive:B.Buoyancy] Stopped
2025-06-05T14:02:12.482Z,1749132132.482 [sci2:DiveCmd:YoYoDive:dive:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-06-05T14:02:12.483Z,1749132132.483 [sci2:DiveCmd:YoYoDive:dive:SetSpeed] Stopped
2025-06-05T14:02:12.483Z,1749132132.483 [sci2:DiveCmd:YoYoDive:dive:SetSpeed](DEBUG): Aggregate::uninitialize sci2:DiveCmd:YoYoDive:dive:SetSpeed
2025-06-05T14:02:12.483Z,1749132132.483 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:ProfileSpeed] Stopped
2025-06-05T14:02:12.483Z,1749132132.483 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:ProfileSpeed](DEBUG): Aggregate::uninitialize sci2:DiveCmd:YoYoDive:dive:SetSpeed:ProfileSpeed
2025-06-05T14:02:12.483Z,1749132132.483 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:ProfileSpeed:A.SetSpeed] Stopped
2025-06-05T14:02:12.483Z,1749132132.483 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:ProfileSpeed:A.SetSpeed](DEBUG): Uninitialize.
2025-06-05T14:02:12.483Z,1749132132.483 [sci2:DiveCmd:YoYoDive:dive:D.DepthEnvelope] Stopped
2025-06-05T14:02:12.483Z,1749132132.483 [sci2:DiveCmd:YoYoDive:dive:D.DepthEnvelope](DEBUG): Uninitialize.
2025-06-05T14:02:12.483Z,1749132132.483 [sci2:DiveCmd:YoYoDive:dive:E.AltitudeEnvelope] Stopped
2025-06-05T14:02:12.483Z,1749132132.483 [sci2:DiveCmd:YoYoDive:dive:E.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-06-05T14:02:12.483Z,1749132132.483 [sci2:DiveCmd:YoYoDive:dive:F.YoYo] Stopped
2025-06-05T14:02:12.483Z,1749132132.483 [sci2:DiveCmd:YoYoDive:dive:F.YoYo](DEBUG): Uninitialize YoYoComponent.
2025-06-05T14:02:12.483Z,1749132132.483 [sci2:Lap] Stopped
2025-06-05T14:02:12.484Z,1749132132.484 [sci2:Lap](DEBUG): Aggregate::uninitialize sci2:Lap
2025-06-05T14:02:12.484Z,1749132132.484 [sci2:Lap:Dive] Stopped
2025-06-05T14:02:12.484Z,1749132132.484 [sci2:Lap:Dive](DEBUG): Aggregate::uninitialize sci2:Lap:Dive
2025-06-05T14:02:12.484Z,1749132132.484 [sci2:Lap:Dive:A] Stopped
2025-06-05T14:02:12.484Z,1749132132.484 [sci2:Lap:Dive:A](DEBUG): Aggregate::uninitialize sci2:Lap:Dive:A
2025-06-05T14:02:12.484Z,1749132132.484 [sci2:Lap:Wpt2] Stopped
2025-06-05T14:02:12.484Z,1749132132.484 [sci2:Lap:Wpt2](DEBUG): Aggregate::uninitialize sci2:Lap:Wpt2
2025-06-05T14:02:12.484Z,1749132132.484 [sci2:Lap:Wpt2:A.Waypoint] Stopped
2025-06-05T14:02:12.484Z,1749132132.484 [sci2:Lap:Wpt2:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-06-05T14:02:12.859Z,1749132132.859 [MissionManager](IMPORTANT): Started mission Default
2025-06-05T14:02:12.859Z,1749132132.859 [Default] Running Loop=1
2025-06-05T14:02:12.859Z,1749132132.859 [Default](DEBUG): Aggregate::initialize Default
2025-06-05T14:02:12.859Z,1749132132.859 [Default:B.GoToSurface] Running Loop=1
2025-06-05T14:02:12.859Z,1749132132.859 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-06-05T14:02:12.860Z,1749132132.860 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-06-05T14:02:12.860Z,1749132132.860 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-06-05T14:02:12.860Z,1749132132.860 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-06-05T14:02:12.860Z,1749132132.860 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-06-05T14:02:12.861Z,1749132132.861 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-06-05T14:02:12.861Z,1749132132.861 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-06-05T14:02:12.862Z,1749132132.862 [Default:A.Wait] Running Loop=1
2025-06-05T14:02:12.862Z,1749132132.862 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-06-05T14:02:12.871Z,1749132132.871 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-06-05T14:02:12.942Z,1749132132.942 [WetLabsBB2FL](INFO): Powering down
2025-06-05T14:02:12.991Z,1749132132.991 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-06-05T14:02:13.351Z,1749132133.351 [Radio_Surface](INFO): Powering up
2025-06-05T14:02:18.717Z,1749132138.717 [DataOverHttps](INFO): Radio surface powered ON.
2025-06-05T14:02:26.258Z,1749132146.258 [Default:A.Wait](INFO): Done Waiting.
2025-06-05T14:02:26.259Z,1749132146.259 [Default:A.Wait] Stopped
2025-06-05T14:02:26.259Z,1749132146.259 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-06-05T14:02:48.838Z,1749132168.838 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T14:02:57.040Z,1749132177.040 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-06-05T14:02:57.040Z,1749132177.040 [ThrusterHE] No Fault, FailCount= 5
2025-06-05T14:03:10.302Z,1749132190.302 [Default:CheckIn] Running Loop=1
2025-06-05T14:03:10.303Z,1749132190.303 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-06-05T14:03:10.303Z,1749132190.303 [Default:CheckIn:Read_GPS] Running Loop=1
2025-06-05T14:03:19.962Z,1749132199.962 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T14:03:51.086Z,1749132231.086 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T14:04:22.222Z,1749132262.222 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T14:04:30.980Z,1749132270.980 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003267
2025-06-05T14:04:40.444Z,1749132280.444 [NAL9602](INFO): SBD MO Status=2, MOMSN=21070, MT Status=2, MTMSN=0
2025-06-05T14:04:40.444Z,1749132280.444 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-06-05T14:05:03.881Z,1749132303.881 [NAL9602](INFO): SBD MO Status=0, MOMSN=21070, MT Status=0, MTMSN=0
2025-06-05T14:05:03.881Z,1749132303.881 [NAL9602](INFO): No messages in MT queue
2025-06-05T14:05:05.107Z,1749132305.107 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,140504.00,A,3647.60097,N,12200.52240,W,1.225,126.79,050625,,,A*7D
2025-06-05T14:05:05.109Z,1749132305.109 [NAL9602](INFO): GPS fix at 20250605T140504: (36.793349, -122.008707)
2025-06-05T14:05:05.122Z,1749132305.122 [UniversalFixResidualReporter](INFO): Fix residual: 34.0 %DT, over the last 2479.1 m. Residual distance 842.1 m at bearing -15.8 degrees. Fix at (36.7934, -122.0087) with 2277.9 m made good.
2025-06-05T14:05:05.123Z,1749132305.123 [Default:CheckIn:Read_GPS] Stopped
2025-06-05T14:05:05.123Z,1749132305.123 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-06-05T14:05:13.131Z,1749132313.131 [DataOverHttps](INFO): Sending 151 bytes from file Logs/20250605T121700/Courier0009.lzma
2025-06-05T14:05:14.132Z,1749132314.132 [DataOverHttps](INFO): Moved sent file to Logs/20250605T121700/Courier0009.lzma.bak
2025-06-05T14:05:14.132Z,1749132314.132 [DataOverHttps](INFO): SBD MOMSN=25100979
2025-06-05T14:05:30.530Z,1749132330.530 [DataOverHttps](INFO): Sending 1647 bytes from file Logs/20250605T121700/Express0010.lzma
2025-06-05T14:05:31.524Z,1749132331.524 [DataOverHttps](INFO): Moved sent file to Logs/20250605T121700/Express0010.lzma.bak
2025-06-05T14:05:31.524Z,1749132331.524 [DataOverHttps](INFO): SBD MOMSN=25100983
2025-06-05T14:05:33.003Z,1749132333.003 [Default:CheckIn:Read_Iridium] Stopped
2025-06-05T14:05:33.003Z,1749132333.003 [Default:CheckIn:C.Wait] Running Loop=1
2025-06-05T14:05:33.003Z,1749132333.003 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-06-05T14:05:37.430Z,1749132337.430 [NAL9602](INFO): Not Powering down - fast GPS
2025-06-05T14:10:16.680Z,1749132616.680 [DataOverHttps](IMPORTANT): SBD MTMSN=20250605T141015
2025-06-05T14:10:24.250Z,1749132624.250 [DataOverHttps](INFO): Received command: configSet CBIT.runNavErrorCritical 1 bool persist;resume;schedule resume
2025-06-05T14:10:24.596Z,1749132624.596 [CommandExec](IMPORTANT): got command configSet CBIT.runNavErrorCritical 1 bool persist
2025-06-05T14:10:24.598Z,1749132624.598 [CommandExec](IMPORTANT): got command resume
2025-06-05T14:10:24.599Z,1749132624.599 [MissionManager](INFO): Loading Mission from file: ./Missions/Science/sci2.tl
2025-06-05T14:10:24.599Z,1749132624.599 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Science/sci2.tl
2025-06-05T14:10:24.602Z,1749132624.602 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Science/sci2.tl
2025-06-05T14:10:29.804Z,1749132629.804 [MissionManager](DEBUG): TethyslAPI: ./Missions/Science/sci2.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="sci2">
    <DefineArg Name="MissionTimeout">
        <Units:hour />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>60</Value>
    </DefineArg>
    <DefineArg Name="Repeat">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="Lat1">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat2">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat3">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat4">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat5">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat6">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat7">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon1">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon2">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon3">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon4">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon5">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon6">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon7">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Speed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="CaptureRadius">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="YoYoMinDepth">
        <Units:meter />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="YoYoMaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="YoYoMinAltitude">
        <Units:meter />
        <Value>9</Value>
    </DefineArg>
    <DefineArg Name="YoYoUpPitch">
        <Units:degree />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="YoYoDownPitch">
        <Units:degree />
        <Value>-20</Value>
    </DefineArg>
    <DefineArg Name="SurfaceDiveSpeed">
        <Units:meter_per_second />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="SurfaceThreshold">
        <Control:VerticalControl.surfaceThreshold />
    </DefineArg>
    <DefineArg Name="SinkOffSurface">
        <False />
    </DefineArg>
    <DefineArg Name="SinkDepth">
        <Units:meter />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="SinkDepthTimeout">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="YoYoLightTerminate">
        <False />
    </DefineArg>
    <DefineArg Name="YoYoLightTerminateThreshold">
        <Units:micromole_per_second_per_square_meter />
        <Value>0.1</Value>
    </DefineArg>
    <DefineArg Name="PeakDetectChl">
        <False />
    </DefineArg>
    <DefineArg Name="ShallowBoundChl">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DeepBoundChl">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlThreshTrigger">
        <False />
    </DefineArg>
    <DefineArg Name="ChlLowerThreshold">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlUpperThreshold">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesThreshold">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="BuoyancyNeutral">
        <Control:VerticalControl.buoyancyNeutral />
    </DefineArg>
    <DefineArg Name="MassDefault">
        <Control:VerticalControl.massDefault />
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>205</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <DefineOutput Name="DiveMode">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="DoingComms">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="SurfaceSink">
        <Units:count />
        <Value>1</Value>
    </DefineOutput>
    <DefineOutput Name="YoYo">
        <Units:count />
        <Value>2</Value>
    </DefineOutput>
    <Timeout Duration="MissionTimeout" />
    <Insert Filename="Insert/Science.tl">
        <RedefineArg Name="PeakDetectChlActive">
            <Arg Name="PeakDetectChl" />
        </RedefineArg>
        <RedefineArg Name="ShallowBound">
            <Arg Name="ShallowBoundChl" />
        </RedefineArg>
        <RedefineArg Name="DeepBound">
            <Arg Name="DeepBoundChl" />
        </RedefineArg>
        <RedefineArg Name="ChlThreshTriggerActive">
            <Arg Name="ChlThreshTrigger" />
        </RedefineArg>
        <RedefineArg Name="ChlLowerThresh">
            <Arg Name="ChlLowerThreshold" />
        </RedefineArg>
        <RedefineArg Name="ChlUpperThresh">
            <Arg Name="ChlUpperThreshold" />
        </RedefineArg>
        <RedefineArg Name="NumProfilesThresh">
            <Arg Name="NumProfilesThreshold" />
        </RedefineArg>
    </Insert>
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="NeedCommsTime" />
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Aggregate Id="SurfaceComms">
        <When>
            <Called />
            <Or>
                <Elapsed>
                    <Universal:time_fix />
                </Elapsed>
                <Gt>
                    <Arg Name="NeedCommsTime" />
                </Gt>
            </Or>
        </When>
        <Assign>
            <Sequence />
            <Arg Name="DiveMode" />
            <Arg Name="DoingComms" />
        </Assign>
        <Call RefId="NeedComms" PriorityHere="false" />
        <Aggregate Id="setInitial">
            <Sequence />
            <Break>
                <Arg Name="SinkOffSurface" />
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="DiveMode" />
                <Arg Name="YoYo" />
            </Assign>
        </Aggregate>
        <Aggregate Id="setSink">
            <Sequence />
            <Break>
                <Not>
                    <Arg Name="SinkOffSurface" />
                </Not>
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="DiveMode" />
                <Arg Name="SurfaceSink" />
            </Assign>
        </Aggregate>
    </Aggregate>
    <Call RefId="SurfaceComms" Id="StartingMission" PriorityHere="false" />
    <Aggregate Id="DiveCmd">
        <When>
            <Called />
        </When>
        <Aggregate Id="SurfaceSink">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="SurfaceSink" />
                </Eq>
            </While>
            <Aggregate Id="sink">
                <Sequence />
                <Guidance:Buoyancy Id="BuoyancyHold">
                    <Parallel />
                    <Setting>
                        <Guidance:Buoyancy.position />
                        <Units:cubic_centimeter />
                        <Value>NaN</Value>
                    </Setting>
                </Guidance:Buoyancy>
                <Guidance:SetSpeed>
                    <Parallel />
                    <Setting>
                        <Guidance:SetSpeed.speed />
                        <Units:meter_per_second />
                        <Value>0</Value>
                    </Setting>
                </Guidance:SetSpeed>
                <Syslog Severity="Info">
                    Sinking to 
                    <Arg Name="SinkDepth" />
                    <Units:meter />
                </Syslog>
                <Guidance:Pitch>
                    <Sequence />
                    <Timeout Duration="SinkDepthTimeout">
                        <Syslog Severity="Important">
                            Timed out while trying to reach target sink depth at current depth of 
                            <Universal:depth />
                            <Units:meter />
                        </Syslog>
                    </Timeout>
                    <Setting>
                        <Guidance:Pitch.depth />
                        <Arg Name="SinkDepth" />
                    </Setting>
                </Guidance:Pitch>
                <Assign>
                    <Sequence />
                    <Arg Name="DiveMode" />
                    <Arg Name="YoYo" />
                </Assign>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="YoYoDive">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="YoYo" />
                </Eq>
            </While>
            <Aggregate Id="dive">
                <Sequence />
                <Guidance:Pitch>
                    <Parallel />
                    <Setting>
                        <Guidance:Pitch.massPosition />
                        <Arg Name="MassDefault" />
                    </Setting>
                </Guidance:Pitch>
                <Guidance:Buoyancy>
                    <Parallel />
                    <Setting>
                        <Guidance:Buoyancy.position />
                        <Arg Name="BuoyancyNeutral" />
                    </Setting>
                </Guidance:Buoyancy>
                <Aggregate Id="SetSpeed">
                    <Parallel />
                    <Aggregate Id="SurfaceDive">
                        <While>
                            <Not>
                                <IsNaN>
                                    <Arg Name="SurfaceDiveSpeed" />
                                </IsNaN>
                            </Not>
                            <And>
                                <Universal:depth />
                                <Le>
                                    <Arg Name="SurfaceThreshold" />
                                </Le>
                            </And>
                        </While>
                        <Aggregate Id="SurfaceSpeed">
                            <Parallel />
                            <Guidance:SetSpeed>
                                <Parallel />
                                <Setting>
                                    <Guidance:SetSpeed.speed />
                                    <Arg Name="SurfaceDiveSpeed" />
                                </Setting>
                            </Guidance:SetSpeed>
                        </Aggregate>
                    </Aggregate>
                    <Aggregate Id="ProfileSpeed">
                        <While>
                            <IsNaN>
                                <Arg Name="SurfaceDiveSpeed" />
                            </IsNaN>
                            <Or>
                                <Universal:depth />
                                <Gt>
                                    <Control:VerticalControl.surfaceThreshold />
                                </Gt>
                            </Or>
                        </While>
                        <Guidance:SetSpeed>
                            <Parallel />
                            <Setting>
                                <Guidance:SetSpeed.speed />
                                <Arg Name="Speed" />
                            </Setting>
                        </Guidance:SetSpeed>
                    </Aggregate>
                </Aggregate>
                <Guidance:DepthEnvelope>
                    <Parallel />
                    <Setting>
                        <Guidance:DepthEnvelope.minDepth />
                        <Arg Name="YoYoMinDepth" />
                    </Setting>
                    <Setting>
                        <Guidance:DepthEnvelope.maxDepth />
                        <Arg Name="YoYoMaxDepth" />
                    </Setting>
                    <Setting>
                        <Guidance:DepthEnvelope.downPitch />
                        <Arg Name="YoYoDownPitch" />
                    </Setting>
                    <Setting>
                        <Guidance:DepthEnvelope.upPitch />
                        <Arg Name="YoYoUpPitch" />
                    </Setting>
                </Guidance:DepthEnvelope>
                <Guidance:AltitudeEnvelope>
                    <Parallel />
                    <Setting>
                        <Guidance:AltitudeEnvelope.minAltitude />
                        <Arg Name="YoYoMinAltitude" />
                    </Setting>
                </Guidance:AltitudeEnvelope>
                <Guidance:YoYo>
                    <Parallel />
                    <Setting>
                        <Guidance:YoYo.downPitch />
                        <Arg Name="YoYoDownPitch" />
                    </Setting>
                    <Setting>
                        <Guidance:YoYo.upPitch />
                        <Arg Name="YoYoUpPitch" />
                    </Setting>
                </Guidance:YoYo>
                <Aggregate Id="YoYoFlip">
                    <When>
                        <Science:PAR_Licor.loadAtStartup />
                        <And>
                            <Arg Name="YoYoLightTerminate" />
                        </And>
                        <And>
                            <Science:PAR_Licor.downwelling_photosynthetic_photon_flux_in_sea_water />
                            <Lt>
                                <Arg Name="YoYoLightTerminateThreshold" />
                            </Lt>
                        </And>
                        <And>
                            <Universal:platform_pitch_angle />
                            <Lt>
                                <Units:degree />
                                <Value>1</Value>
                            </Lt>
                        </And>
                    </When>
                    <Guidance:Pitch>
                        <Parallel />
                        <Setting>
                            <Guidance:Pitch.pitch />
                            <Arg Name="YoYoUpPitch" />
                        </Setting>
                    </Guidance:Pitch>
                </Aggregate>
                <Aggregate Id="StopIfTriggered">
                    <When>
                        <Arg Name="Science:TriggeredOnChl" />
                    </When>
                    <Guidance:Execute>
                        <Sequence />
                        <Setting>
                            <Guidance:Execute.command />
                            <String>stop</String>
                        </Setting>
                    </Guidance:Execute>
                </Aggregate>
            </Aggregate>
        </Aggregate>
    </Aggregate>
    <Aggregate Id="Lap">
        <Sequence Repeat="Repeat" />
        <Aggregate Id="Dive">
            <While>
                <Not>
                    <Arg Name="DiveMode" />
                    <Eq>
                        <Arg Name="DoingComms" />
                    </Eq>
                </Not>
            </While>
            <Call RefId="DiveCmd" PriorityHere="false" />
        </Aggregate>
        <Aggregate Id="Wpt1">
            <Sequence />
            <Guidance:Waypoint>
                <Sequence />
                <Setting>
                    <Guidance:Waypoint.latitude />
                    <Arg Name="Lat1" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.longitude />
                    <Arg Name="Lon1" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.captureRadius />
                    <Arg Name="CaptureRadius" />
                </Setting>
            </Guidance:Waypoint>
        </Aggregate>
        <Aggregate Id="Wpt2">
            <Sequence />
            <Guidance:Waypoint>
                <Sequence />
                <Setting>
                    <Guidance:Waypoint.latitude />
                    <Arg Name="Lat2" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.longitude />
                    <Arg Name="Lon2" />
                </Setting>
            </Guidance:Waypoint>
        </Aggregate>
        <Aggregate Id="Wpt3">
            <Sequence />
            <Guidance:Waypoint>
                <Sequence />
                <Setting>
                    <Guidance:Waypoint.latitude />
                    <Arg Name="Lat3" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.longitude />
                    <Arg Name="Lon3" />
                </Setting>
            </Guidance:Waypoint>
        </Aggregate>
        <Aggregate Id="Wpt4">
            <Sequence />
            <Guidance:Waypoint>
                <Sequence />
                <Setting>
                    <Guidance:Waypoint.latitude />
                    <Arg Name="Lat4" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.longitude />
                    <Arg Name="Lon4" />
                </Setting>
            </Guidance:Waypoint>
        </Aggregate>
        <Aggregate Id="Wpt5">
            <Sequence />
            <Guidance:Waypoint>
                <Sequence />
                <Setting>
                    <Guidance:Waypoint.latitude />
                    <Arg Name="Lat5" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.longitude />
                    <Arg Name="Lon5" />
                </Setting>
            </Guidance:Waypoint>
        </Aggregate>
        <Aggregate Id="Wpt6">
            <Sequence />
            <Guidance:Waypoint>
                <Sequence />
                <Setting>
                    <Guidance:Waypoint.latitude />
                    <Arg Name="Lat6" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.longitude />
                    <Arg Name="Lon6" />
                </Setting>
            </Guidance:Waypoint>
        </Aggregate>
        <Aggregate Id="Wpt7">
            <Sequence />
            <Guidance:Waypoint>
                <Sequence />
                <Setting>
                    <Guidance:Waypoint.latitude />
                    <Arg Name="Lat7" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.longitude />
                    <Arg Name="Lon7" />
                </Setting>
            </Guidance:Waypoint>
        </Aggregate>
    </Aggregate>
</Mission>

2025-06-05T14:10:29.822Z,1749132629.822 [MissionManager](INFO): DefineArg sci2.MissionTimeout = 2.000000 h
2025-06-05T14:10:29.824Z,1749132629.824 [MissionManager](INFO): DefineArg sci2.NeedCommsTime = 60.000000 min
2025-06-05T14:10:29.826Z,1749132629.826 [MissionManager](INFO): DefineArg sci2.Repeat = 1.000000 count
2025-06-05T14:10:29.829Z,1749132629.829 [MissionManager](INFO): DefineArg sci2.Lat1 = nan arcdeg
2025-06-05T14:10:29.831Z,1749132629.831 [MissionManager](INFO): DefineArg sci2.Lat2 = nan arcdeg
2025-06-05T14:10:29.833Z,1749132629.833 [MissionManager](INFO): DefineArg sci2.Lat3 = nan arcdeg
2025-06-05T14:10:29.835Z,1749132629.835 [MissionManager](INFO): DefineArg sci2.Lat4 = nan arcdeg
2025-06-05T14:10:29.837Z,1749132629.837 [MissionManager](INFO): DefineArg sci2.Lat5 = nan arcdeg
2025-06-05T14:10:29.840Z,1749132629.840 [MissionManager](INFO): DefineArg sci2.Lat6 = nan arcdeg
2025-06-05T14:10:29.842Z,1749132629.842 [MissionManager](INFO): DefineArg sci2.Lat7 = nan arcdeg
2025-06-05T14:10:29.844Z,1749132629.844 [MissionManager](INFO): DefineArg sci2.Lon1 = nan arcdeg
2025-06-05T14:10:29.846Z,1749132629.846 [MissionManager](INFO): DefineArg sci2.Lon2 = nan arcdeg
2025-06-05T14:10:29.848Z,1749132629.848 [MissionManager](INFO): DefineArg sci2.Lon3 = nan arcdeg
2025-06-05T14:10:29.851Z,1749132629.851 [MissionManager](INFO): DefineArg sci2.Lon4 = nan arcdeg
2025-06-05T14:10:29.853Z,1749132629.853 [MissionManager](INFO): DefineArg sci2.Lon5 = nan arcdeg
2025-06-05T14:10:29.855Z,1749132629.855 [MissionManager](INFO): DefineArg sci2.Lon6 = nan arcdeg
2025-06-05T14:10:29.857Z,1749132629.857 [MissionManager](INFO): DefineArg sci2.Lon7 = nan arcdeg
2025-06-05T14:10:29.860Z,1749132629.860 [MissionManager](INFO): DefineArg sci2.Speed = 1.000000 m/s
2025-06-05T14:10:29.862Z,1749132629.862 [MissionManager](INFO): DefineArg sci2.CaptureRadius = nan m
2025-06-05T14:10:29.864Z,1749132629.864 [MissionManager](INFO): DefineArg sci2.YoYoMinDepth = 2.000000 m
2025-06-05T14:10:29.922Z,1749132629.922 [MissionManager](INFO): DefineArg sci2.YoYoMaxDepth = 200.000000 m
2025-06-05T14:10:29.925Z,1749132629.925 [MissionManager](INFO): DefineArg sci2.YoYoMinAltitude = 9.000000 m
2025-06-05T14:10:29.935Z,1749132629.935 [MissionManager](INFO): DefineArg sci2.YoYoUpPitch = 20.000000 arcdeg
2025-06-05T14:10:29.937Z,1749132629.937 [MissionManager](INFO): DefineArg sci2.YoYoDownPitch = -20.000000 arcdeg
2025-06-05T14:10:29.948Z,1749132629.948 [MissionManager](INFO): DefineArg sci2.SurfaceDiveSpeed = nan m/s
2025-06-05T14:10:29.958Z,1749132629.958 [MissionManager](INFO): DefineArg sci2.SurfaceThreshold = 1.000000 m
2025-06-05T14:10:29.960Z,1749132629.960 [MissionManager](INFO): DefineArg sci2.SinkOffSurface = 0 bool
2025-06-05T14:10:29.971Z,1749132629.971 [MissionManager](INFO): DefineArg sci2.SinkDepth = 10.000000 m
2025-06-05T14:10:29.973Z,1749132629.973 [MissionManager](INFO): DefineArg sci2.SinkDepthTimeout = 10.000000 min
2025-06-05T14:10:29.979Z,1749132629.979 [MissionManager](INFO): DefineArg sci2.YoYoLightTerminate = 0 bool
2025-06-05T14:10:29.982Z,1749132629.982 [MissionManager](INFO): DefineArg sci2.YoYoLightTerminateThreshold = 0.100000 umol/s/m2
2025-06-05T14:10:30.000Z,1749132630.000 [MissionManager](INFO): DefineArg sci2.PeakDetectChl = 0 bool
2025-06-05T14:10:30.006Z,1749132630.006 [MissionManager](INFO): DefineArg sci2.ShallowBoundChl = nan m
2025-06-05T14:10:30.009Z,1749132630.009 [MissionManager](INFO): DefineArg sci2.DeepBoundChl = nan m
2025-06-05T14:10:30.019Z,1749132630.019 [MissionManager](INFO): DefineArg sci2.ChlThreshTrigger = 0 bool
2025-06-05T14:10:30.021Z,1749132630.021 [MissionManager](INFO): DefineArg sci2.ChlLowerThreshold = nan ug/l
2025-06-05T14:10:30.036Z,1749132630.036 [MissionManager](INFO): DefineArg sci2.ChlUpperThreshold = nan ug/l
2025-06-05T14:10:30.043Z,1749132630.043 [MissionManager](INFO): DefineArg sci2.NumProfilesThreshold = 5.000000 count
2025-06-05T14:10:30.062Z,1749132630.062 [MissionManager](INFO): DefineArg sci2.BuoyancyNeutral = 245.649597 cc
2025-06-05T14:10:30.069Z,1749132630.069 [MissionManager](INFO): DefineArg sci2.MassDefault = 3.127619 cm
2025-06-05T14:10:30.078Z,1749132630.078 [MissionManager](INFO): DefineArg sci2.MinAltitude = 5.000000 m
2025-06-05T14:10:30.080Z,1749132630.080 [MissionManager](INFO): DefineArg sci2.MaxDepth = 205.000000 m
2025-06-05T14:10:30.087Z,1749132630.087 [MissionManager](INFO): DefineArg sci2.MinOffshore = 2.000000 km
2025-06-05T14:10:30.089Z,1749132630.089 [MissionManager](INFO): DefineOutput sci2.DiveMode = 0.000000 count
2025-06-05T14:10:30.096Z,1749132630.096 [MissionManager](INFO): DefineOutput sci2.DoingComms = 0.000000 count
2025-06-05T14:10:30.102Z,1749132630.102 [MissionManager](INFO): DefineOutput sci2.SurfaceSink = 1.000000 count
2025-06-05T14:10:30.105Z,1749132630.105 [MissionManager](INFO): DefineOutput sci2.YoYo = 2.000000 count
2025-06-05T14:10:30.105Z,1749132630.105 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-06-05T14:10:30.105Z,1749132630.105 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-06-05T14:10:30.119Z,1749132630.119 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-06-05T14:10:35.564Z,1749132635.564 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/Science.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="Science">
    <DefineArg Name="PeakDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="TimeWindowPeakReport">
        <Units:minute />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="HighestChlPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestSaltPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestOilPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="PatchTracking">
        <False />
    </DefineArg>
    <DefineArg Name="FilterWidthHorizontal">
        <Units:count />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesSlidingwindow">
        <Units:count />
        <Value>100</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionHorizontal">
        <Units:percent />
        <Value>80</Value>
    </DefineArg>
    <DefineArg Name="PeakDetectNO3Active">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectOilActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectFDOMActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectSalinityActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDinoflagellatesActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreDinoflagellatesActive">
        <False />
    </DefineArg>
    <DefineArg Name="UpwardDerivativeOfTemperatureActive">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledAanderaaO2">
        <Science:Aanderaa_O2.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledNeilBrown">
        <Science:CTD_NeilBrown.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledRBRTridente">
        <Science:RBRTridente.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledSeabird">
        <Science:CTD_Seabird.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsBB2FL">
        <Science:WetLabsBB2FL.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsSeaOWL_UV_A">
        <Science:WetLabsSeaOWL_UV_A.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsUBAT">
        <Science:WetLabsUBAT.loadAtStartup />
    </DefineArg>
    <DefineArg Name="LowPassWindowLength">
        <Units:count />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="MedianFilterLen">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="ShallowBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DeepBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DepChangeThreshForAttitudeFlip">
        <Units:meter />
        <Value>2.0</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionVerticalAscent">
        <Units:percent />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionVerticalDescent">
        <Units:percent />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlPeakThresh">
        <Units:microgram_per_liter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="ChlThreshTriggerActive">
        <False />
    </DefineArg>
    <DefineArg Name="ChlLowerThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlUpperThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesThresh">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreLMavgROIPeakThresh">
        <Units:count_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreHMavgROIPeakThresh">
        <Units:count_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreDiatomsPeakThresh">
        <Units:count_per_milliliter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreDinoflagellatesPeakThresh">
        <Units:count_per_milliliter />
        <Value>0</Value>
    </DefineArg>
    <DefineOutput Name="GoDown">
        <True />
    </DefineOutput>
    <DefineOutput Name="PeakChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3">
        <Units:micromole_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Depth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOil">
        <Units:kilogram_per_cubic_meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOM">
        <Units:part_per_billion />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatoms">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatoms">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOil">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="TriggeredOnChl">
        <False />
    </DefineOutput>
    <DefineOutput Name="ChlTriggering">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledAanderaaO2" />
        </While>
        <Universal:mass_concentration_of_oxygen_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
        </While>
        <Universal:sea_water_temperature />
        <Universal:sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledSeabird" />
        </While>
        <Science:CTD_Seabird.sea_water_temperature />
        <Science:CTD_Seabird.sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
            <And>
                <Arg Name="UpwardDerivativeOfTemperatureActive" />
            </And>
        </While>
        <Universal:upward_derivative_of_sea_water_temperature />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsBB2FL" />
            <Or>
                <Arg Name="EnabledRBRTridente" />
            </Or>
            <Or>
                <Arg Name="PeakDetectChlActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_chlorophyll_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsUBAT" />
        </While>
        <Science:WetLabsUBAT.average_bioluminescence />
    </ReadData>
    <ReadData Id="Read_Oil" Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsSeaOWL_UV_A" />
            <Or>
                <Arg Name="PeakDetectOilActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
    </ReadData>
    <Aggregate Id="OceanCurrent">
        <Sequence />
        <Estimation:CurrentEstimator>
            <Parallel />
        </Estimation:CurrentEstimator>
    </Aggregate>
    <Aggregate Id="PeakDetectChl">
        <While>
            <Arg Name="PeakDetectChlActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakChl">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectChl">
        <While>
            <Arg Name="EdgeDetectChlActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="ChlPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakChl">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgeChl">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgeChlDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgeChlTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgeChlLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgeChlLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, ChlPeakThresh, PeakChl, PeakChlDepth, EdgeChl, EdgeChlDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="ChlPeakThresh" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChlDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgeChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="EdgeChlDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
            <Arg Name="EdgeChl" />
            <Arg Name="EdgeChlDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestChlPeakReport">
        <While>
            <Arg Name="HighestChlPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakChlDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakChlLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakChlLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchChl">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchChlDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchChlLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchChlLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchChlDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectNO3">
        <While>
            <Arg Name="PeakDetectNO3Active" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mole_concentration_of_nitrate_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakNO3">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakNO3Depth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakNO3Latitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakNO3Longitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakNO3" />
            <Arg Name="PeakNO3Depth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectOil">
        <While>
            <Arg Name="PeakDetectOilActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakOil">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakOilDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakOilLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakOilLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakOil" />
            <Arg Name="PeakOilDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestOilPeakReport">
        <While>
            <Arg Name="HighestOilPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakOil" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakOilDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakOilLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakOilLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchOil">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchOilDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchOilLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchOilLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchOilDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectFDOM">
        <While>
            <Arg Name="PeakDetectFDOMActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:concentration_of_colored_dissolved_organic_matter_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakFDOM">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakFDOMDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakFDOMTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakFDOMLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakFDOMLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakFDOM" />
            <Arg Name="PeakFDOMDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectSalinity">
        <While>
            <Arg Name="PeakDetectSalinityActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:sea_water_salinity />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakSalt">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakSaltDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakSaltTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakSaltLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakSaltLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakSalt" />
            <Arg Name="PeakSaltDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestSaltPeakReport">
        <While>
            <Arg Name="HighestSaltPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakSalt" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakSaltDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakSaltLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakSaltLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchSalt">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchSaltDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchSaltLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchSaltLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchSaltDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="EdgeDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreLMavgROIPeakThresh, PeakPlanktivoreLMavgROI, PeakPlanktivoreLMavgROIDepth, EdgePlanktivoreLMavgROI, EdgePlanktivoreLMavgROIDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreHMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_HM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="EdgeDetectPlanktivoreHMavgROIActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_HM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreHMavgROIPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROI">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreHMavgROIPeakThresh, PeakPlanktivoreHMavgROI, PeakPlanktivoreHMavgROIDepth, EdgePlanktivoreHMavgROI, EdgePlanktivoreHMavgROIDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreHMavgROIPeakThresh" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreHMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="EdgePlanktivoreHMavgROIDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
            <Arg Name="EdgePlanktivoreHMavgROI" />
            <Arg Name="EdgePlanktivoreHMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="PeakDetectPlanktivoreDiatomsActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_diatoms</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="EdgeDetectPlanktivoreDiatomsActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_diatoms</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreDiatomsPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatoms">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreDiatomsPeakThresh, PeakPlanktivoreDiatoms, PeakPlanktivoreDiatomsDepth, EdgePlanktivoreDiatoms, EdgePlanktivoreDiatomsDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreDiatomsPeakThresh" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreDiatoms" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="EdgePlanktivoreDiatomsDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
            <Arg Name="EdgePlanktivoreDiatoms" />
            <Arg Name="EdgePlanktivoreDiatomsDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="PeakDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDinoflagellates">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="EdgeDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreDinoflagellatesPeakThresh" />
            </Setting>
            <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>

2025-06-05T14:10:35.656Z,1749132635.656 [MissionManager](INFO): DefineArg sci2:Science.PeakDetectChlActive = 0 bool
2025-06-05T14:10:35.668Z,1749132635.668 [MissionManager](INFO): DefineArg sci2:Science.EdgeDetectChlActive = 0 bool
2025-06-05T14:10:35.670Z,1749132635.670 [MissionManager](INFO): DefineArg sci2:Science.TimeWindowPeakReport = nan min
2025-06-05T14:10:35.672Z,1749132635.672 [MissionManager](INFO): DefineArg sci2:Science.HighestChlPeakReportActive = 0 bool
2025-06-05T14:10:35.674Z,1749132635.674 [MissionManager](INFO): DefineArg sci2:Science.HighestSaltPeakReportActive = 0 bool
2025-06-05T14:10:35.676Z,1749132635.676 [MissionManager](INFO): DefineArg sci2:Science.HighestOilPeakReportActive = 0 bool
2025-06-05T14:10:35.678Z,1749132635.678 [MissionManager](INFO): DefineArg sci2:Science.PatchTracking = 0 bool
2025-06-05T14:10:35.680Z,1749132635.680 [MissionManager](INFO): DefineArg sci2:Science.FilterWidthHorizontal = 3.000000 count
2025-06-05T14:10:35.682Z,1749132635.682 [MissionManager](INFO): DefineArg sci2:Science.NumProfilesSlidingwindow = 100.000000 count
2025-06-05T14:10:35.685Z,1749132635.685 [MissionManager](INFO): DefineArg sci2:Science.OffPeakFractionHorizontal = 80.000000 %
2025-06-05T14:10:35.716Z,1749132635.716 [MissionManager](INFO): DefineArg sci2:Science.PeakDetectNO3Active = 0 bool
2025-06-05T14:10:35.727Z,1749132635.727 [MissionManager](INFO): DefineArg sci2:Science.PeakDetectOilActive = 0 bool
2025-06-05T14:10:35.729Z,1749132635.729 [MissionManager](INFO): DefineArg sci2:Science.PeakDetectFDOMActive = 0 bool
2025-06-05T14:10:35.733Z,1749132635.733 [MissionManager](INFO): DefineArg sci2:Science.PeakDetectSalinityActive = 0 bool
2025-06-05T14:10:35.747Z,1749132635.747 [MissionManager](INFO): DefineArg sci2:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-06-05T14:10:35.749Z,1749132635.749 [MissionManager](INFO): DefineArg sci2:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-06-05T14:10:35.782Z,1749132635.782 [MissionManager](INFO): DefineArg sci2:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-06-05T14:10:35.784Z,1749132635.784 [MissionManager](INFO): DefineArg sci2:Science.EdgeDetectPlanktivoreHMavgROIActive = 0 bool
2025-06-05T14:10:35.790Z,1749132635.790 [MissionManager](INFO): DefineArg sci2:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-06-05T14:10:35.792Z,1749132635.792 [MissionManager](INFO): DefineArg sci2:Science.EdgeDetectPlanktivoreDiatomsActive = 0 bool
2025-06-05T14:10:35.803Z,1749132635.803 [MissionManager](INFO): DefineArg sci2:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-06-05T14:10:35.804Z,1749132635.804 [MissionManager](INFO): DefineArg sci2:Science.EdgeDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-06-05T14:10:35.811Z,1749132635.811 [MissionManager](INFO): DefineArg sci2:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-06-05T14:10:35.813Z,1749132635.813 [MissionManager](INFO): DefineArg sci2:Science.EnabledAanderaaO2 = 0 bool
2025-06-05T14:10:35.820Z,1749132635.820 [MissionManager](INFO): DefineArg sci2:Science.EnabledNeilBrown = 0 bool
2025-06-05T14:10:35.850Z,1749132635.850 [MissionManager](INFO): DefineArg sci2:Science.EnabledRBRTridente = 0 bool
2025-06-05T14:10:35.853Z,1749132635.853 [MissionManager](INFO): DefineArg sci2:Science.EnabledSeabird = 1 bool
2025-06-05T14:10:35.860Z,1749132635.860 [MissionManager](INFO): DefineArg sci2:Science.EnabledWetLabsBB2FL = 1 bool
2025-06-05T14:10:35.862Z,1749132635.862 [MissionManager](INFO): DefineArg sci2:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-06-05T14:10:35.865Z,1749132635.865 [MissionManager](INFO): DefineArg sci2:Science.EnabledWetLabsUBAT = 0 bool
2025-06-05T14:10:35.876Z,1749132635.876 [MissionManager](INFO): DefineArg sci2:Science.LowPassWindowLength = 20.000000 count
2025-06-05T14:10:35.883Z,1749132635.883 [MissionManager](INFO): DefineArg sci2:Science.MedianFilterLen = 5.000000 count
2025-06-05T14:10:35.885Z,1749132635.885 [MissionManager](INFO): DefineArg sci2:Science.ShallowBound = nan m
2025-06-05T14:10:35.903Z,1749132635.903 [MissionManager](INFO): DefineArg sci2:Science.DeepBound = nan m
2025-06-05T14:10:35.905Z,1749132635.905 [MissionManager](INFO): DefineArg sci2:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-06-05T14:10:35.912Z,1749132635.912 [MissionManager](INFO): DefineArg sci2:Science.OffPeakFractionVerticalAscent = nan %
2025-06-05T14:10:35.926Z,1749132635.926 [MissionManager](INFO): DefineArg sci2:Science.OffPeakFractionVerticalDescent = nan %
2025-06-05T14:10:35.928Z,1749132635.928 [MissionManager](INFO): DefineArg sci2:Science.ChlPeakThresh = 0.000000 ug/l
2025-06-05T14:10:35.939Z,1749132635.939 [MissionManager](INFO): DefineArg sci2:Science.ChlThreshTriggerActive = 0 bool
2025-06-05T14:10:35.941Z,1749132635.941 [MissionManager](INFO): DefineArg sci2:Science.ChlLowerThresh = nan ug/l
2025-06-05T14:10:35.972Z,1749132635.972 [MissionManager](INFO): DefineArg sci2:Science.ChlUpperThresh = nan ug/l
2025-06-05T14:10:35.974Z,1749132635.974 [MissionManager](INFO): DefineArg sci2:Science.NumProfilesThresh = 5.000000 count
2025-06-05T14:10:36.031Z,1749132636.031 [MissionManager](INFO): DefineArg sci2:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-06-05T14:10:36.033Z,1749132636.033 [MissionManager](INFO): DefineArg sci2:Science.PlanktivoreHMavgROIPeakThresh = 0.000000 count/s
2025-06-05T14:10:36.107Z,1749132636.107 [MissionManager](INFO): DefineArg sci2:Science.PlanktivoreDiatomsPeakThresh = 0.000000 count/ml
2025-06-05T14:10:36.124Z,1749132636.124 [MissionManager](INFO): DefineArg sci2:Science.PlanktivoreDinoflagellatesPeakThresh = 0.000000 count/ml
2025-06-05T14:10:36.126Z,1749132636.126 [MissionManager](INFO): DefineOutput sci2:Science.GoDown = 1 bool
2025-06-05T14:10:36.129Z,1749132636.129 [MissionManager](INFO): DefineOutput sci2:Science.PeakChl = nan ug/l
2025-06-05T14:10:36.148Z,1749132636.148 [MissionManager](INFO): DefineOutput sci2:Science.PeakChlDepth = nan m
2025-06-05T14:10:36.168Z,1749132636.168 [MissionManager](INFO): DefineOutput sci2:Science.PeakChlTemperature = nan degC
2025-06-05T14:10:36.179Z,1749132636.179 [MissionManager](INFO): DefineOutput sci2:Science.PeakChlLatitude = nan arcdeg
2025-06-05T14:10:36.181Z,1749132636.181 [MissionManager](INFO): DefineOutput sci2:Science.PeakChlLongitude = nan arcdeg
2025-06-05T14:10:36.203Z,1749132636.203 [MissionManager](INFO): DefineOutput sci2:Science.EdgeChl = nan ug/l
2025-06-05T14:10:36.205Z,1749132636.205 [MissionManager](INFO): DefineOutput sci2:Science.EdgeChlDepth = nan m
2025-06-05T14:10:36.212Z,1749132636.212 [MissionManager](INFO): DefineOutput sci2:Science.EdgeChlTemperature = nan degC
2025-06-05T14:10:36.214Z,1749132636.214 [MissionManager](INFO): DefineOutput sci2:Science.EdgeChlLatitude = nan arcdeg
2025-06-05T14:10:36.220Z,1749132636.220 [MissionManager](INFO): DefineOutput sci2:Science.EdgeChlLongitude = nan arcdeg
2025-06-05T14:10:36.227Z,1749132636.227 [MissionManager](INFO): DefineOutput sci2:Science.PeakNO3 = nan umol/l
2025-06-05T14:10:36.229Z,1749132636.229 [MissionManager](INFO): DefineOutput sci2:Science.PeakNO3Depth = nan m
2025-06-05T14:10:36.240Z,1749132636.240 [MissionManager](INFO): DefineOutput sci2:Science.PeakNO3Latitude = nan arcdeg
2025-06-05T14:10:36.246Z,1749132636.246 [MissionManager](INFO): DefineOutput sci2:Science.PeakNO3Longitude = nan arcdeg
2025-06-05T14:10:36.248Z,1749132636.248 [MissionManager](INFO): DefineOutput sci2:Science.PeakOil = nan kg/m3
2025-06-05T14:10:36.251Z,1749132636.251 [MissionManager](INFO): DefineOutput sci2:Science.PeakOilDepth = nan m
2025-06-05T14:10:36.253Z,1749132636.253 [MissionManager](INFO): DefineOutput sci2:Science.PeakOilLatitude = nan arcdeg
2025-06-05T14:10:36.256Z,1749132636.256 [MissionManager](INFO): DefineOutput sci2:Science.PeakOilLongitude = nan arcdeg
2025-06-05T14:10:36.258Z,1749132636.258 [MissionManager](INFO): DefineOutput sci2:Science.PeakFDOM = nan ppb
2025-06-05T14:10:36.260Z,1749132636.260 [MissionManager](INFO): DefineOutput sci2:Science.PeakFDOMDepth = nan m
2025-06-05T14:10:36.299Z,1749132636.299 [MissionManager](INFO): DefineOutput sci2:Science.PeakFDOMTemperature = nan degC
2025-06-05T14:10:36.302Z,1749132636.302 [MissionManager](INFO): DefineOutput sci2:Science.PeakFDOMLatitude = nan arcdeg
2025-06-05T14:10:36.304Z,1749132636.304 [MissionManager](INFO): DefineOutput sci2:Science.PeakFDOMLongitude = nan arcdeg
2025-06-05T14:10:36.342Z,1749132636.342 [MissionManager](INFO): DefineOutput sci2:Science.PeakSalt = nan psu
2025-06-05T14:10:36.345Z,1749132636.345 [MissionManager](INFO): DefineOutput sci2:Science.PeakSaltDepth = nan m
2025-06-05T14:10:36.347Z,1749132636.347 [MissionManager](INFO): DefineOutput sci2:Science.PeakSaltTemperature = nan degC
2025-06-05T14:10:36.349Z,1749132636.349 [MissionManager](INFO): DefineOutput sci2:Science.PeakSaltLatitude = nan arcdeg
2025-06-05T14:10:36.381Z,1749132636.381 [MissionManager](INFO): DefineOutput sci2:Science.PeakSaltLongitude = nan arcdeg
2025-06-05T14:10:36.420Z,1749132636.420 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-06-05T14:10:36.434Z,1749132636.434 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-06-05T14:10:36.437Z,1749132636.437 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-06-05T14:10:36.455Z,1749132636.455 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-06-05T14:10:36.458Z,1749132636.458 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-06-05T14:10:36.472Z,1749132636.472 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-06-05T14:10:36.495Z,1749132636.495 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-06-05T14:10:36.497Z,1749132636.497 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-06-05T14:10:36.524Z,1749132636.524 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-06-05T14:10:36.531Z,1749132636.531 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-06-05T14:10:36.533Z,1749132636.533 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-06-05T14:10:36.547Z,1749132636.547 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-06-05T14:10:36.550Z,1749132636.550 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-06-05T14:10:36.556Z,1749132636.556 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-06-05T14:10:36.582Z,1749132636.582 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-06-05T14:10:36.585Z,1749132636.585 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreHMavgROI = nan count/s
2025-06-05T14:10:36.592Z,1749132636.592 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreHMavgROIDepth = nan m
2025-06-05T14:10:36.594Z,1749132636.594 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreHMavgROITemperature = nan degC
2025-06-05T14:10:36.601Z,1749132636.601 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreHMavgROILatitude = nan arcdeg
2025-06-05T14:10:36.611Z,1749132636.611 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreHMavgROILongitude = nan arcdeg
2025-06-05T14:10:36.613Z,1749132636.613 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-06-05T14:10:36.620Z,1749132636.620 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-06-05T14:10:36.631Z,1749132636.631 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-06-05T14:10:36.634Z,1749132636.634 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-06-05T14:10:36.652Z,1749132636.652 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-06-05T14:10:36.659Z,1749132636.659 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreDiatoms = nan count/ml
2025-06-05T14:10:36.661Z,1749132636.661 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreDiatomsDepth = nan m
2025-06-05T14:10:36.688Z,1749132636.688 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreDiatomsTemperature = nan degC
2025-06-05T14:10:36.698Z,1749132636.698 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreDiatomsLatitude = nan arcdeg
2025-06-05T14:10:36.701Z,1749132636.701 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreDiatomsLongitude = nan arcdeg
2025-06-05T14:10:36.708Z,1749132636.708 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-06-05T14:10:36.710Z,1749132636.710 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-06-05T14:10:36.728Z,1749132636.728 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-06-05T14:10:36.737Z,1749132636.737 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-06-05T14:10:36.752Z,1749132636.752 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-06-05T14:10:36.763Z,1749132636.763 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreDinoflagellates = nan count/ml
2025-06-05T14:10:36.765Z,1749132636.765 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreDinoflagellatesDepth = nan m
2025-06-05T14:10:36.776Z,1749132636.776 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreDinoflagellatesTemperature = nan degC
2025-06-05T14:10:36.782Z,1749132636.782 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-06-05T14:10:36.785Z,1749132636.785 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-06-05T14:10:36.815Z,1749132636.815 [MissionManager](INFO): DefineOutput sci2:Science.PatchChl = nan ug/l
2025-06-05T14:10:36.818Z,1749132636.818 [MissionManager](INFO): DefineOutput sci2:Science.PatchChlDepth = nan m
2025-06-05T14:10:36.836Z,1749132636.836 [MissionManager](INFO): DefineOutput sci2:Science.PatchChlLatitude = nan arcdeg
2025-06-05T14:10:36.851Z,1749132636.851 [MissionManager](INFO): DefineOutput sci2:Science.PatchChlLongitude = nan arcdeg
2025-06-05T14:10:36.853Z,1749132636.853 [MissionManager](INFO): DefineOutput sci2:Science.PatchChlDistance = nan m
2025-06-05T14:10:36.864Z,1749132636.864 [MissionManager](INFO): DefineOutput sci2:Science.PatchSalt = nan psu
2025-06-05T14:10:36.886Z,1749132636.886 [MissionManager](INFO): DefineOutput sci2:Science.PatchSaltDepth = nan m
2025-06-05T14:10:36.889Z,1749132636.889 [MissionManager](INFO): DefineOutput sci2:Science.PatchSaltLatitude = nan arcdeg
2025-06-05T14:10:36.909Z,1749132636.909 [MissionManager](INFO): DefineOutput sci2:Science.PatchSaltLongitude = nan arcdeg
2025-06-05T14:10:36.916Z,1749132636.916 [MissionManager](INFO): DefineOutput sci2:Science.PatchSaltDistance = nan m
2025-06-05T14:10:36.930Z,1749132636.930 [MissionManager](INFO): DefineOutput sci2:Science.PatchOil = nan psu
2025-06-05T14:10:36.932Z,1749132636.932 [MissionManager](INFO): DefineOutput sci2:Science.PatchOilDepth = nan m
2025-06-05T14:10:36.939Z,1749132636.939 [MissionManager](INFO): DefineOutput sci2:Science.PatchOilLatitude = nan arcdeg
2025-06-05T14:10:36.942Z,1749132636.942 [MissionManager](INFO): DefineOutput sci2:Science.PatchOilLongitude = nan arcdeg
2025-06-05T14:10:36.960Z,1749132636.960 [MissionManager](INFO): DefineOutput sci2:Science.PatchOilDistance = nan m
2025-06-05T14:10:36.972Z,1749132636.972 [MissionManager](INFO): DefineOutput sci2:Science.TriggeredOnChl = 0 bool
2025-06-05T14:10:36.984Z,1749132636.984 [MissionManager](INFO): DefineOutput sci2:Science.ChlTriggering = nan ug/l
2025-06-05T14:10:37.092Z,1749132637.092 [sci2:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-05T14:10:37.163Z,1749132637.163 [sci2:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-06-05T14:10:37.279Z,1749132637.279 [sci2:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-06-05T14:10:37.334Z,1749132637.334 [sci2:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-05T14:10:37.396Z,1749132637.396 [sci2:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-05T14:10:37.426Z,1749132637.426 [sci2:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-06-05T14:10:37.475Z,1749132637.475 [sci2:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-05T14:10:37.519Z,1749132637.519 [sci2:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-05T14:10:37.543Z,1749132637.543 [sci2:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-06-05T14:10:37.567Z,1749132637.567 [sci2:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-05T14:10:37.628Z,1749132637.628 [sci2:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-06-05T14:10:37.715Z,1749132637.715 [sci2:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-05T14:10:37.739Z,1749132637.739 [sci2:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-06-05T14:10:37.790Z,1749132637.790 [sci2:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-05T14:10:37.820Z,1749132637.820 [sci2:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-06-05T14:10:37.872Z,1749132637.872 [sci2:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-05T14:10:37.886Z,1749132637.886 [sci2:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-06-05T14:10:37.910Z,1749132637.910 [sci2:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-06-05T14:10:37.918Z,1749132637.918 [MissionManager](INFO): RedefineArg sci2:Science.PeakDetectChlActive = reader:sci2.PeakDetectChl
2025-06-05T14:10:37.919Z,1749132637.919 [MissionManager](INFO): RedefineArg sci2:Science.ShallowBound = reader:sci2.ShallowBoundChl
2025-06-05T14:10:37.921Z,1749132637.921 [MissionManager](INFO): RedefineArg sci2:Science.DeepBound = reader:sci2.DeepBoundChl
2025-06-05T14:10:37.923Z,1749132637.923 [MissionManager](INFO): RedefineArg sci2:Science.ChlThreshTriggerActive = reader:sci2.ChlThreshTrigger
2025-06-05T14:10:37.924Z,1749132637.924 [MissionManager](INFO): RedefineArg sci2:Science.ChlLowerThresh = reader:sci2.ChlLowerThreshold
2025-06-05T14:10:37.926Z,1749132637.926 [MissionManager](INFO): RedefineArg sci2:Science.ChlUpperThresh = reader:sci2.ChlUpperThreshold
2025-06-05T14:10:37.927Z,1749132637.927 [MissionManager](INFO): RedefineArg sci2:Science.NumProfilesThresh = reader:sci2.NumProfilesThreshold
2025-06-05T14:10:37.928Z,1749132637.928 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-06-05T14:10:37.928Z,1749132637.928 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-06-05T14:10:37.929Z,1749132637.929 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-06-05T14:10:38.210Z,1749132638.210 [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>

2025-06-05T14:10:38.215Z,1749132638.215 [MissionManager](INFO): DefineArg sci2:NeedComms.DiveInterval = 1.000000 h
2025-06-05T14:10:38.217Z,1749132638.217 [MissionManager](INFO): DefineArg sci2:NeedComms.WaitForPitchUp = 10.000000 min
2025-06-05T14:10:38.219Z,1749132638.219 [MissionManager](INFO): DefineArg sci2:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-06-05T14:10:38.221Z,1749132638.221 [MissionManager](INFO): DefineArg sci2:NeedComms.SurfaceDepthRate = nan m/s
2025-06-05T14:10:38.224Z,1749132638.224 [MissionManager](INFO): DefineArg sci2:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-06-05T14:10:38.226Z,1749132638.226 [MissionManager](INFO): DefineArg sci2:NeedComms.SurfacingTimeout = 1000.000000 s
2025-06-05T14:10:38.228Z,1749132638.228 [MissionManager](INFO): DefineArg sci2:NeedComms.GPSTimeout = 7.000000 min
2025-06-05T14:10:38.230Z,1749132638.230 [MissionManager](INFO): DefineArg sci2:NeedComms.CommsTimeout = 30.000000 min
2025-06-05T14:10:38.236Z,1749132638.236 [sci2:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-06-05T14:10:38.251Z,1749132638.251 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-06-05T14:10:38.252Z,1749132638.252 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-06-05T14:10:38.253Z,1749132638.253 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-06-05T14:10:38.365Z,1749132638.365 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>1.5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-06-05T14:10:38.369Z,1749132638.369 [MissionManager](INFO): DefineArg sci2:StandardEnvelopes.MinAltitude = 5.000000 m
2025-06-05T14:10:38.372Z,1749132638.372 [MissionManager](INFO): DefineArg sci2:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2025-06-05T14:10:38.374Z,1749132638.374 [MissionManager](INFO): DefineArg sci2:StandardEnvelopes.MaxDepth = 200.000000 m
2025-06-05T14:10:38.376Z,1749132638.376 [MissionManager](INFO): DefineArg sci2:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-06-05T14:10:38.377Z,1749132638.377 [sci2:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-06-05T14:10:38.384Z,1749132638.384 [sci2:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-06-05T14:10:38.391Z,1749132638.391 [sci2:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-06-05T14:10:38.400Z,1749132638.400 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-06-05T14:10:38.401Z,1749132638.401 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-06-05T14:10:38.402Z,1749132638.402 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-06-05T14:10:38.505Z,1749132638.505 [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>

2025-06-05T14:10:38.520Z,1749132638.520 [MissionManager](INFO): DefineArg sci2:BackseatDriver.EnableBackseat = 0 bool
2025-06-05T14:10:38.526Z,1749132638.526 [sci2:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-06-05T14:10:38.540Z,1749132638.540 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-06-05T14:10:38.540Z,1749132638.540 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-06-05T14:10:38.541Z,1749132638.541 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-06-05T14:10:38.655Z,1749132638.655 [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>

2025-06-05T14:10:38.659Z,1749132638.659 [MissionManager](INFO): DefineArg sci2:PowerOnly.SampleAll = 0 bool
2025-06-05T14:10:38.661Z,1749132638.661 [MissionManager](INFO): DefineArg sci2:PowerOnly.SampleLoad1 = 0 bool
2025-06-05T14:10:38.663Z,1749132638.663 [MissionManager](INFO): DefineArg sci2:PowerOnly.SampleLoad2 = 0 bool
2025-06-05T14:10:38.664Z,1749132638.664 [MissionManager](INFO): DefineArg sci2:PowerOnly.SampleLoad3 = 0 bool
2025-06-05T14:10:38.667Z,1749132638.667 [MissionManager](INFO): DefineArg sci2:PowerOnly.EnabledPowerOnly = 1 bool
2025-06-05T14:10:38.673Z,1749132638.673 [sci2:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-06-05T14:10:38.716Z,1749132638.716 [sci2:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-06-05T14:10:38.718Z,1749132638.718 [sci2:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Construct.
2025-06-05T14:10:38.722Z,1749132638.722 [sci2:DiveCmd:SurfaceSink:sink:D.Pitch](DEBUG): Construct.
2025-06-05T14:10:38.732Z,1749132638.732 [sci2:DiveCmd:YoYoDive:dive:A.Pitch](DEBUG): Construct.
2025-06-05T14:10:38.743Z,1749132638.743 [sci2:DiveCmd:YoYoDive:dive:B.Buoyancy](DEBUG): Construct Buoyancy.
2025-06-05T14:10:38.749Z,1749132638.749 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:SurfaceDive:SurfaceSpeed:A.SetSpeed](DEBUG): Construct.
2025-06-05T14:10:38.754Z,1749132638.754 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:ProfileSpeed:A.SetSpeed](DEBUG): Construct.
2025-06-05T14:10:38.756Z,1749132638.756 [sci2:DiveCmd:YoYoDive:dive:D.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-06-05T14:10:38.764Z,1749132638.764 [sci2:DiveCmd:YoYoDive:dive:E.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-06-05T14:10:38.769Z,1749132638.769 [sci2:DiveCmd:YoYoDive:dive:F.YoYo](DEBUG): Construct YoYo.
2025-06-05T14:10:38.779Z,1749132638.779 [sci2:DiveCmd:YoYoDive:dive:YoYoFlip:A.Pitch](DEBUG): Construct.
2025-06-05T14:10:38.786Z,1749132638.786 [sci2:DiveCmd:YoYoDive:dive:StopIfTriggered:A.Execute](DEBUG): Construct Execute.
2025-06-05T14:10:38.802Z,1749132638.802 [sci2:Lap:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-06-05T14:10:38.836Z,1749132638.836 [sci2:Lap:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-06-05T14:10:38.872Z,1749132638.872 [sci2:Lap:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-06-05T14:10:38.887Z,1749132638.887 [sci2:Lap:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-06-05T14:10:38.893Z,1749132638.893 [sci2:Lap:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-06-05T14:10:38.904Z,1749132638.904 [sci2:Lap:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-06-05T14:10:38.910Z,1749132638.910 [sci2:Lap:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-06-05T14:10:39.008Z,1749132639.008 [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.

#! TethysL version initially based on automated translation from original Science/sci2.xml
#! and then (syntactically) simplified with use of array/macro extensions in TethysL.

mission sci2 {
  """
  Vehicle yo-yo's to the specified waypoints, with science turned on.
  """

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

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

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

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

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

    Speed = 1 meter_per_second
      """
      Speed while performing the YoYo behavior.
      """

    CaptureRadius = NaN meter
      """
      Use in Waypoint behavior.
      """

    YoYoMinDepth = 2 meter
      """
      Minimum depth while performing the YoYo behavior.
      """

    YoYoMaxDepth = 200 meter
      """
      Maximum depth while performing the YoYo behavior.
      """

    YoYoMinAltitude = 9 meter
      """
      Minimum altitude while performing the YoYo behavior (for
      bottom-terminated YoYos).
      """

    YoYoUpPitch = 20 degree
      """
      Vehicle up pitch while performing the YoYo behavior.
      """

    YoYoDownPitch = -20 degree
      """
      Vehicle down pitch while performing the YoYo behavior.
      """

    SurfaceDiveSpeed = NaN meter_per_second
      """
      Vehicle speed to get off of surface, same as speed if skipped
      """

    SurfaceThreshold = Control:VerticalControl.surfaceThreshold
      """
      Depth at which to return to normal speed, skipped if SurfaceDiveSpeed NaN
      """

    SinkOffSurface = false
      """
      If true, use buoyancy only to decend to SinkDepth before driving to first target depth
      """

    SinkDepth = 10 meter
      """
      Initial depth to decend using only buoyancy before driving
      """

    SinkDepthTimeout = 10 minute
      """
      Max wait time for the vehicle to reach the target depth
      """

    YoYoLightTerminate = false
      """
      Set true to terminate dive once PAR value falls below threshold.
      """

    YoYoLightTerminateThreshold = 0.1 micromole_per_second_per_square_meter
      """
      Threshold of PAR output at which pitch command will flip positive if vehicle is pitched down.
      """

    PeakDetectChl = false
      """
      Whether to enable peak chl detection on each yo-yo profile
      """

    ShallowBoundChl = NaN meter
      """
      Used only when PeakDetectChl is true. Shallow depth bound for peak chl detection
      """

    DeepBoundChl = NaN meter
      """
      Used only when PeakDetectChl is true. Deep depth bound for peak chl detection
      """

    ChlThreshTrigger = false
      """
      Whether to enable chl threshold triggering
      """

    ChlLowerThreshold = NaN microgram_per_liter
      """
      Used only when ChlThreshTrigger is true. Triggered when peak chl values on NumProfilesThreshold consecutive yo-yo profiles fall in [ChllowerThreshold ChlUpperThreshold]. ChllowerThreshold is ignored if NaN.
      """

    ChlUpperThreshold = NaN microgram_per_liter
      """
      Used only when ChlThreshTrigger is true. Triggered when peak chl values on NumProfilesThreshold consecutive yo-yo profiles fall in [ChllowerThreshold ChlUpperThreshold]. ChlUpperThreshold is ignored if NaN.
      """

    NumProfilesThreshold = 5 count
      """
      Used only when ChlThreshTrigger is true. Triggered when peak chl values on NumProfilesThreshold consecutive yo-yo profiles fall in [ChllowerThreshold ChlUpperThreshold]. ChlUpperThreshold is ignored if NaN.
      """

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

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

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

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

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

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

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

    SurfaceSink = 1 count
      """
      Mission variable (don't change). The mission will run in this mode
      when sinking from the surface using only buoyancy.
      """

    YoYo = 2 count
      """
      Mission variable (don't change). The mission will run in this mode
      when performing the profiles.
      """
  }

  timeout duration=MissionTimeout

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

    redefineArg PeakDetectChlActive = PeakDetectChl
    redefineArg ShallowBound = ShallowBoundChl
    redefineArg DeepBound = DeepBoundChl
    redefineArg ChlThreshTriggerActive = ChlThreshTrigger
    redefineArg ChlLowerThresh = ChlLowerThreshold
    redefineArg ChlUpperThresh = ChlUpperThreshold
    redefineArg NumProfilesThresh = NumProfilesThreshold
  }

  insert id="NeedComms" Insert/NeedComms.tl

  assign in sequence NeedComms:DiveInterval = NeedCommsTime

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

    assign in sequence DiveMode = DoingComms

    call priorityHere=false refId="NeedComms"

    aggregate setInitial {
      run in sequence

      break if ( SinkOffSurface )

      assign in sequence DiveMode = YoYo
    }

    aggregate setSink {
      run in sequence

      break if ( not SinkOffSurface )

      assign in sequence DiveMode = SurfaceSink
    }
  }

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

  aggregate DiveCmd {
    run when ( called )

    aggregate SurfaceSink {
      run while ( DiveMode == SurfaceSink )

      aggregate sink {
        run in sequence

        behavior Guidance:Buoyancy id="BuoyancyHold" {
          run in parallel

          set position = NaN cc
        }

        behavior Guidance:SetSpeed {
          run in parallel

          set speed = 0 m/s
        }

        syslog info "Sinking to " + SinkDepth~meter

        behavior Guidance:Pitch {
          run in sequence

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

          set depth = SinkDepth
        }

        assign in sequence DiveMode = YoYo
      }
    }

    aggregate YoYoDive {
      run while ( DiveMode == YoYo )

      aggregate dive {
        run in sequence

        behavior Guidance:Pitch {
          run in parallel

          set massPosition = MassDefault
        }

        behavior Guidance:Buoyancy {
          run in parallel

          set position = BuoyancyNeutral
        }

        aggregate SetSpeed {
          run in parallel

          aggregate SurfaceDive {
            run while (
              not isNaN ( SurfaceDiveSpeed )
              and Universal:depth <= SurfaceThreshold
            )

            aggregate SurfaceSpeed {
              run in parallel

              behavior Guidance:SetSpeed {
                run in parallel

                set speed = SurfaceDiveSpeed
              }
            }
          }

          aggregate ProfileSpeed {
            run while (
              isNaN ( SurfaceDiveSpeed )
              or Universal:depth > Control:VerticalControl.surfaceThreshold
            )

            behavior Guidance:SetSpeed {
              run in parallel

              set speed = Speed
            }
          }
        }

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

          run in parallel

          set minDepth = YoYoMinDepth
          set maxDepth = YoYoMaxDepth
          set downPitch = YoYoDownPitch
          set upPitch = YoYoUpPitch
        }

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

          run in parallel

          set minAltitude = YoYoMinAltitude
        }

        behavior Guidance:YoYo {
          run in parallel

          set downPitch = YoYoDownPitch
          set upPitch = YoYoUpPitch
        }

        aggregate YoYoFlip {
          """
          If light value falls below a threshold as we're pointed down, pitch the vehicle back up to terminate the yo.
          """

          run when (
            Science:PAR_Licor.loadAtStartup
            and ( YoYoLightTerminate )
            and ( Science:PAR_Licor.downwelling_photosynthetic_photon_flux_in_sea_water < YoYoLightTerminateThreshold )
            and ( Universal:platform_pitch_angle < 1 degree )
          )

          behavior Guidance:Pitch {
            run in parallel

            set pitch = YoYoUpPitch
          }
        }

        aggregate StopIfTriggered {
          """
          If peak chlorophyll values on NumProfilesThresh consecutive yo-yo profiles fall in [ChlLowerThreshold ChlUpperThreshold], stop mission.
          """

          run when ( Science:TriggeredOnChl )

          behavior Guidance:Execute {
            run in sequence

            set command = "stop"
          }
        }
      }
    }
  }

  aggregate Lap {
    run in sequence repeat=Repeat

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

      call priorityHere=false refId="DiveCmd"
    }

    aggregate Wpt1 {
      run in sequence

      behavior Guidance:Waypoint {
        run in sequence

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

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

        behavior Guidance:Waypoint {
          run in sequence

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


2025-06-05T14:10:39.012Z,1749132639.012 [MissionManager](IMPORTANT): Resuming from info in Logs/20250605T121700/Science_sci2_tl.state
2025-06-05T14:10:39.040Z,1749132639.040 [MissionManager](INFO): Default->Default:CheckIn/0
2025-06-05T14:10:39.041Z,1749132639.041 [MissionManager](INFO): Default:A.Wait->null/0
2025-06-05T14:10:39.041Z,1749132639.041 [MissionManager](INFO): Default:B.GoToSurface->null/0
2025-06-05T14:10:39.042Z,1749132639.042 [MissionManager](INFO): Default:CheckIn->Default:CheckIn:C.Wait/0
2025-06-05T14:10:39.043Z,1749132639.043 [MissionManager](INFO): Default:CheckIn:Read_GPS->null/0
2025-06-05T14:10:39.043Z,1749132639.043 [MissionManager](INFO): Default:CheckIn:Read_Iridium->null/0
2025-06-05T14:10:39.044Z,1749132639.044 [MissionManager](INFO): Default:CheckIn:C.Wait->null/0
2025-06-05T14:10:39.044Z,1749132639.044 [MissionManager](INFO): Default:CheckIn:D->null/0
2025-06-05T14:10:39.045Z,1749132639.045 [MissionManager](INFO): Default:CheckIn:E->null/0
2025-06-05T14:10:39.045Z,1749132639.045 [MissionManager](INFO): sci2->null/0
2025-06-05T14:10:39.046Z,1749132639.046 [MissionManager](INFO): sci2:Science->sci2:Science:OceanCurrent/0
2025-06-05T14:10:39.047Z,1749132639.047 [MissionManager](INFO): sci2:Science:OceanCurrent->null/0
2025-06-05T14:10:39.047Z,1749132639.047 [MissionManager](INFO): sci2:Science:PeakDetectChl->sci2:Science:PeakDetectChl:A/0
2025-06-05T14:10:39.048Z,1749132639.048 [MissionManager](INFO): sci2:Science:PeakDetectChl:A->null/0
2025-06-05T14:10:39.048Z,1749132639.048 [MissionManager](INFO): sci2:Science:EdgeDetectChl->sci2:Science:EdgeDetectChl:A/0
2025-06-05T14:10:39.049Z,1749132639.049 [MissionManager](INFO): sci2:Science:EdgeDetectChl:A->null/0
2025-06-05T14:10:39.049Z,1749132639.049 [MissionManager](INFO): sci2:Science:HighestChlPeakReport->sci2:Science:HighestChlPeakReport:A.PeakDetectHorizontal/0
2025-06-05T14:10:39.050Z,1749132639.050 [MissionManager](INFO): sci2:Science:HighestChlPeakReport:A.PeakDetectHorizontal->null/0
2025-06-05T14:10:39.079Z,1749132639.079 [MissionManager](INFO): sci2:Science:PeakDetectNO3->sci2:Science:PeakDetectNO3:A/0
2025-06-05T14:10:39.079Z,1749132639.079 [MissionManager](INFO): sci2:Science:PeakDetectNO3:A->null/0
2025-06-05T14:10:39.080Z,1749132639.080 [MissionManager](INFO): sci2:Science:PeakDetectOil->sci2:Science:PeakDetectOil:A/0
2025-06-05T14:10:39.080Z,1749132639.080 [MissionManager](INFO): sci2:Science:PeakDetectOil:A->null/0
2025-06-05T14:10:39.081Z,1749132639.081 [MissionManager](INFO): sci2:Science:HighestOilPeakReport->sci2:Science:HighestOilPeakReport:A.PeakDetectHorizontal/0
2025-06-05T14:10:39.081Z,1749132639.081 [MissionManager](INFO): sci2:Science:HighestOilPeakReport:A.PeakDetectHorizontal->null/0
2025-06-05T14:10:39.082Z,1749132639.082 [MissionManager](INFO): sci2:Science:PeakDetectFDOM->sci2:Science:PeakDetectFDOM:A/0
2025-06-05T14:10:39.091Z,1749132639.091 [MissionManager](INFO): sci2:Science:PeakDetectFDOM:A->null/0
2025-06-05T14:10:39.092Z,1749132639.092 [MissionManager](INFO): sci2:Science:PeakDetectSalinity->sci2:Science:PeakDetectSalinity:A/0
2025-06-05T14:10:39.093Z,1749132639.093 [MissionManager](INFO): sci2:Science:PeakDetectSalinity:A->null/0
2025-06-05T14:10:39.093Z,1749132639.093 [MissionManager](INFO): sci2:Science:HighestSaltPeakReport->sci2:Science:HighestSaltPeakReport:A.PeakDetectHorizontal/0
2025-06-05T14:10:39.094Z,1749132639.094 [MissionManager](INFO): sci2:Science:HighestSaltPeakReport:A.PeakDetectHorizontal->null/0
2025-06-05T14:10:39.102Z,1749132639.102 [MissionManager](INFO): sci2:Science:PeakDetectPlanktivoreLMavgROI->sci2:Science:PeakDetectPlanktivoreLMavgROI:A/0
2025-06-05T14:10:39.103Z,1749132639.103 [MissionManager](INFO): sci2:Science:PeakDetectPlanktivoreLMavgROI:A->null/0
2025-06-05T14:10:39.104Z,1749132639.104 [MissionManager](INFO): sci2:Science:EdgeDetectPlanktivoreLMavgROI->sci2:Science:EdgeDetectPlanktivoreLMavgROI:A/0
2025-06-05T14:10:39.104Z,1749132639.104 [MissionManager](INFO): sci2:Science:EdgeDetectPlanktivoreLMavgROI:A->null/0
2025-06-05T14:10:39.105Z,1749132639.105 [MissionManager](INFO): sci2:Science:PeakDetectPlanktivoreHMavgROI->sci2:Science:PeakDetectPlanktivoreHMavgROI:A/0
2025-06-05T14:10:39.105Z,1749132639.105 [MissionManager](INFO): sci2:Science:PeakDetectPlanktivoreHMavgROI:A->null/0
2025-06-05T14:10:39.106Z,1749132639.106 [MissionManager](INFO): sci2:Science:EdgeDetectPlanktivoreHMavgROI->sci2:Science:EdgeDetectPlanktivoreHMavgROI:A/0
2025-06-05T14:10:39.111Z,1749132639.111 [MissionManager](INFO): sci2:Science:EdgeDetectPlanktivoreHMavgROI:A->null/0
2025-06-05T14:10:39.111Z,1749132639.111 [MissionManager](INFO): sci2:Science:PeakDetectPlanktivoreDiatoms->sci2:Science:PeakDetectPlanktivoreDiatoms:A/0
2025-06-05T14:10:39.112Z,1749132639.112 [MissionManager](INFO): sci2:Science:PeakDetectPlanktivoreDiatoms:A->null/0
2025-06-05T14:10:39.112Z,1749132639.112 [MissionManager](INFO): sci2:Science:EdgeDetectPlanktivoreDiatoms->sci2:Science:EdgeDetectPlanktivoreDiatoms:A/0
2025-06-05T14:10:39.113Z,1749132639.113 [MissionManager](INFO): sci2:Science:EdgeDetectPlanktivoreDiatoms:A->null/0
2025-06-05T14:10:39.113Z,1749132639.113 [MissionManager](INFO): sci2:Science:PeakDetectPlanktivoreDinoflagellates->sci2:Science:PeakDetectPlanktivoreDinoflagellates:A/0
2025-06-05T14:10:39.123Z,1749132639.123 [MissionManager](INFO): sci2:Science:PeakDetectPlanktivoreDinoflagellates:A->null/0
2025-06-05T14:10:39.123Z,1749132639.123 [MissionManager](INFO): sci2:Science:EdgeDetectPlanktivoreDinoflagellates->sci2:Science:EdgeDetectPlanktivoreDinoflagellates:A/0
2025-06-05T14:10:39.124Z,1749132639.124 [MissionManager](INFO): sci2:Science:EdgeDetectPlanktivoreDinoflagellates:A->null/0
2025-06-05T14:10:39.124Z,1749132639.124 [MissionManager](INFO): sci2:Science:ChlThreshTrigger->sci2:Science:ChlThreshTrigger:A.ValueDetect/0
2025-06-05T14:10:39.125Z,1749132639.125 [MissionManager](INFO): sci2:Science:ChlThreshTrigger:A.ValueDetect->null/0
2025-06-05T14:10:39.125Z,1749132639.125 [MissionManager](INFO): sci2:NeedComms->null/0
2025-06-05T14:10:39.130Z,1749132639.130 [MissionManager](INFO): sci2:NeedComms:A->null/0
2025-06-05T14:10:39.131Z,1749132639.131 [MissionManager](INFO): sci2:NeedComms:B.GoToSurface->null/0
2025-06-05T14:10:39.132Z,1749132639.132 [MissionManager](INFO): sci2:NeedComms:C->null/0
2025-06-05T14:10:39.132Z,1749132639.132 [MissionManager](INFO): sci2:NeedComms:D->null/0
2025-06-05T14:10:39.133Z,1749132639.133 [MissionManager](INFO): sci2:NeedComms:E->null/0
2025-06-05T14:10:39.133Z,1749132639.133 [MissionManager](INFO): sci2:C->null/0
2025-06-05T14:10:39.134Z,1749132639.134 [MissionManager](INFO): sci2:E->null/0
2025-06-05T14:10:39.139Z,1749132639.139 [MissionManager](INFO): sci2:F->null/0
2025-06-05T14:10:39.139Z,1749132639.139 [MissionManager](INFO): sci2:G->null/0
2025-06-05T14:10:39.140Z,1749132639.140 [MissionManager](INFO): sci2:BackseatDriver->sci2:BackseatDriver:A.BackseatDriver/0
2025-06-05T14:10:39.140Z,1749132639.140 [MissionManager](INFO): sci2:BackseatDriver:A.BackseatDriver->null/0
2025-06-05T14:10:39.140Z,1749132639.140 [MissionManager](INFO): sci2:PowerOnly->sci2:PowerOnly:E.Wait/0
2025-06-05T14:10:39.141Z,1749132639.141 [MissionManager](INFO): sci2:PowerOnly:E.Wait->null/0
2025-06-05T14:10:39.141Z,1749132639.141 [MissionManager](INFO): sci2:SurfaceComms->null/0
2025-06-05T14:10:39.141Z,1749132639.141 [MissionManager](INFO): sci2:SurfaceComms:A->null/0
2025-06-05T14:10:39.142Z,1749132639.142 [MissionManager](INFO): sci2:SurfaceComms:B->null/0
2025-06-05T14:10:39.158Z,1749132639.158 [MissionManager](INFO): sci2:SurfaceComms:setInitial->null/0
2025-06-05T14:10:39.159Z,1749132639.159 [MissionManager](INFO): sci2:SurfaceComms:setInitial:A->null/0
2025-06-05T14:10:39.159Z,1749132639.159 [MissionManager](INFO): sci2:SurfaceComms:setSink->null/0
2025-06-05T14:10:39.159Z,1749132639.159 [MissionManager](INFO): sci2:SurfaceComms:setSink:A->null/0
2025-06-05T14:10:39.160Z,1749132639.160 [MissionManager](INFO): sci2:StartingMission->null/0
2025-06-05T14:10:39.160Z,1749132639.160 [MissionManager](INFO): sci2:DiveCmd:SurfaceSink->sci2:DiveCmd:SurfaceSink:sink/0
2025-06-05T14:10:39.161Z,1749132639.161 [MissionManager](INFO): sci2:DiveCmd:SurfaceSink:sink->sci2:DiveCmd:SurfaceSink:sink:C/0
2025-06-05T14:10:39.161Z,1749132639.161 [MissionManager](INFO): sci2:DiveCmd:SurfaceSink:sink:C->null/0
2025-06-05T14:10:39.161Z,1749132639.161 [MissionManager](INFO): sci2:DiveCmd:SurfaceSink:sink:D.Pitch->null/0
2025-06-05T14:10:39.162Z,1749132639.162 [MissionManager](INFO): sci2:DiveCmd:SurfaceSink:sink:E->null/0
2025-06-05T14:10:39.166Z,1749132639.166 [MissionManager](INFO): sci2:DiveCmd:YoYoDive->sci2:DiveCmd:YoYoDive:dive/0
2025-06-05T14:10:39.167Z,1749132639.167 [MissionManager](INFO): sci2:DiveCmd:YoYoDive:dive->null/0
2025-06-05T14:10:39.167Z,1749132639.167 [MissionManager](INFO): sci2:Lap->null/0
2025-06-05T14:10:39.167Z,1749132639.167 [MissionManager](INFO): sci2:Lap:Dive->sci2:Lap:Dive:A/0
2025-06-05T14:10:39.168Z,1749132639.168 [MissionManager](INFO): sci2:Lap:Dive:A->null/0
2025-06-05T14:10:39.168Z,1749132639.168 [MissionManager](INFO): sci2:Lap:Wpt1->null/0
2025-06-05T14:10:39.168Z,1749132639.168 [MissionManager](INFO): sci2:Lap:Wpt1:A.Waypoint->null/0
2025-06-05T14:10:39.169Z,1749132639.169 [MissionManager](INFO): sci2:Lap:Wpt2->null/0
2025-06-05T14:10:39.169Z,1749132639.169 [MissionManager](INFO): sci2:Lap:Wpt2:A.Waypoint->null/0
2025-06-05T14:10:39.169Z,1749132639.169 [CommandExec](IMPORTANT): Resuming mission and schedule
2025-06-05T14:10:39.169Z,1749132639.169 [CommandExec](IMPORTANT): Scheduling is resumed
2025-06-05T14:10:39.170Z,1749132639.170 [CommandExec](IMPORTANT): Nothing is scheduled
2025-06-05T14:10:39.170Z,1749132639.170 [CommandExec](IMPORTANT): got command schedule resume
2025-06-05T14:10:39.270Z,1749132639.270 [Default] Stopped
2025-06-05T14:10:39.270Z,1749132639.270 [Default](DEBUG): Aggregate::uninitialize Default
2025-06-05T14:10:39.270Z,1749132639.270 [Default:B.GoToSurface] Stopped
2025-06-05T14:10:39.270Z,1749132639.270 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-06-05T14:10:39.270Z,1749132639.270 [Default:CheckIn] Stopped
2025-06-05T14:10:39.271Z,1749132639.271 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-06-05T14:10:39.271Z,1749132639.271 [Default:CheckIn:C.Wait] Stopped
2025-06-05T14:10:39.271Z,1749132639.271 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-06-05T14:10:39.271Z,1749132639.271 [MissionManager](IMPORTANT): Started mission sci2
2025-06-05T14:10:39.271Z,1749132639.271 [sci2] Running Loop=1
2025-06-05T14:10:39.271Z,1749132639.271 [sci2](DEBUG): Aggregate::initialize sci2
2025-06-05T14:10:39.271Z,1749132639.271 [sci2:Science] Running Loop=1
2025-06-05T14:10:39.271Z,1749132639.271 [sci2:Science](DEBUG): Aggregate::initialize sci2:Science
2025-06-05T14:10:39.272Z,1749132639.272 [sci2:Science:A] Running Loop=1
2025-06-05T14:10:39.272Z,1749132639.272 [sci2:Science:B] Running Loop=1
2025-06-05T14:10:39.272Z,1749132639.272 [sci2:Science:C] Running Loop=1
2025-06-05T14:10:39.272Z,1749132639.272 [sci2:Science:D] Running Loop=1
2025-06-05T14:10:39.272Z,1749132639.272 [sci2:Science:E] Running Loop=1
2025-06-05T14:10:39.272Z,1749132639.272 [sci2:Science:F] Running Loop=1
2025-06-05T14:10:39.272Z,1749132639.272 [sci2:Science:Read_Oil] Running Loop=1
2025-06-05T14:10:39.272Z,1749132639.272 [sci2:Science:PeakDetectChl] Running Loop=1
2025-06-05T14:10:39.272Z,1749132639.272 [sci2:Science:PeakDetectChl](DEBUG): Aggregate::initialize sci2:Science:PeakDetectChl
2025-06-05T14:10:39.272Z,1749132639.272 [sci2:Science:PeakDetectChl:A] Running Loop=1
2025-06-05T14:10:39.272Z,1749132639.272 [sci2:Science:EdgeDetectChl] Running Loop=1
2025-06-05T14:10:39.272Z,1749132639.272 [sci2:Science:EdgeDetectChl](DEBUG): Aggregate::initialize sci2:Science:EdgeDetectChl
2025-06-05T14:10:39.272Z,1749132639.272 [sci2:Science:EdgeDetectChl:A] Running Loop=1
2025-06-05T14:10:39.273Z,1749132639.273 [sci2:Science:HighestChlPeakReport] Running Loop=1
2025-06-05T14:10:39.273Z,1749132639.273 [sci2:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize sci2:Science:HighestChlPeakReport
2025-06-05T14:10:39.273Z,1749132639.273 [sci2:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-06-05T14:10:39.273Z,1749132639.273 [sci2:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-06-05T14:10:39.273Z,1749132639.273 [sci2:Science:PeakDetectNO3] Running Loop=1
2025-06-05T14:10:39.273Z,1749132639.273 [sci2:Science:PeakDetectNO3](DEBUG): Aggregate::initialize sci2:Science:PeakDetectNO3
2025-06-05T14:10:39.273Z,1749132639.273 [sci2:Science:PeakDetectNO3:A] Running Loop=1
2025-06-05T14:10:39.274Z,1749132639.274 [sci2:Science:PeakDetectOil] Running Loop=1
2025-06-05T14:10:39.274Z,1749132639.274 [sci2:Science:PeakDetectOil](DEBUG): Aggregate::initialize sci2:Science:PeakDetectOil
2025-06-05T14:10:39.274Z,1749132639.274 [sci2:Science:PeakDetectOil:A] Running Loop=1
2025-06-05T14:10:39.274Z,1749132639.274 [sci2:Science:HighestOilPeakReport] Running Loop=1
2025-06-05T14:10:39.279Z,1749132639.279 [sci2:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize sci2:Science:HighestOilPeakReport
2025-06-05T14:10:39.279Z,1749132639.279 [sci2:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-06-05T14:10:39.279Z,1749132639.279 [sci2:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-06-05T14:10:39.279Z,1749132639.279 [sci2:Science:PeakDetectFDOM] Running Loop=1
2025-06-05T14:10:39.279Z,1749132639.279 [sci2:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize sci2:Science:PeakDetectFDOM
2025-06-05T14:10:39.280Z,1749132639.280 [sci2:Science:PeakDetectFDOM:A] Running Loop=1
2025-06-05T14:10:39.280Z,1749132639.280 [sci2:Science:PeakDetectSalinity] Running Loop=1
2025-06-05T14:10:39.280Z,1749132639.280 [sci2:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize sci2:Science:PeakDetectSalinity
2025-06-05T14:10:39.280Z,1749132639.280 [sci2:Science:PeakDetectSalinity:A] Running Loop=1
2025-06-05T14:10:39.280Z,1749132639.280 [sci2:Science:HighestSaltPeakReport] Running Loop=1
2025-06-05T14:10:39.280Z,1749132639.280 [sci2:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize sci2:Science:HighestSaltPeakReport
2025-06-05T14:10:39.280Z,1749132639.280 [sci2:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-06-05T14:10:39.280Z,1749132639.280 [sci2:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-06-05T14:10:39.281Z,1749132639.281 [sci2:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-06-05T14:10:39.281Z,1749132639.281 [sci2:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize sci2:Science:PeakDetectPlanktivoreLMavgROI
2025-06-05T14:10:39.281Z,1749132639.281 [sci2:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-06-05T14:10:39.281Z,1749132639.281 [sci2:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2025-06-05T14:10:39.281Z,1749132639.281 [sci2:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize sci2:Science:EdgeDetectPlanktivoreLMavgROI
2025-06-05T14:10:39.281Z,1749132639.281 [sci2:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-06-05T14:10:39.281Z,1749132639.281 [sci2:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-06-05T14:10:39.281Z,1749132639.281 [sci2:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize sci2:Science:PeakDetectPlanktivoreHMavgROI
2025-06-05T14:10:39.281Z,1749132639.281 [sci2:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-06-05T14:10:39.281Z,1749132639.281 [sci2:Science:EdgeDetectPlanktivoreHMavgROI] Running Loop=1
2025-06-05T14:10:39.281Z,1749132639.281 [sci2:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize sci2:Science:EdgeDetectPlanktivoreHMavgROI
2025-06-05T14:10:39.282Z,1749132639.282 [sci2:Science:EdgeDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-06-05T14:10:39.282Z,1749132639.282 [sci2:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-06-05T14:10:39.282Z,1749132639.282 [sci2:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize sci2:Science:PeakDetectPlanktivoreDiatoms
2025-06-05T14:10:39.282Z,1749132639.282 [sci2:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2025-06-05T14:10:39.282Z,1749132639.282 [sci2:Science:EdgeDetectPlanktivoreDiatoms] Running Loop=1
2025-06-05T14:10:39.286Z,1749132639.286 [sci2:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize sci2:Science:EdgeDetectPlanktivoreDiatoms
2025-06-05T14:10:39.286Z,1749132639.286 [sci2:Science:EdgeDetectPlanktivoreDiatoms:A] Running Loop=1
2025-06-05T14:10:39.286Z,1749132639.286 [sci2:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-06-05T14:10:39.287Z,1749132639.287 [sci2:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize sci2:Science:PeakDetectPlanktivoreDinoflagellates
2025-06-05T14:10:39.287Z,1749132639.287 [sci2:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-06-05T14:10:39.287Z,1749132639.287 [sci2:Science:EdgeDetectPlanktivoreDinoflagellates] Running Loop=1
2025-06-05T14:10:39.287Z,1749132639.287 [sci2:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize sci2:Science:EdgeDetectPlanktivoreDinoflagellates
2025-06-05T14:10:39.287Z,1749132639.287 [sci2:Science:EdgeDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-06-05T14:10:39.287Z,1749132639.287 [sci2:Science:ChlThreshTrigger] Running Loop=1
2025-06-05T14:10:39.287Z,1749132639.287 [sci2:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize sci2:Science:ChlThreshTrigger
2025-06-05T14:10:39.287Z,1749132639.287 [sci2:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-06-05T14:10:39.287Z,1749132639.287 [sci2:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-06-05T14:10:39.288Z,1749132639.288 [sci2:Science:OceanCurrent] Running Loop=1
2025-06-05T14:10:39.288Z,1749132639.288 [sci2:Science:OceanCurrent](DEBUG): Aggregate::initialize sci2:Science:OceanCurrent
2025-06-05T14:10:39.288Z,1749132639.288 [sci2:Science:OceanCurrent:A.] Running Loop=1
2025-06-05T14:10:39.288Z,1749132639.288 [sci2:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-06-05T14:10:39.288Z,1749132639.288 [sci2:StandardEnvelopes] Running Loop=1
2025-06-05T14:10:39.288Z,1749132639.288 [sci2:StandardEnvelopes](DEBUG): Aggregate::initialize sci2:StandardEnvelopes
2025-06-05T14:10:39.288Z,1749132639.288 [sci2:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-06-05T14:10:39.288Z,1749132639.288 [sci2:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-06-05T14:10:39.288Z,1749132639.288 [sci2:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-06-05T14:10:39.288Z,1749132639.288 [sci2:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-06-05T14:10:39.289Z,1749132639.289 [sci2:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-06-05T14:10:39.289Z,1749132639.289 [sci2:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-06-05T14:10:39.289Z,1749132639.289 [sci2:BackseatDriver] Running Loop=1
2025-06-05T14:10:39.289Z,1749132639.289 [sci2:BackseatDriver](DEBUG): Aggregate::initialize sci2:BackseatDriver
2025-06-05T14:10:39.289Z,1749132639.289 [sci2:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-06-05T14:10:39.289Z,1749132639.289 [sci2:PowerOnly] Running Loop=1
2025-06-05T14:10:39.289Z,1749132639.289 [sci2:PowerOnly](DEBUG): Aggregate::initialize sci2:PowerOnly
2025-06-05T14:10:39.289Z,1749132639.289 [sci2:PowerOnly:A] Running Loop=1
2025-06-05T14:10:39.289Z,1749132639.289 [sci2:PowerOnly:B] Running Loop=1
2025-06-05T14:10:39.289Z,1749132639.289 [sci2:PowerOnly:C] Running Loop=1
2025-06-05T14:10:39.289Z,1749132639.289 [sci2:PowerOnly:D] Running Loop=1
2025-06-05T14:10:39.290Z,1749132639.290 [sci2:PowerOnly:E.Wait] Running Loop=1
2025-06-05T14:10:39.290Z,1749132639.290 [sci2:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-06-05T14:10:39.290Z,1749132639.290 [sci2:C] Running Loop=1
2025-06-05T14:10:39.303Z,1749132639.303 [sci2:PowerOnly] Running Loop=1
2025-06-05T14:10:39.303Z,1749132639.303 [sci2:PowerOnly:D] Stopped
2025-06-05T14:10:39.303Z,1749132639.303 [sci2:PowerOnly:C] Stopped
2025-06-05T14:10:39.303Z,1749132639.303 [sci2:PowerOnly:B] Stopped
2025-06-05T14:10:39.303Z,1749132639.303 [sci2:PowerOnly:A] Stopped
2025-06-05T14:10:39.303Z,1749132639.303 [sci2:BackseatDriver] Running Loop=1
2025-06-05T14:10:39.304Z,1749132639.304 [sci2:StandardEnvelopes] Running Loop=1
2025-06-05T14:10:39.304Z,1749132639.304 [sci2:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-06-05T14:10:39.304Z,1749132639.304 [sci2:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-06-05T14:10:39.304Z,1749132639.304 [sci2:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-06-05T14:10:39.305Z,1749132639.305 [sci2:C] Stopped
2025-06-05T14:10:39.305Z,1749132639.305 [sci2:E] Running Loop=1
2025-06-05T14:10:39.305Z,1749132639.305 [sci2:Science] Running Loop=1
2025-06-05T14:10:39.316Z,1749132639.316 [sci2:Science:ChlThreshTrigger] Stopped
2025-06-05T14:10:39.316Z,1749132639.316 [sci2:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize sci2:Science:ChlThreshTrigger
2025-06-05T14:10:39.316Z,1749132639.316 [sci2:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-06-05T14:10:39.316Z,1749132639.316 [sci2:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-06-05T14:10:39.316Z,1749132639.316 [sci2:Science:EdgeDetectPlanktivoreDinoflagellates] Stopped
2025-06-05T14:10:39.317Z,1749132639.317 [sci2:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize sci2:Science:EdgeDetectPlanktivoreDinoflagellates
2025-06-05T14:10:39.317Z,1749132639.317 [sci2:Science:EdgeDetectPlanktivoreDinoflagellates:A] Stopped
2025-06-05T14:10:39.317Z,1749132639.317 [sci2:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-06-05T14:10:39.317Z,1749132639.317 [sci2:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize sci2:Science:PeakDetectPlanktivoreDinoflagellates
2025-06-05T14:10:39.317Z,1749132639.317 [sci2:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2025-06-05T14:10:39.317Z,1749132639.317 [sci2:Science:EdgeDetectPlanktivoreDiatoms] Stopped
2025-06-05T14:10:39.317Z,1749132639.317 [sci2:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize sci2:Science:EdgeDetectPlanktivoreDiatoms
2025-06-05T14:10:39.317Z,1749132639.317 [sci2:Science:EdgeDetectPlanktivoreDiatoms:A] Stopped
2025-06-05T14:10:39.317Z,1749132639.317 [sci2:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-06-05T14:10:39.317Z,1749132639.317 [sci2:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize sci2:Science:PeakDetectPlanktivoreDiatoms
2025-06-05T14:10:39.317Z,1749132639.317 [sci2:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2025-06-05T14:10:39.317Z,1749132639.317 [sci2:Science:EdgeDetectPlanktivoreHMavgROI] Stopped
2025-06-05T14:10:39.318Z,1749132639.318 [sci2:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize sci2:Science:EdgeDetectPlanktivoreHMavgROI
2025-06-05T14:10:39.318Z,1749132639.318 [sci2:Science:EdgeDetectPlanktivoreHMavgROI:A] Stopped
2025-06-05T14:10:39.318Z,1749132639.318 [sci2:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-06-05T14:10:39.318Z,1749132639.318 [sci2:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize sci2:Science:PeakDetectPlanktivoreHMavgROI
2025-06-05T14:10:39.318Z,1749132639.318 [sci2:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2025-06-05T14:10:39.323Z,1749132639.323 [sci2:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2025-06-05T14:10:39.323Z,1749132639.323 [sci2:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize sci2:Science:EdgeDetectPlanktivoreLMavgROI
2025-06-05T14:10:39.323Z,1749132639.323 [sci2:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2025-06-05T14:10:39.323Z,1749132639.323 [sci2:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-06-05T14:10:39.323Z,1749132639.323 [sci2:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize sci2:Science:PeakDetectPlanktivoreLMavgROI
2025-06-05T14:10:39.323Z,1749132639.323 [sci2:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2025-06-05T14:10:39.323Z,1749132639.323 [sci2:Science:HighestSaltPeakReport] Stopped
2025-06-05T14:10:39.323Z,1749132639.323 [sci2:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize sci2:Science:HighestSaltPeakReport
2025-06-05T14:10:39.323Z,1749132639.323 [sci2:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-06-05T14:10:39.323Z,1749132639.323 [sci2:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-06-05T14:10:39.324Z,1749132639.324 [sci2:Science:PeakDetectSalinity] Stopped
2025-06-05T14:10:39.324Z,1749132639.324 [sci2:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize sci2:Science:PeakDetectSalinity
2025-06-05T14:10:39.324Z,1749132639.324 [sci2:Science:PeakDetectSalinity:A] Stopped
2025-06-05T14:10:39.324Z,1749132639.324 [sci2:Science:PeakDetectFDOM] Stopped
2025-06-05T14:10:39.324Z,1749132639.324 [sci2:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize sci2:Science:PeakDetectFDOM
2025-06-05T14:10:39.324Z,1749132639.324 [sci2:Science:PeakDetectFDOM:A] Stopped
2025-06-05T14:10:39.324Z,1749132639.324 [sci2:Science:HighestOilPeakReport] Stopped
2025-06-05T14:10:39.324Z,1749132639.324 [sci2:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize sci2:Science:HighestOilPeakReport
2025-06-05T14:10:39.324Z,1749132639.324 [sci2:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-06-05T14:10:39.324Z,1749132639.324 [sci2:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-06-05T14:10:39.324Z,1749132639.324 [sci2:Science:PeakDetectOil] Stopped
2025-06-05T14:10:39.324Z,1749132639.324 [sci2:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize sci2:Science:PeakDetectOil
2025-06-05T14:10:39.324Z,1749132639.324 [sci2:Science:PeakDetectOil:A] Stopped
2025-06-05T14:10:39.325Z,1749132639.325 [sci2:Science:PeakDetectNO3] Stopped
2025-06-05T14:10:39.325Z,1749132639.325 [sci2:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize sci2:Science:PeakDetectNO3
2025-06-05T14:10:39.325Z,1749132639.325 [sci2:Science:PeakDetectNO3:A] Stopped
2025-06-05T14:10:39.325Z,1749132639.325 [sci2:Science:HighestChlPeakReport] Stopped
2025-06-05T14:10:39.325Z,1749132639.325 [sci2:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize sci2:Science:HighestChlPeakReport
2025-06-05T14:10:39.325Z,1749132639.325 [sci2:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-06-05T14:10:39.325Z,1749132639.325 [sci2:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-06-05T14:10:39.325Z,1749132639.325 [sci2:Science:EdgeDetectChl] Stopped
2025-06-05T14:10:39.325Z,1749132639.325 [sci2:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize sci2:Science:EdgeDetectChl
2025-06-05T14:10:39.325Z,1749132639.325 [sci2:Science:EdgeDetectChl:A] Stopped
2025-06-05T14:10:39.325Z,1749132639.325 [sci2:Science:PeakDetectChl] Stopped
2025-06-05T14:10:39.325Z,1749132639.325 [sci2:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize sci2:Science:PeakDetectChl
2025-06-05T14:10:39.325Z,1749132639.325 [sci2:Science:PeakDetectChl:A] Stopped
2025-06-05T14:10:39.326Z,1749132639.326 [sci2:Science:OceanCurrent:A.] Running Loop=1
2025-06-05T14:10:39.326Z,1749132639.326 [sci2:Science:Read_Oil] Stopped
2025-06-05T14:10:39.326Z,1749132639.326 [sci2:Science:F] Stopped
2025-06-05T14:10:39.326Z,1749132639.326 [sci2:Science:E] Running Loop=1
2025-06-05T14:10:39.327Z,1749132639.327 [sci2:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2025-06-05T14:10:39.327Z,1749132639.327 [sci2:Science:D] Stopped
2025-06-05T14:10:39.327Z,1749132639.327 [sci2:Science:C] Running Loop=1
2025-06-05T14:10:39.327Z,1749132639.327 [sci2:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2025-06-05T14:10:39.328Z,1749132639.328 [sci2:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2025-06-05T14:10:39.328Z,1749132639.328 [sci2:Science:B] Running Loop=1
2025-06-05T14:10:39.328Z,1749132639.328 [sci2:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2025-06-05T14:10:39.329Z,1749132639.329 [sci2:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2025-06-05T14:10:39.329Z,1749132639.329 [sci2:Science:A] Stopped
2025-06-05T14:10:39.596Z,1749132639.596 [WetLabsBB2FL](INFO): Powering up
2025-06-05T14:10:39.652Z,1749132639.652 [sci2:E] Stopped
2025-06-05T14:10:39.652Z,1749132639.652 [sci2:F] Running Loop=1
2025-06-05T14:10:40.059Z,1749132640.059 [sci2:F] Stopped
2025-06-05T14:10:40.059Z,1749132640.059 [sci2:G] Running Loop=1
2025-06-05T14:10:40.459Z,1749132640.459 [sci2:G] Stopped
2025-06-05T14:10:40.459Z,1749132640.459 [sci2:StartingMission] Running Loop=1
2025-06-05T14:10:40.459Z,1749132640.459 [sci2:StartingMission](DEBUG): Aggregate::initialize sci2:StartingMission
2025-06-05T14:10:40.866Z,1749132640.866 [sci2:SurfaceComms] Running Loop=1
2025-06-05T14:10:40.866Z,1749132640.866 [sci2:SurfaceComms](DEBUG): Aggregate::initialize sci2:SurfaceComms
2025-06-05T14:10:40.866Z,1749132640.866 [sci2:SurfaceComms:A] Running Loop=1
2025-06-05T14:10:40.867Z,1749132640.867 [sci2:SurfaceComms:A] Stopped
2025-06-05T14:10:40.867Z,1749132640.867 [sci2:SurfaceComms:B] Running Loop=1
2025-06-05T14:10:40.867Z,1749132640.867 [sci2:SurfaceComms:B](DEBUG): Aggregate::initialize sci2:SurfaceComms:B
2025-06-05T14:10:41.291Z,1749132641.291 [sci2:NeedComms] Running Loop=1
2025-06-05T14:10:41.291Z,1749132641.291 [sci2:NeedComms](DEBUG): Aggregate::initialize sci2:NeedComms
2025-06-05T14:10:41.291Z,1749132641.291 [sci2:NeedComms:B.GoToSurface] Running Loop=1
2025-06-05T14:10:41.291Z,1749132641.291 [sci2:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-06-05T14:10:41.292Z,1749132641.292 [sci2:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-06-05T14:10:41.292Z,1749132641.292 [sci2:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-06-05T14:10:41.293Z,1749132641.293 [sci2:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-06-05T14:10:41.293Z,1749132641.293 [sci2:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-06-05T14:10:41.293Z,1749132641.293 [sci2:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-06-05T14:10:41.294Z,1749132641.294 [sci2:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-06-05T14:10:41.294Z,1749132641.294 [sci2:NeedComms:A] Running Loop=1
2025-06-05T14:10:41.299Z,1749132641.299 [sci2:NeedComms:A](INFO): last time_fix was:  1749132304.000000 second since 1970/01/01T00:00:00Z 
2025-06-05T14:10:41.300Z,1749132641.300 [sci2:NeedComms:A] Stopped
2025-06-05T14:10:41.672Z,1749132641.672 [sci2:NeedComms:C] Running Loop=1
2025-06-05T14:10:42.073Z,1749132642.073 [sci2:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-06-05T14:10:42.616Z,1749132642.616 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2025-06-05T14:10:43.680Z,1749132643.680 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,141042.00,A,3647.55620,N,12200.40575,W,1.011,114.22,050625,,,A*7F
2025-06-05T14:10:43.683Z,1749132643.683 [NAL9602](INFO): GPS fix at 20250605T141042: (36.792603, -122.006762)
2025-06-05T14:10:43.696Z,1749132643.696 [sci2:NeedComms:C] Stopped
2025-06-05T14:10:43.697Z,1749132643.697 [sci2:NeedComms:D] Running Loop=1
2025-06-05T14:10:44.107Z,1749132644.107 [sci2:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-06-05T14:10:51.506Z,1749132651.506 [DataOverHttps](INFO): Sending 76 bytes from file Logs/20250605T121700/Courier0014.lzma
2025-06-05T14:10:52.508Z,1749132652.508 [DataOverHttps](INFO): Moved sent file to Logs/20250605T121700/Courier0014.lzma.bak
2025-06-05T14:10:52.508Z,1749132652.508 [DataOverHttps](INFO): SBD MOMSN=25101021
2025-06-05T14:11:09.207Z,1749132669.207 [DataOverHttps](INFO): Sending 384 bytes from file Logs/20250605T121700/Express0016.lzma
2025-06-05T14:11:10.208Z,1749132670.208 [DataOverHttps](INFO): Moved sent file to Logs/20250605T121700/Express0016.lzma.bak
2025-06-05T14:11:10.208Z,1749132670.208 [DataOverHttps](INFO): SBD MOMSN=25101024
2025-06-05T14:11:11.982Z,1749132671.982 [sci2:NeedComms:D] Stopped
2025-06-05T14:11:11.983Z,1749132671.983 [sci2:NeedComms:E] Running Loop=1
2025-06-05T14:11:12.376Z,1749132672.376 [sci2:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-06-05T14:11:15.608Z,1749132675.608 [NAL9602](INFO): SBD MO Status=2, MOMSN=21071, MT Status=2, MTMSN=0
2025-06-05T14:11:15.608Z,1749132675.608 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-06-05T14:11:41.453Z,1749132701.453 [NAL9602](INFO): SBD MO Status=2, MOMSN=21071, MT Status=2, MTMSN=0
2025-06-05T14:11:41.453Z,1749132701.453 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-06-05T14:12:17.417Z,1749132737.417 [NAL9602](INFO): SBD MO Status=0, MOMSN=21071, MT Status=0, MTMSN=0
2025-06-05T14:12:17.417Z,1749132737.417 [NAL9602](INFO): No messages in MT queue
2025-06-05T14:12:18.637Z,1749132738.637 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,141217.00,A,3647.54064,N,12200.37329,W,0.894,118.65,050625,,,A*7E
2025-06-05T14:12:18.640Z,1749132738.640 [NAL9602](INFO): GPS fix at 20250605T141217: (36.792344, -122.006221)
2025-06-05T14:12:18.662Z,1749132738.662 [sci2:NeedComms:E] Stopped
2025-06-05T14:12:18.684Z,1749132738.684 [sci2:NeedComms](INFO): Completed sci2:NeedComms
2025-06-05T14:12:18.684Z,1749132738.684 [sci2:NeedComms] Stopped
2025-06-05T14:12:18.685Z,1749132738.685 [sci2:NeedComms](DEBUG): Aggregate::uninitialize sci2:NeedComms
2025-06-05T14:12:18.685Z,1749132738.685 [sci2:NeedComms:B.GoToSurface] Stopped
2025-06-05T14:12:18.685Z,1749132738.685 [sci2:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-06-05T14:12:19.075Z,1749132739.075 [sci2:SurfaceComms:B](INFO): Completed sci2:SurfaceComms:B
2025-06-05T14:12:19.075Z,1749132739.075 [sci2:SurfaceComms:B] Stopped
2025-06-05T14:12:19.075Z,1749132739.075 [sci2:SurfaceComms:B](DEBUG): Aggregate::uninitialize sci2:SurfaceComms:B
2025-06-05T14:12:19.075Z,1749132739.075 [sci2:SurfaceComms:setInitial] Running Loop=1
2025-06-05T14:12:19.075Z,1749132739.075 [sci2:SurfaceComms:setInitial](DEBUG): Aggregate::initialize sci2:SurfaceComms:setInitial
2025-06-05T14:12:19.075Z,1749132739.075 [sci2:SurfaceComms:setInitial:A] Running Loop=1
2025-06-05T14:12:19.433Z,1749132739.433 [sci2:SurfaceComms:setInitial] Stopped
2025-06-05T14:12:19.433Z,1749132739.433 [sci2:SurfaceComms:setInitial](DEBUG): Aggregate::uninitialize sci2:SurfaceComms:setInitial
2025-06-05T14:12:19.433Z,1749132739.433 [sci2:SurfaceComms:setInitial:A] Stopped
2025-06-05T14:12:19.433Z,1749132739.433 [sci2:SurfaceComms:setSink] Running Loop=1
2025-06-05T14:12:19.433Z,1749132739.433 [sci2:SurfaceComms:setSink](DEBUG): Aggregate::initialize sci2:SurfaceComms:setSink
2025-06-05T14:12:19.433Z,1749132739.433 [sci2:SurfaceComms:setSink:A] Running Loop=1
2025-06-05T14:12:19.847Z,1749132739.847 [sci2:SurfaceComms:setSink:A] Stopped
2025-06-05T14:12:19.847Z,1749132739.847 [sci2:SurfaceComms:setSink](INFO): Completed sci2:SurfaceComms:setSink
2025-06-05T14:12:19.847Z,1749132739.847 [sci2:SurfaceComms:setSink] Stopped
2025-06-05T14:12:19.847Z,1749132739.847 [sci2:SurfaceComms:setSink](DEBUG): Aggregate::uninitialize sci2:SurfaceComms:setSink
2025-06-05T14:12:19.847Z,1749132739.847 [sci2:SurfaceComms](INFO): Completed sci2:SurfaceComms
2025-06-05T14:12:19.847Z,1749132739.847 [sci2:SurfaceComms] Stopped
2025-06-05T14:12:19.847Z,1749132739.847 [sci2:SurfaceComms](DEBUG): Aggregate::uninitialize sci2:SurfaceComms
2025-06-05T14:12:20.244Z,1749132740.244 [sci2:StartingMission](INFO): Completed sci2:StartingMission
2025-06-05T14:12:20.244Z,1749132740.244 [sci2:StartingMission] Stopped
2025-06-05T14:12:20.244Z,1749132740.244 [sci2:StartingMission](DEBUG): Aggregate::uninitialize sci2:StartingMission
2025-06-05T14:12:20.244Z,1749132740.244 [sci2:Lap] Running Loop=1
2025-06-05T14:12:20.244Z,1749132740.244 [sci2:Lap](DEBUG): Aggregate::initialize sci2:Lap
2025-06-05T14:12:20.244Z,1749132740.244 [sci2:Lap:Dive] Running Loop=1
2025-06-05T14:12:20.244Z,1749132740.244 [sci2:Lap:Dive](DEBUG): Aggregate::initialize sci2:Lap:Dive
2025-06-05T14:12:20.244Z,1749132740.244 [sci2:Lap:Dive:A] Running Loop=1
2025-06-05T14:12:20.245Z,1749132740.245 [sci2:Lap:Dive:A](DEBUG): Aggregate::initialize sci2:Lap:Dive:A
2025-06-05T14:12:20.245Z,1749132740.245 [sci2:Lap:Wpt1] Running Loop=1
2025-06-05T14:12:20.245Z,1749132740.245 [sci2:Lap:Wpt1](DEBUG): Aggregate::initialize sci2:Lap:Wpt1
2025-06-05T14:12:20.245Z,1749132740.245 [sci2:Lap:Wpt1:A.Waypoint] Running Loop=1
2025-06-05T14:12:20.245Z,1749132740.245 [sci2:Lap:Wpt1:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-06-05T14:12:20.246Z,1749132740.246 [sci2:Lap:Wpt1:A.Waypoint](IMPORTANT): Navigating to waypoint: 36.798150,-122.055194
2025-06-05T14:12:20.689Z,1749132740.689 [sci2:Lap:Wpt1:A.Waypoint](INFO): Navigating to waypoint: 36.798150,-122.055194
2025-06-05T14:12:20.692Z,1749132740.692 [sci2:Lap:Dive] Running Loop=1
2025-06-05T14:12:20.692Z,1749132740.692 [sci2:DiveCmd] Running Loop=1
2025-06-05T14:12:20.692Z,1749132740.692 [sci2:DiveCmd](DEBUG): Aggregate::initialize sci2:DiveCmd
2025-06-05T14:12:20.692Z,1749132740.692 [sci2:DiveCmd:SurfaceSink] Running Loop=1
2025-06-05T14:12:20.693Z,1749132740.693 [sci2:DiveCmd:SurfaceSink](DEBUG): Aggregate::initialize sci2:DiveCmd:SurfaceSink
2025-06-05T14:12:20.693Z,1749132740.693 [sci2:DiveCmd:SurfaceSink:sink] Running Loop=1
2025-06-05T14:12:20.693Z,1749132740.693 [sci2:DiveCmd:SurfaceSink:sink](DEBUG): Aggregate::initialize sci2:DiveCmd:SurfaceSink:sink
2025-06-05T14:12:20.693Z,1749132740.693 [sci2:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy] Running Loop=1
2025-06-05T14:12:20.693Z,1749132740.693 [sci2:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-06-05T14:12:20.693Z,1749132740.693 [sci2:DiveCmd:SurfaceSink:sink:B.SetSpeed] Running Loop=1
2025-06-05T14:12:20.693Z,1749132740.693 [sci2:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Initialize.
2025-06-05T14:12:20.694Z,1749132740.694 [sci2:DiveCmd:SurfaceSink:sink:C] Running Loop=1
2025-06-05T14:12:20.694Z,1749132740.694 [sci2:DiveCmd:YoYoDive] Running Loop=1
2025-06-05T14:12:20.710Z,1749132740.710 [sci2:DiveCmd:YoYoDive](DEBUG): Aggregate::initialize sci2:DiveCmd:YoYoDive
2025-06-05T14:12:20.710Z,1749132740.710 [sci2:DiveCmd:YoYoDive:dive] Running Loop=1
2025-06-05T14:12:20.711Z,1749132740.711 [sci2:DiveCmd:YoYoDive:dive](DEBUG): Aggregate::initialize sci2:DiveCmd:YoYoDive:dive
2025-06-05T14:12:20.711Z,1749132740.711 [sci2:DiveCmd:YoYoDive:dive:A.Pitch] Running Loop=1
2025-06-05T14:12:20.711Z,1749132740.711 [sci2:DiveCmd:YoYoDive:dive:A.Pitch](DEBUG): Initialize.
2025-06-05T14:12:20.711Z,1749132740.711 [sci2:DiveCmd:YoYoDive:dive:B.Buoyancy] Running Loop=1
2025-06-05T14:12:20.711Z,1749132740.711 [sci2:DiveCmd:YoYoDive:dive:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-06-05T14:12:20.712Z,1749132740.712 [sci2:DiveCmd:YoYoDive:dive:SetSpeed] Running Loop=1
2025-06-05T14:12:20.712Z,1749132740.712 [sci2:DiveCmd:YoYoDive:dive:SetSpeed](DEBUG): Aggregate::initialize sci2:DiveCmd:YoYoDive:dive:SetSpeed
2025-06-05T14:12:20.712Z,1749132740.712 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:SurfaceDive] Running Loop=1
2025-06-05T14:12:20.712Z,1749132740.712 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:SurfaceDive](DEBUG): Aggregate::initialize sci2:DiveCmd:YoYoDive:dive:SetSpeed:SurfaceDive
2025-06-05T14:12:20.712Z,1749132740.712 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:SurfaceDive:SurfaceSpeed] Running Loop=1
2025-06-05T14:12:20.713Z,1749132740.713 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:SurfaceDive:SurfaceSpeed](DEBUG): Aggregate::initialize sci2:DiveCmd:YoYoDive:dive:SetSpeed:SurfaceDive:SurfaceSpeed
2025-06-05T14:12:20.713Z,1749132740.713 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:SurfaceDive:SurfaceSpeed:A.SetSpeed] Running Loop=1
2025-06-05T14:12:20.713Z,1749132740.713 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:SurfaceDive:SurfaceSpeed:A.SetSpeed](DEBUG): Initialize.
2025-06-05T14:12:20.713Z,1749132740.713 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:ProfileSpeed] Running Loop=1
2025-06-05T14:12:20.713Z,1749132740.713 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:ProfileSpeed](DEBUG): Aggregate::initialize sci2:DiveCmd:YoYoDive:dive:SetSpeed:ProfileSpeed
2025-06-05T14:12:20.714Z,1749132740.714 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:ProfileSpeed:A.SetSpeed] Running Loop=1
2025-06-05T14:12:20.714Z,1749132740.714 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:ProfileSpeed:A.SetSpeed](DEBUG): Initialize.
2025-06-05T14:12:20.719Z,1749132740.719 [sci2:DiveCmd:YoYoDive:dive:D.DepthEnvelope] Running Loop=1
2025-06-05T14:12:20.719Z,1749132740.719 [sci2:DiveCmd:YoYoDive:dive:D.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-06-05T14:12:20.719Z,1749132740.719 [sci2:DiveCmd:YoYoDive:dive:E.AltitudeEnvelope] Running Loop=1
2025-06-05T14:12:20.719Z,1749132740.719 [sci2:DiveCmd:YoYoDive:dive:E.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-06-05T14:12:20.720Z,1749132740.720 [sci2:DiveCmd:YoYoDive:dive:F.YoYo] Running Loop=1
2025-06-05T14:12:20.720Z,1749132740.720 [sci2:DiveCmd:YoYoDive:dive:F.YoYo](DEBUG): Initialize YoYoComponent.
2025-06-05T14:12:20.721Z,1749132740.721 [sci2:DiveCmd:YoYoDive] Stopped
2025-06-05T14:12:20.721Z,1749132740.721 [sci2:DiveCmd:YoYoDive](DEBUG): Aggregate::uninitialize sci2:DiveCmd:YoYoDive
2025-06-05T14:12:20.721Z,1749132740.721 [sci2:DiveCmd:YoYoDive:dive] Stopped
2025-06-05T14:12:20.721Z,1749132740.721 [sci2:DiveCmd:YoYoDive:dive](DEBUG): Aggregate::uninitialize sci2:DiveCmd:YoYoDive:dive
2025-06-05T14:12:20.721Z,1749132740.721 [sci2:DiveCmd:YoYoDive:dive:A.Pitch] Stopped
2025-06-05T14:12:20.722Z,1749132740.722 [sci2:DiveCmd:YoYoDive:dive:B.Buoyancy] Stopped
2025-06-05T14:12:20.722Z,1749132740.722 [sci2:DiveCmd:YoYoDive:dive:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-06-05T14:12:20.726Z,1749132740.726 [sci2:DiveCmd:YoYoDive:dive:SetSpeed] Stopped
2025-06-05T14:12:20.727Z,1749132740.727 [sci2:DiveCmd:YoYoDive:dive:SetSpeed](DEBUG): Aggregate::uninitialize sci2:DiveCmd:YoYoDive:dive:SetSpeed
2025-06-05T14:12:20.727Z,1749132740.727 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:SurfaceDive] Stopped
2025-06-05T14:12:20.727Z,1749132740.727 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:SurfaceDive](DEBUG): Aggregate::uninitialize sci2:DiveCmd:YoYoDive:dive:SetSpeed:SurfaceDive
2025-06-05T14:12:20.727Z,1749132740.727 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:SurfaceDive:SurfaceSpeed] Stopped
2025-06-05T14:12:20.727Z,1749132740.727 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:SurfaceDive:SurfaceSpeed](DEBUG): Aggregate::uninitialize sci2:DiveCmd:YoYoDive:dive:SetSpeed:SurfaceDive:SurfaceSpeed
2025-06-05T14:12:20.727Z,1749132740.727 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:SurfaceDive:SurfaceSpeed:A.SetSpeed] Stopped
2025-06-05T14:12:20.728Z,1749132740.728 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:SurfaceDive:SurfaceSpeed:A.SetSpeed](DEBUG): Uninitialize.
2025-06-05T14:12:20.728Z,1749132740.728 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:ProfileSpeed] Stopped
2025-06-05T14:12:20.728Z,1749132740.728 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:ProfileSpeed](DEBUG): Aggregate::uninitialize sci2:DiveCmd:YoYoDive:dive:SetSpeed:ProfileSpeed
2025-06-05T14:12:20.728Z,1749132740.728 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:ProfileSpeed:A.SetSpeed] Stopped
2025-06-05T14:12:20.728Z,1749132740.728 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:ProfileSpeed:A.SetSpeed](DEBUG): Uninitialize.
2025-06-05T14:12:20.728Z,1749132740.728 [sci2:DiveCmd:YoYoDive:dive:D.DepthEnvelope] Stopped
2025-06-05T14:12:20.729Z,1749132740.729 [sci2:DiveCmd:YoYoDive:dive:D.DepthEnvelope](DEBUG): Uninitialize.
2025-06-05T14:12:20.729Z,1749132740.729 [sci2:DiveCmd:YoYoDive:dive:E.AltitudeEnvelope] Stopped
2025-06-05T14:12:20.729Z,1749132740.729 [sci2:DiveCmd:YoYoDive:dive:E.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-06-05T14:12:20.729Z,1749132740.729 [sci2:DiveCmd:YoYoDive:dive:F.YoYo] Stopped
2025-06-05T14:12:20.729Z,1749132740.729 [sci2:DiveCmd:YoYoDive:dive:F.YoYo](DEBUG): Uninitialize YoYoComponent.
2025-06-05T14:12:20.729Z,1749132740.729 [sci2:DiveCmd:SurfaceSink] Running Loop=1
2025-06-05T14:12:20.734Z,1749132740.734 [sci2:DiveCmd:SurfaceSink:sink:C](INFO): Sinking to  3.000000 m 
2025-06-05T14:12:20.735Z,1749132740.735 [sci2:DiveCmd:SurfaceSink:sink:C] Stopped
2025-06-05T14:12:20.735Z,1749132740.735 [sci2:DiveCmd:SurfaceSink:sink:D.Pitch] Running Loop=1
2025-06-05T14:12:20.735Z,1749132740.735 [sci2:DiveCmd:SurfaceSink:sink:D.Pitch](DEBUG): Initialize.
2025-06-05T14:12:20.735Z,1749132740.735 [sci2:DiveCmd:SurfaceSink:sink:B.SetSpeed] Running Loop=1
2025-06-05T14:12:20.736Z,1749132740.736 [sci2:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy] Running Loop=1
2025-06-05T14:12:51.099Z,1749132771.099 [NAL9602](INFO): Not Powering down - fast GPS
2025-06-05T14:13:53.348Z,1749132833.348 [DataOverHttps](IMPORTANT): SBD MTMSN=20250605T141352
2025-06-05T14:14:01.814Z,1749132841.814 [DataOverHttps](INFO): Received command: sched asap "load Science/sci2.tl;set sci2.MissionTimeout 17 h;set sci2.NeedCommsTime 90 min;set sci2.Lat1 36.79815 degree;set sci2.Lon1 -122.05519 degree;set sci2.Lat2 36.82262 degree;set sci2.Lon2 -121.96198 degree" 2akut 1 4
2025-06-05T14:14:01.863Z,1749132841.863 [CommandExec](IMPORTANT): got command schedule asap "load Science/sci2.tl;set sci2.MissionTimeout 17 h;set sci2.NeedCommsTime 90 min;set sci2.Lat1 36.79815 degree;set sci2.Lon1 -122.05519 degree;set sci2.Lat2 36.82262 degree;set sci2.Lon2 -121.96198 degree" 2akut 1 4.000000
2025-06-05T14:14:01.863Z,1749132841.863 [CommandExec](IMPORTANT): Scheduling command #1 of 4 with id=2akut
2025-06-05T14:14:01.864Z,1749132841.864 [CommandExec](IMPORTANT): Scheduled #21 (#1 of 4 with id='2akut'): "load Science/sci2.tl;set sci2.MissionTimeout 17 h;set sci2.NeedCommsTime 90 min;set sci2.Lat1 36.79815 degree;set sci2.Lon1 -122.05519 degree;set sci2.Lat2 36.82262 degree;set sci2.Lon2 -121.96198 degree", ASAP
2025-06-05T14:14:02.817Z,1749132842.817 [DataOverHttps](IMPORTANT): SBD MTMSN=20250605T141401
2025-06-05T14:14:11.122Z,1749132851.122 [DataOverHttps](INFO): Received command: sched asap "set sci2.Lat3 36.8468 degree;set sci2.Lon3 -121.97365 degree;set sci2.Lat4 36.85834 degree;set sci2.Lon4 -121.9479 degree;set sci2.Lat5 36.87083 degree;set sci2.Lon5 -121.9582 degree;set sci2.Lat6 36.86575 degree" 2akut 2 4
2025-06-05T14:14:11.184Z,1749132851.184 [CommandExec](IMPORTANT): got command schedule asap "set sci2.Lat3 36.8468 degree;set sci2.Lon3 -121.97365 degree;set sci2.Lat4 36.85834 degree;set sci2.Lon4 -121.9479 degree;set sci2.Lat5 36.87083 degree;set sci2.Lon5 -121.9582 degree;set sci2.Lat6 36.86575 degree" 2akut 2 4.000000
2025-06-05T14:14:11.185Z,1749132851.185 [CommandExec](IMPORTANT): Scheduling command #2 of 4 with id=2akut
2025-06-05T14:14:11.186Z,1749132851.186 [CommandExec](IMPORTANT): Scheduled #22 (#2 of 4 with id='2akut'): "set sci2.Lat3 36.8468 degree;set sci2.Lon3 -121.97365 degree;set sci2.Lat4 36.85834 degree;set sci2.Lon4 -121.9479 degree;set sci2.Lat5 36.87083 degree;set sci2.Lon5 -121.9582 degree;set sci2.Lat6 36.86575 degree", ASAP
2025-06-05T14:14:12.125Z,1749132852.125 [DataOverHttps](IMPORTANT): SBD MTMSN=20250605T141411
2025-06-05T14:14:25.490Z,1749132865.490 [DataOverHttps](INFO): Received command: sched asap "set sci2.Lon6 -121.96661 degree;set sci2.Lat7 36.84501 degree;set sci2.Lon7 -121.95168 degree;set sci2.Speed 1 m/s;set sci2.YoYoMinDepth 4 m;set sci2.YoYoMaxDepth 40 m;set sci2.SinkOffSurface 1 bool;set sci2.SinkDepth 3 m" 2akut 3 4
2025-06-05T14:14:25.571Z,1749132865.571 [CommandExec](IMPORTANT): got command schedule asap "set sci2.Lon6 -121.96661 degree;set sci2.Lat7 36.84501 degree;set sci2.Lon7 -121.95168 degree;set sci2.Speed 1 m/s;set sci2.YoYoMinDepth 4 m;set sci2.YoYoMaxDepth 40 m;set sci2.SinkOffSurface 1 bool;set sci2.SinkDepth 3 m" 2akut 3 4.000000
2025-06-05T14:14:25.572Z,1749132865.572 [CommandExec](IMPORTANT): Scheduling command #3 of 4 with id=2akut
2025-06-05T14:14:25.573Z,1749132865.573 [CommandExec](IMPORTANT): Scheduled #23 (#3 of 4 with id='2akut'): "set sci2.Lon6 -121.96661 degree;set sci2.Lat7 36.84501 degree;set sci2.Lon7 -121.95168 degree;set sci2.Speed 1 m/s;set sci2.YoYoMinDepth 4 m;set sci2.YoYoMaxDepth 40 m;set sci2.SinkOffSurface 1 bool;set sci2.SinkDepth 3 m", ASAP
2025-06-05T14:14:26.492Z,1749132866.492 [DataOverHttps](IMPORTANT): SBD MTMSN=20250605T141425
2025-06-05T14:14:36.878Z,1749132876.878 [DataOverHttps](INFO): Received command: sched asap "set sci2.MaxDepth 55 m;run" 2akut 4 4
2025-06-05T14:14:36.905Z,1749132876.905 [CommandExec](IMPORTANT): got command schedule asap "set sci2.MaxDepth 55 m;run" 2akut 4 4.000000
2025-06-05T14:14:36.906Z,1749132876.906 [CommandExec](IMPORTANT): Scheduling command #4 of 4 with id=2akut
2025-06-05T14:14:36.907Z,1749132876.907 [CommandExec](IMPORTANT): Scheduled #24 (#4 of 4 with id='2akut'): "set sci2.MaxDepth 55 m;run", ASAP
2025-06-05T14:14:37.031Z,1749132877.031 [CommandExec](IMPORTANT): got command load ./Missions/Science/sci2.tl
2025-06-05T14:14:37.031Z,1749132877.031 [MissionManager](INFO): Uninitializing Mission sci2
2025-06-05T14:14:37.031Z,1749132877.031 [sci2] Stopped
2025-06-05T14:14:37.031Z,1749132877.031 [sci2](DEBUG): Aggregate::uninitialize sci2
2025-06-05T14:14:37.031Z,1749132877.031 [sci2:Science] Stopped
2025-06-05T14:14:37.031Z,1749132877.031 [sci2:Science](DEBUG): Aggregate::uninitialize sci2:Science
2025-06-05T14:14:37.031Z,1749132877.031 [sci2:Science:B] Stopped
2025-06-05T14:14:37.032Z,1749132877.032 [sci2:Science:C] Stopped
2025-06-05T14:14:37.032Z,1749132877.032 [sci2:Science:E] Stopped
2025-06-05T14:14:37.032Z,1749132877.032 [sci2:Science:OceanCurrent] Stopped
2025-06-05T14:14:37.032Z,1749132877.032 [sci2:Science:OceanCurrent](DEBUG): Aggregate::uninitialize sci2:Science:OceanCurrent
2025-06-05T14:14:37.032Z,1749132877.032 [sci2:Science:OceanCurrent:A.] Stopped
2025-06-05T14:14:37.032Z,1749132877.032 [sci2:StandardEnvelopes] Stopped
2025-06-05T14:14:37.032Z,1749132877.032 [sci2:StandardEnvelopes](DEBUG): Aggregate::uninitialize sci2:StandardEnvelopes
2025-06-05T14:14:37.032Z,1749132877.032 [sci2:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-06-05T14:14:37.032Z,1749132877.032 [sci2:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-06-05T14:14:37.032Z,1749132877.032 [sci2:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-06-05T14:14:37.032Z,1749132877.032 [sci2:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-06-05T14:14:37.032Z,1749132877.032 [sci2:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-06-05T14:14:37.032Z,1749132877.032 [sci2:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-06-05T14:14:37.033Z,1749132877.033 [sci2:BackseatDriver] Stopped
2025-06-05T14:14:37.033Z,1749132877.033 [sci2:BackseatDriver](DEBUG): Aggregate::uninitialize sci2:BackseatDriver
2025-06-05T14:14:37.033Z,1749132877.033 [sci2:BackseatDriver:A.BackseatDriver] Stopped
2025-06-05T14:14:37.033Z,1749132877.033 [sci2:PowerOnly] Stopped
2025-06-05T14:14:37.033Z,1749132877.033 [sci2:PowerOnly](DEBUG): Aggregate::uninitialize sci2:PowerOnly
2025-06-05T14:14:37.033Z,1749132877.033 [sci2:PowerOnly:E.Wait] Stopped
2025-06-05T14:14:37.033Z,1749132877.033 [sci2:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-06-05T14:14:37.033Z,1749132877.033 [sci2:DiveCmd] Stopped
2025-06-05T14:14:37.033Z,1749132877.033 [sci2:DiveCmd](DEBUG): Aggregate::uninitialize sci2:DiveCmd
2025-06-05T14:14:37.033Z,1749132877.033 [sci2:DiveCmd:SurfaceSink] Stopped
2025-06-05T14:14:37.033Z,1749132877.033 [sci2:DiveCmd:SurfaceSink](DEBUG): Aggregate::uninitialize sci2:DiveCmd:SurfaceSink
2025-06-05T14:14:37.033Z,1749132877.033 [sci2:DiveCmd:SurfaceSink:sink] Stopped
2025-06-05T14:14:37.034Z,1749132877.034 [sci2:DiveCmd:SurfaceSink:sink](DEBUG): Aggregate::uninitialize sci2:DiveCmd:SurfaceSink:sink
2025-06-05T14:14:37.034Z,1749132877.034 [sci2:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy] Stopped
2025-06-05T14:14:37.034Z,1749132877.034 [sci2:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-06-05T14:14:37.034Z,1749132877.034 [sci2:DiveCmd:SurfaceSink:sink:B.SetSpeed] Stopped
2025-06-05T14:14:37.034Z,1749132877.034 [sci2:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Uninitialize.
2025-06-05T14:14:37.038Z,1749132877.038 [sci2:DiveCmd:SurfaceSink:sink:D.Pitch] Stopped
2025-06-05T14:14:37.038Z,1749132877.038 [sci2:Lap] Stopped
2025-06-05T14:14:37.038Z,1749132877.038 [sci2:Lap](DEBUG): Aggregate::uninitialize sci2:Lap
2025-06-05T14:14:37.038Z,1749132877.038 [sci2:Lap:Dive] Stopped
2025-06-05T14:14:37.039Z,1749132877.039 [sci2:Lap:Dive](DEBUG): Aggregate::uninitialize sci2:Lap:Dive
2025-06-05T14:14:37.039Z,1749132877.039 [sci2:Lap:Dive:A] Stopped
2025-06-05T14:14:37.039Z,1749132877.039 [sci2:Lap:Dive:A](DEBUG): Aggregate::uninitialize sci2:Lap:Dive:A
2025-06-05T14:14:37.039Z,1749132877.039 [sci2:Lap:Wpt1] Stopped
2025-06-05T14:14:37.039Z,1749132877.039 [sci2:Lap:Wpt1](DEBUG): Aggregate::uninitialize sci2:Lap:Wpt1
2025-06-05T14:14:37.039Z,1749132877.039 [sci2:Lap:Wpt1:A.Waypoint] Stopped
2025-06-05T14:14:37.039Z,1749132877.039 [sci2:Lap:Wpt1:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-06-05T14:14:37.194Z,1749132877.194 [WetLabsBB2FL](INFO): Powering down
2025-06-05T14:14:37.429Z,1749132877.429 [MissionManager](INFO): Loading Mission from file: ./Missions/Science/sci2.tl
2025-06-05T14:14:37.429Z,1749132877.429 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Science/sci2.tl
2025-06-05T14:14:37.445Z,1749132877.445 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Science/sci2.tl
2025-06-05T14:14:43.003Z,1749132883.003 [MissionManager](DEBUG): TethyslAPI: ./Missions/Science/sci2.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="sci2">
    <DefineArg Name="MissionTimeout">
        <Units:hour />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>60</Value>
    </DefineArg>
    <DefineArg Name="Repeat">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="Lat1">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat2">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat3">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat4">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat5">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat6">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat7">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon1">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon2">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon3">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon4">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon5">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon6">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon7">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Speed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="CaptureRadius">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="YoYoMinDepth">
        <Units:meter />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="YoYoMaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="YoYoMinAltitude">
        <Units:meter />
        <Value>9</Value>
    </DefineArg>
    <DefineArg Name="YoYoUpPitch">
        <Units:degree />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="YoYoDownPitch">
        <Units:degree />
        <Value>-20</Value>
    </DefineArg>
    <DefineArg Name="SurfaceDiveSpeed">
        <Units:meter_per_second />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="SurfaceThreshold">
        <Control:VerticalControl.surfaceThreshold />
    </DefineArg>
    <DefineArg Name="SinkOffSurface">
        <False />
    </DefineArg>
    <DefineArg Name="SinkDepth">
        <Units:meter />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="SinkDepthTimeout">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="YoYoLightTerminate">
        <False />
    </DefineArg>
    <DefineArg Name="YoYoLightTerminateThreshold">
        <Units:micromole_per_second_per_square_meter />
        <Value>0.1</Value>
    </DefineArg>
    <DefineArg Name="PeakDetectChl">
        <False />
    </DefineArg>
    <DefineArg Name="ShallowBoundChl">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DeepBoundChl">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlThreshTrigger">
        <False />
    </DefineArg>
    <DefineArg Name="ChlLowerThreshold">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlUpperThreshold">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesThreshold">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="BuoyancyNeutral">
        <Control:VerticalControl.buoyancyNeutral />
    </DefineArg>
    <DefineArg Name="MassDefault">
        <Control:VerticalControl.massDefault />
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>205</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <DefineOutput Name="DiveMode">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="DoingComms">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="SurfaceSink">
        <Units:count />
        <Value>1</Value>
    </DefineOutput>
    <DefineOutput Name="YoYo">
        <Units:count />
        <Value>2</Value>
    </DefineOutput>
    <Timeout Duration="MissionTimeout" />
    <Insert Filename="Insert/Science.tl">
        <RedefineArg Name="PeakDetectChlActive">
            <Arg Name="PeakDetectChl" />
        </RedefineArg>
        <RedefineArg Name="ShallowBound">
            <Arg Name="ShallowBoundChl" />
        </RedefineArg>
        <RedefineArg Name="DeepBound">
            <Arg Name="DeepBoundChl" />
        </RedefineArg>
        <RedefineArg Name="ChlThreshTriggerActive">
            <Arg Name="ChlThreshTrigger" />
        </RedefineArg>
        <RedefineArg Name="ChlLowerThresh">
            <Arg Name="ChlLowerThreshold" />
        </RedefineArg>
        <RedefineArg Name="ChlUpperThresh">
            <Arg Name="ChlUpperThreshold" />
        </RedefineArg>
        <RedefineArg Name="NumProfilesThresh">
            <Arg Name="NumProfilesThreshold" />
        </RedefineArg>
    </Insert>
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="NeedCommsTime" />
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Aggregate Id="SurfaceComms">
        <When>
            <Called />
            <Or>
                <Elapsed>
                    <Universal:time_fix />
                </Elapsed>
                <Gt>
                    <Arg Name="NeedCommsTime" />
                </Gt>
            </Or>
        </When>
        <Assign>
            <Sequence />
            <Arg Name="DiveMode" />
            <Arg Name="DoingComms" />
        </Assign>
        <Call RefId="NeedComms" PriorityHere="false" />
        <Aggregate Id="setInitial">
            <Sequence />
            <Break>
                <Arg Name="SinkOffSurface" />
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="DiveMode" />
                <Arg Name="YoYo" />
            </Assign>
        </Aggregate>
        <Aggregate Id="setSink">
            <Sequence />
            <Break>
                <Not>
                    <Arg Name="SinkOffSurface" />
                </Not>
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="DiveMode" />
                <Arg Name="SurfaceSink" />
            </Assign>
        </Aggregate>
    </Aggregate>
    <Call RefId="SurfaceComms" Id="StartingMission" PriorityHere="false" />
    <Aggregate Id="DiveCmd">
        <When>
            <Called />
        </When>
        <Aggregate Id="SurfaceSink">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="SurfaceSink" />
                </Eq>
            </While>
            <Aggregate Id="sink">
                <Sequence />
                <Guidance:Buoyancy Id="BuoyancyHold">
                    <Parallel />
                    <Setting>
                        <Guidance:Buoyancy.position />
                        <Units:cubic_centimeter />
                        <Value>NaN</Value>
                    </Setting>
                </Guidance:Buoyancy>
                <Guidance:SetSpeed>
                    <Parallel />
                    <Setting>
                        <Guidance:SetSpeed.speed />
                        <Units:meter_per_second />
                        <Value>0</Value>
                    </Setting>
                </Guidance:SetSpeed>
                <Syslog Severity="Info">
                    Sinking to 
                    <Arg Name="SinkDepth" />
                    <Units:meter />
                </Syslog>
                <Guidance:Pitch>
                    <Sequence />
                    <Timeout Duration="SinkDepthTimeout">
                        <Syslog Severity="Important">
                            Timed out while trying to reach target sink depth at current depth of 
                            <Universal:depth />
                            <Units:meter />
                        </Syslog>
                    </Timeout>
                    <Setting>
                        <Guidance:Pitch.depth />
                        <Arg Name="SinkDepth" />
                    </Setting>
                </Guidance:Pitch>
                <Assign>
                    <Sequence />
                    <Arg Name="DiveMode" />
                    <Arg Name="YoYo" />
                </Assign>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="YoYoDive">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="YoYo" />
                </Eq>
            </While>
            <Aggregate Id="dive">
                <Sequence />
                <Guidance:Pitch>
                    <Parallel />
                    <Setting>
                        <Guidance:Pitch.massPosition />
                        <Arg Name="MassDefault" />
                    </Setting>
                </Guidance:Pitch>
                <Guidance:Buoyancy>
                    <Parallel />
                    <Setting>
                        <Guidance:Buoyancy.position />
                        <Arg Name="BuoyancyNeutral" />
                    </Setting>
                </Guidance:Buoyancy>
                <Aggregate Id="SetSpeed">
                    <Parallel />
                    <Aggregate Id="SurfaceDive">
                        <While>
                            <Not>
                                <IsNaN>
                                    <Arg Name="SurfaceDiveSpeed" />
                                </IsNaN>
                            </Not>
                            <And>
                                <Universal:depth />
                                <Le>
                                    <Arg Name="SurfaceThreshold" />
                                </Le>
                            </And>
                        </While>
                        <Aggregate Id="SurfaceSpeed">
                            <Parallel />
                            <Guidance:SetSpeed>
                                <Parallel />
                                <Setting>
                                    <Guidance:SetSpeed.speed />
                                    <Arg Name="SurfaceDiveSpeed" />
                                </Setting>
                            </Guidance:SetSpeed>
                        </Aggregate>
                    </Aggregate>
                    <Aggregate Id="ProfileSpeed">
                        <While>
                            <IsNaN>
                                <Arg Name="SurfaceDiveSpeed" />
                            </IsNaN>
                            <Or>
                                <Universal:depth />
                                <Gt>
                                    <Control:VerticalControl.surfaceThreshold />
                                </Gt>
                            </Or>
                        </While>
                        <Guidance:SetSpeed>
                            <Parallel />
                            <Setting>
                                <Guidance:SetSpeed.speed />
                                <Arg Name="Speed" />
                            </Setting>
                        </Guidance:SetSpeed>
                    </Aggregate>
                </Aggregate>
                <Guidance:DepthEnvelope>
                    <Parallel />
                    <Setting>
                        <Guidance:DepthEnvelope.minDepth />
                        <Arg Name="YoYoMinDepth" />
                    </Setting>
                    <Setting>
                        <Guidance:DepthEnvelope.maxDepth />
                        <Arg Name="YoYoMaxDepth" />
                    </Setting>
                    <Setting>
                        <Guidance:DepthEnvelope.downPitch />
                        <Arg Name="YoYoDownPitch" />
                    </Setting>
                    <Setting>
                        <Guidance:DepthEnvelope.upPitch />
                        <Arg Name="YoYoUpPitch" />
                    </Setting>
                </Guidance:DepthEnvelope>
                <Guidance:AltitudeEnvelope>
                    <Parallel />
                    <Setting>
                        <Guidance:AltitudeEnvelope.minAltitude />
                        <Arg Name="YoYoMinAltitude" />
                    </Setting>
                </Guidance:AltitudeEnvelope>
                <Guidance:YoYo>
                    <Parallel />
                    <Setting>
                        <Guidance:YoYo.downPitch />
                        <Arg Name="YoYoDownPitch" />
                    </Setting>
                    <Setting>
                        <Guidance:YoYo.upPitch />
                        <Arg Name="YoYoUpPitch" />
                    </Setting>
                </Guidance:YoYo>
                <Aggregate Id="YoYoFlip">
                    <When>
                        <Science:PAR_Licor.loadAtStartup />
                        <And>
                            <Arg Name="YoYoLightTerminate" />
                        </And>
                        <And>
                            <Science:PAR_Licor.downwelling_photosynthetic_photon_flux_in_sea_water />
                            <Lt>
                                <Arg Name="YoYoLightTerminateThreshold" />
                            </Lt>
                        </And>
                        <And>
                            <Universal:platform_pitch_angle />
                            <Lt>
                                <Units:degree />
                                <Value>1</Value>
                            </Lt>
                        </And>
                    </When>
                    <Guidance:Pitch>
                        <Parallel />
                        <Setting>
                            <Guidance:Pitch.pitch />
                            <Arg Name="YoYoUpPitch" />
                        </Setting>
                    </Guidance:Pitch>
                </Aggregate>
                <Aggregate Id="StopIfTriggered">
                    <When>
                        <Arg Name="Science:TriggeredOnChl" />
                    </When>
                    <Guidance:Execute>
                        <Sequence />
                        <Setting>
                            <Guidance:Execute.command />
                            <String>stop</String>
                        </Setting>
                    </Guidance:Execute>
                </Aggregate>
            </Aggregate>
        </Aggregate>
    </Aggregate>
    <Aggregate Id="Lap">
        <Sequence Repeat="Repeat" />
        <Aggregate Id="Dive">
            <While>
                <Not>
                    <Arg Name="DiveMode" />
                    <Eq>
                        <Arg Name="DoingComms" />
                    </Eq>
                </Not>
            </While>
            <Call RefId="DiveCmd" PriorityHere="false" />
        </Aggregate>
        <Aggregate Id="Wpt1">
            <Sequence />
            <Guidance:Waypoint>
                <Sequence />
                <Setting>
                    <Guidance:Waypoint.latitude />
                    <Arg Name="Lat1" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.longitude />
                    <Arg Name="Lon1" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.captureRadius />
                    <Arg Name="CaptureRadius" />
                </Setting>
            </Guidance:Waypoint>
        </Aggregate>
        <Aggregate Id="Wpt2">
            <Sequence />
            <Guidance:Waypoint>
                <Sequence />
                <Setting>
                    <Guidance:Waypoint.latitude />
                    <Arg Name="Lat2" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.longitude />
                    <Arg Name="Lon2" />
                </Setting>
            </Guidance:Waypoint>
        </Aggregate>
        <Aggregate Id="Wpt3">
            <Sequence />
            <Guidance:Waypoint>
                <Sequence />
                <Setting>
                    <Guidance:Waypoint.latitude />
                    <Arg Name="Lat3" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.longitude />
                    <Arg Name="Lon3" />
                </Setting>
            </Guidance:Waypoint>
        </Aggregate>
        <Aggregate Id="Wpt4">
            <Sequence />
            <Guidance:Waypoint>
                <Sequence />
                <Setting>
                    <Guidance:Waypoint.latitude />
                    <Arg Name="Lat4" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.longitude />
                    <Arg Name="Lon4" />
                </Setting>
            </Guidance:Waypoint>
        </Aggregate>
        <Aggregate Id="Wpt5">
            <Sequence />
            <Guidance:Waypoint>
                <Sequence />
                <Setting>
                    <Guidance:Waypoint.latitude />
                    <Arg Name="Lat5" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.longitude />
                    <Arg Name="Lon5" />
                </Setting>
            </Guidance:Waypoint>
        </Aggregate>
        <Aggregate Id="Wpt6">
            <Sequence />
            <Guidance:Waypoint>
                <Sequence />
                <Setting>
                    <Guidance:Waypoint.latitude />
                    <Arg Name="Lat6" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.longitude />
                    <Arg Name="Lon6" />
                </Setting>
            </Guidance:Waypoint>
        </Aggregate>
        <Aggregate Id="Wpt7">
            <Sequence />
            <Guidance:Waypoint>
                <Sequence />
                <Setting>
                    <Guidance:Waypoint.latitude />
                    <Arg Name="Lat7" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.longitude />
                    <Arg Name="Lon7" />
                </Setting>
            </Guidance:Waypoint>
        </Aggregate>
    </Aggregate>
</Mission>

2025-06-05T14:14:43.013Z,1749132883.013 [MissionManager](INFO): DefineArg sci2.MissionTimeout = 2.000000 h
2025-06-05T14:14:43.017Z,1749132883.017 [MissionManager](INFO): DefineArg sci2.NeedCommsTime = 60.000000 min
2025-06-05T14:14:43.019Z,1749132883.019 [MissionManager](INFO): DefineArg sci2.Repeat = 1.000000 count
2025-06-05T14:14:43.021Z,1749132883.021 [MissionManager](INFO): DefineArg sci2.Lat1 = nan arcdeg
2025-06-05T14:14:43.024Z,1749132883.024 [MissionManager](INFO): DefineArg sci2.Lat2 = nan arcdeg
2025-06-05T14:14:43.026Z,1749132883.026 [MissionManager](INFO): DefineArg sci2.Lat3 = nan arcdeg
2025-06-05T14:14:43.028Z,1749132883.028 [MissionManager](INFO): DefineArg sci2.Lat4 = nan arcdeg
2025-06-05T14:14:43.030Z,1749132883.030 [MissionManager](INFO): DefineArg sci2.Lat5 = nan arcdeg
2025-06-05T14:14:43.032Z,1749132883.032 [MissionManager](INFO): DefineArg sci2.Lat6 = nan arcdeg
2025-06-05T14:14:43.035Z,1749132883.035 [MissionManager](INFO): DefineArg sci2.Lat7 = nan arcdeg
2025-06-05T14:14:43.037Z,1749132883.037 [MissionManager](INFO): DefineArg sci2.Lon1 = nan arcdeg
2025-06-05T14:14:43.039Z,1749132883.039 [MissionManager](INFO): DefineArg sci2.Lon2 = nan arcdeg
2025-06-05T14:14:43.041Z,1749132883.041 [MissionManager](INFO): DefineArg sci2.Lon3 = nan arcdeg
2025-06-05T14:14:43.083Z,1749132883.083 [MissionManager](INFO): DefineArg sci2.Lon4 = nan arcdeg
2025-06-05T14:14:43.086Z,1749132883.086 [MissionManager](INFO): DefineArg sci2.Lon5 = nan arcdeg
2025-06-05T14:14:43.092Z,1749132883.092 [MissionManager](INFO): DefineArg sci2.Lon6 = nan arcdeg
2025-06-05T14:14:43.098Z,1749132883.098 [MissionManager](INFO): DefineArg sci2.Lon7 = nan arcdeg
2025-06-05T14:14:43.101Z,1749132883.101 [MissionManager](INFO): DefineArg sci2.Speed = 1.000000 m/s
2025-06-05T14:14:43.112Z,1749132883.112 [MissionManager](INFO): DefineArg sci2.CaptureRadius = nan m
2025-06-05T14:14:43.114Z,1749132883.114 [MissionManager](INFO): DefineArg sci2.YoYoMinDepth = 2.000000 m
2025-06-05T14:14:43.120Z,1749132883.120 [MissionManager](INFO): DefineArg sci2.YoYoMaxDepth = 200.000000 m
2025-06-05T14:14:43.127Z,1749132883.127 [MissionManager](INFO): DefineArg sci2.YoYoMinAltitude = 9.000000 m
2025-06-05T14:14:43.129Z,1749132883.129 [MissionManager](INFO): DefineArg sci2.YoYoUpPitch = 20.000000 arcdeg
2025-06-05T14:14:43.152Z,1749132883.152 [MissionManager](INFO): DefineArg sci2.YoYoDownPitch = -20.000000 arcdeg
2025-06-05T14:14:43.162Z,1749132883.162 [MissionManager](INFO): DefineArg sci2.SurfaceDiveSpeed = nan m/s
2025-06-05T14:14:43.165Z,1749132883.165 [MissionManager](INFO): DefineArg sci2.SurfaceThreshold = 1.000000 m
2025-06-05T14:14:43.168Z,1749132883.168 [MissionManager](INFO): DefineArg sci2.SinkOffSurface = 0 bool
2025-06-05T14:14:43.214Z,1749132883.214 [MissionManager](INFO): DefineArg sci2.SinkDepth = 10.000000 m
2025-06-05T14:14:43.217Z,1749132883.217 [MissionManager](INFO): DefineArg sci2.SinkDepthTimeout = 10.000000 min
2025-06-05T14:14:43.227Z,1749132883.227 [MissionManager](INFO): DefineArg sci2.YoYoLightTerminate = 0 bool
2025-06-05T14:14:43.229Z,1749132883.229 [MissionManager](INFO): DefineArg sci2.YoYoLightTerminateThreshold = 0.100000 umol/s/m2
2025-06-05T14:14:43.243Z,1749132883.243 [MissionManager](INFO): DefineArg sci2.PeakDetectChl = 0 bool
2025-06-05T14:14:43.245Z,1749132883.245 [MissionManager](INFO): DefineArg sci2.ShallowBoundChl = nan m
2025-06-05T14:14:43.256Z,1749132883.256 [MissionManager](INFO): DefineArg sci2.DeepBoundChl = nan m
2025-06-05T14:14:43.258Z,1749132883.258 [MissionManager](INFO): DefineArg sci2.ChlThreshTrigger = 0 bool
2025-06-05T14:14:43.275Z,1749132883.275 [MissionManager](INFO): DefineArg sci2.ChlLowerThreshold = nan ug/l
2025-06-05T14:14:43.278Z,1749132883.278 [MissionManager](INFO): DefineArg sci2.ChlUpperThreshold = nan ug/l
2025-06-05T14:14:43.289Z,1749132883.289 [MissionManager](INFO): DefineArg sci2.NumProfilesThreshold = 5.000000 count
2025-06-05T14:14:43.312Z,1749132883.312 [MissionManager](INFO): DefineArg sci2.BuoyancyNeutral = 245.649597 cc
2025-06-05T14:14:43.319Z,1749132883.319 [MissionManager](INFO): DefineArg sci2.MassDefault = 3.127619 cm
2025-06-05T14:14:43.321Z,1749132883.321 [MissionManager](INFO): DefineArg sci2.MinAltitude = 5.000000 m
2025-06-05T14:14:43.335Z,1749132883.335 [MissionManager](INFO): DefineArg sci2.MaxDepth = 205.000000 m
2025-06-05T14:14:43.337Z,1749132883.337 [MissionManager](INFO): DefineArg sci2.MinOffshore = 2.000000 km
2025-06-05T14:14:43.339Z,1749132883.339 [MissionManager](INFO): DefineOutput sci2.DiveMode = 0.000000 count
2025-06-05T14:14:43.342Z,1749132883.342 [MissionManager](INFO): DefineOutput sci2.DoingComms = 0.000000 count
2025-06-05T14:14:43.348Z,1749132883.348 [MissionManager](INFO): DefineOutput sci2.SurfaceSink = 1.000000 count
2025-06-05T14:14:43.355Z,1749132883.355 [MissionManager](INFO): DefineOutput sci2.YoYo = 2.000000 count
2025-06-05T14:14:43.355Z,1749132883.355 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-06-05T14:14:43.355Z,1749132883.355 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-06-05T14:14:43.369Z,1749132883.369 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-06-05T14:14:47.199Z,1749132887.199 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/Science.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="Science">
    <DefineArg Name="PeakDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="TimeWindowPeakReport">
        <Units:minute />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="HighestChlPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestSaltPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestOilPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="PatchTracking">
        <False />
    </DefineArg>
    <DefineArg Name="FilterWidthHorizontal">
        <Units:count />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesSlidingwindow">
        <Units:count />
        <Value>100</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionHorizontal">
        <Units:percent />
        <Value>80</Value>
    </DefineArg>
    <DefineArg Name="PeakDetectNO3Active">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectOilActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectFDOMActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectSalinityActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDinoflagellatesActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreDinoflagellatesActive">
        <False />
    </DefineArg>
    <DefineArg Name="UpwardDerivativeOfTemperatureActive">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledAanderaaO2">
        <Science:Aanderaa_O2.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledNeilBrown">
        <Science:CTD_NeilBrown.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledRBRTridente">
        <Science:RBRTridente.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledSeabird">
        <Science:CTD_Seabird.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsBB2FL">
        <Science:WetLabsBB2FL.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsSeaOWL_UV_A">
        <Science:WetLabsSeaOWL_UV_A.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsUBAT">
        <Science:WetLabsUBAT.loadAtStartup />
    </DefineArg>
    <DefineArg Name="LowPassWindowLength">
        <Units:count />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="MedianFilterLen">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="ShallowBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DeepBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DepChangeThreshForAttitudeFlip">
        <Units:meter />
        <Value>2.0</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionVerticalAscent">
        <Units:percent />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionVerticalDescent">
        <Units:percent />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlPeakThresh">
        <Units:microgram_per_liter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="ChlThreshTriggerActive">
        <False />
    </DefineArg>
    <DefineArg Name="ChlLowerThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlUpperThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesThresh">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreLMavgROIPeakThresh">
        <Units:count_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreHMavgROIPeakThresh">
        <Units:count_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreDiatomsPeakThresh">
        <Units:count_per_milliliter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreDinoflagellatesPeakThresh">
        <Units:count_per_milliliter />
        <Value>0</Value>
    </DefineArg>
    <DefineOutput Name="GoDown">
        <True />
    </DefineOutput>
    <DefineOutput Name="PeakChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3">
        <Units:micromole_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Depth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOil">
        <Units:kilogram_per_cubic_meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOM">
        <Units:part_per_billion />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatoms">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatoms">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOil">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="TriggeredOnChl">
        <False />
    </DefineOutput>
    <DefineOutput Name="ChlTriggering">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledAanderaaO2" />
        </While>
        <Universal:mass_concentration_of_oxygen_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
        </While>
        <Universal:sea_water_temperature />
        <Universal:sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledSeabird" />
        </While>
        <Science:CTD_Seabird.sea_water_temperature />
        <Science:CTD_Seabird.sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
            <And>
                <Arg Name="UpwardDerivativeOfTemperatureActive" />
            </And>
        </While>
        <Universal:upward_derivative_of_sea_water_temperature />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsBB2FL" />
            <Or>
                <Arg Name="EnabledRBRTridente" />
            </Or>
            <Or>
                <Arg Name="PeakDetectChlActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_chlorophyll_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsUBAT" />
        </While>
        <Science:WetLabsUBAT.average_bioluminescence />
    </ReadData>
    <ReadData Id="Read_Oil" Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsSeaOWL_UV_A" />
            <Or>
                <Arg Name="PeakDetectOilActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
    </ReadData>
    <Aggregate Id="OceanCurrent">
        <Sequence />
        <Estimation:CurrentEstimator>
            <Parallel />
        </Estimation:CurrentEstimator>
    </Aggregate>
    <Aggregate Id="PeakDetectChl">
        <While>
            <Arg Name="PeakDetectChlActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakChl">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectChl">
        <While>
            <Arg Name="EdgeDetectChlActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="ChlPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakChl">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgeChl">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgeChlDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgeChlTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgeChlLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgeChlLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, ChlPeakThresh, PeakChl, PeakChlDepth, EdgeChl, EdgeChlDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="ChlPeakThresh" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChlDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgeChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="EdgeChlDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
            <Arg Name="EdgeChl" />
            <Arg Name="EdgeChlDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestChlPeakReport">
        <While>
            <Arg Name="HighestChlPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakChlDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakChlLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakChlLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchChl">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchChlDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchChlLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchChlLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchChlDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectNO3">
        <While>
            <Arg Name="PeakDetectNO3Active" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mole_concentration_of_nitrate_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakNO3">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakNO3Depth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakNO3Latitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakNO3Longitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakNO3" />
            <Arg Name="PeakNO3Depth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectOil">
        <While>
            <Arg Name="PeakDetectOilActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakOil">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakOilDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakOilLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakOilLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakOil" />
            <Arg Name="PeakOilDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestOilPeakReport">
        <While>
            <Arg Name="HighestOilPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakOil" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakOilDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakOilLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakOilLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchOil">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchOilDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchOilLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchOilLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchOilDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectFDOM">
        <While>
            <Arg Name="PeakDetectFDOMActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:concentration_of_colored_dissolved_organic_matter_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakFDOM">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakFDOMDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakFDOMTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakFDOMLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakFDOMLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakFDOM" />
            <Arg Name="PeakFDOMDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectSalinity">
        <While>
            <Arg Name="PeakDetectSalinityActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:sea_water_salinity />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakSalt">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakSaltDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakSaltTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakSaltLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakSaltLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakSalt" />
            <Arg Name="PeakSaltDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestSaltPeakReport">
        <While>
            <Arg Name="HighestSaltPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakSalt" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakSaltDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakSaltLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakSaltLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchSalt">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchSaltDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchSaltLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchSaltLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchSaltDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="EdgeDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreLMavgROIPeakThresh, PeakPlanktivoreLMavgROI, PeakPlanktivoreLMavgROIDepth, EdgePlanktivoreLMavgROI, EdgePlanktivoreLMavgROIDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreHMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_HM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="EdgeDetectPlanktivoreHMavgROIActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_HM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreHMavgROIPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROI">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreHMavgROIPeakThresh, PeakPlanktivoreHMavgROI, PeakPlanktivoreHMavgROIDepth, EdgePlanktivoreHMavgROI, EdgePlanktivoreHMavgROIDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreHMavgROIPeakThresh" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreHMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="EdgePlanktivoreHMavgROIDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
            <Arg Name="EdgePlanktivoreHMavgROI" />
            <Arg Name="EdgePlanktivoreHMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="PeakDetectPlanktivoreDiatomsActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_diatoms</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="EdgeDetectPlanktivoreDiatomsActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_diatoms</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreDiatomsPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatoms">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreDiatomsPeakThresh, PeakPlanktivoreDiatoms, PeakPlanktivoreDiatomsDepth, EdgePlanktivoreDiatoms, EdgePlanktivoreDiatomsDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreDiatomsPeakThresh" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreDiatoms" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="EdgePlanktivoreDiatomsDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
            <Arg Name="EdgePlanktivoreDiatoms" />
            <Arg Name="EdgePlanktivoreDiatomsDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="PeakDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDinoflagellates">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="EdgeDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreDinoflagellatesPeakThresh" />
            </Setting>
            <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>

2025-06-05T14:14:47.295Z,1749132887.295 [MissionManager](INFO): DefineArg sci2:Science.PeakDetectChlActive = 0 bool
2025-06-05T14:14:47.297Z,1749132887.297 [MissionManager](INFO): DefineArg sci2:Science.EdgeDetectChlActive = 0 bool
2025-06-05T14:14:47.303Z,1749132887.303 [MissionManager](INFO): DefineArg sci2:Science.TimeWindowPeakReport = nan min
2025-06-05T14:14:47.305Z,1749132887.305 [MissionManager](INFO): DefineArg sci2:Science.HighestChlPeakReportActive = 0 bool
2025-06-05T14:14:47.311Z,1749132887.311 [MissionManager](INFO): DefineArg sci2:Science.HighestSaltPeakReportActive = 0 bool
2025-06-05T14:14:47.313Z,1749132887.313 [MissionManager](INFO): DefineArg sci2:Science.HighestOilPeakReportActive = 0 bool
2025-06-05T14:14:47.315Z,1749132887.315 [MissionManager](INFO): DefineArg sci2:Science.PatchTracking = 0 bool
2025-06-05T14:14:47.318Z,1749132887.318 [MissionManager](INFO): DefineArg sci2:Science.FilterWidthHorizontal = 3.000000 count
2025-06-05T14:14:47.341Z,1749132887.341 [MissionManager](INFO): DefineArg sci2:Science.NumProfilesSlidingwindow = 100.000000 count
2025-06-05T14:14:47.355Z,1749132887.355 [MissionManager](INFO): DefineArg sci2:Science.OffPeakFractionHorizontal = 80.000000 %
2025-06-05T14:14:47.360Z,1749132887.360 [MissionManager](INFO): DefineArg sci2:Science.PeakDetectNO3Active = 0 bool
2025-06-05T14:14:47.365Z,1749132887.365 [MissionManager](INFO): DefineArg sci2:Science.PeakDetectOilActive = 0 bool
2025-06-05T14:14:47.396Z,1749132887.396 [MissionManager](INFO): DefineArg sci2:Science.PeakDetectFDOMActive = 0 bool
2025-06-05T14:14:47.398Z,1749132887.398 [MissionManager](INFO): DefineArg sci2:Science.PeakDetectSalinityActive = 0 bool
2025-06-05T14:14:47.404Z,1749132887.404 [MissionManager](INFO): DefineArg sci2:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-06-05T14:14:47.406Z,1749132887.406 [MissionManager](INFO): DefineArg sci2:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-06-05T14:14:47.408Z,1749132887.408 [MissionManager](INFO): DefineArg sci2:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-06-05T14:14:47.418Z,1749132887.418 [MissionManager](INFO): DefineArg sci2:Science.EdgeDetectPlanktivoreHMavgROIActive = 0 bool
2025-06-05T14:14:47.420Z,1749132887.420 [MissionManager](INFO): DefineArg sci2:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-06-05T14:14:47.426Z,1749132887.426 [MissionManager](INFO): DefineArg sci2:Science.EdgeDetectPlanktivoreDiatomsActive = 0 bool
2025-06-05T14:14:47.428Z,1749132887.428 [MissionManager](INFO): DefineArg sci2:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-06-05T14:14:47.435Z,1749132887.435 [MissionManager](INFO): DefineArg sci2:Science.EdgeDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-06-05T14:14:47.437Z,1749132887.437 [MissionManager](INFO): DefineArg sci2:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-06-05T14:14:47.443Z,1749132887.443 [MissionManager](INFO): DefineArg sci2:Science.EnabledAanderaaO2 = 0 bool
2025-06-05T14:14:47.446Z,1749132887.446 [MissionManager](INFO): DefineArg sci2:Science.EnabledNeilBrown = 0 bool
2025-06-05T14:14:47.454Z,1749132887.454 [MissionManager](INFO): DefineArg sci2:Science.EnabledRBRTridente = 0 bool
2025-06-05T14:14:47.479Z,1749132887.479 [MissionManager](INFO): DefineArg sci2:Science.EnabledSeabird = 1 bool
2025-06-05T14:14:47.481Z,1749132887.481 [MissionManager](INFO): DefineArg sci2:Science.EnabledWetLabsBB2FL = 1 bool
2025-06-05T14:14:47.488Z,1749132887.488 [MissionManager](INFO): DefineArg sci2:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-06-05T14:14:47.495Z,1749132887.495 [MissionManager](INFO): DefineArg sci2:Science.EnabledWetLabsUBAT = 0 bool
2025-06-05T14:14:47.497Z,1749132887.497 [MissionManager](INFO): DefineArg sci2:Science.LowPassWindowLength = 20.000000 count
2025-06-05T14:14:47.504Z,1749132887.504 [MissionManager](INFO): DefineArg sci2:Science.MedianFilterLen = 5.000000 count
2025-06-05T14:14:47.506Z,1749132887.506 [MissionManager](INFO): DefineArg sci2:Science.ShallowBound = nan m
2025-06-05T14:14:47.512Z,1749132887.512 [MissionManager](INFO): DefineArg sci2:Science.DeepBound = nan m
2025-06-05T14:14:47.519Z,1749132887.519 [MissionManager](INFO): DefineArg sci2:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-06-05T14:14:47.521Z,1749132887.521 [MissionManager](INFO): DefineArg sci2:Science.OffPeakFractionVerticalAscent = nan %
2025-06-05T14:14:47.535Z,1749132887.535 [MissionManager](INFO): DefineArg sci2:Science.OffPeakFractionVerticalDescent = nan %
2025-06-05T14:14:47.537Z,1749132887.537 [MissionManager](INFO): DefineArg sci2:Science.ChlPeakThresh = 0.000000 ug/l
2025-06-05T14:14:47.544Z,1749132887.544 [MissionManager](INFO): DefineArg sci2:Science.ChlThreshTriggerActive = 0 bool
2025-06-05T14:14:47.546Z,1749132887.546 [MissionManager](INFO): DefineArg sci2:Science.ChlLowerThresh = nan ug/l
2025-06-05T14:14:47.553Z,1749132887.553 [MissionManager](INFO): DefineArg sci2:Science.ChlUpperThresh = nan ug/l
2025-06-05T14:14:47.564Z,1749132887.564 [MissionManager](INFO): DefineArg sci2:Science.NumProfilesThresh = 5.000000 count
2025-06-05T14:14:47.566Z,1749132887.566 [MissionManager](INFO): DefineArg sci2:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-06-05T14:14:47.572Z,1749132887.572 [MissionManager](INFO): DefineArg sci2:Science.PlanktivoreHMavgROIPeakThresh = 0.000000 count/s
2025-06-05T14:14:47.579Z,1749132887.579 [MissionManager](INFO): DefineArg sci2:Science.PlanktivoreDiatomsPeakThresh = 0.000000 count/ml
2025-06-05T14:14:47.581Z,1749132887.581 [MissionManager](INFO): DefineArg sci2:Science.PlanktivoreDinoflagellatesPeakThresh = 0.000000 count/ml
2025-06-05T14:14:47.591Z,1749132887.591 [MissionManager](INFO): DefineOutput sci2:Science.GoDown = 1 bool
2025-06-05T14:14:47.594Z,1749132887.594 [MissionManager](INFO): DefineOutput sci2:Science.PeakChl = nan ug/l
2025-06-05T14:14:47.600Z,1749132887.600 [MissionManager](INFO): DefineOutput sci2:Science.PeakChlDepth = nan m
2025-06-05T14:14:47.606Z,1749132887.606 [MissionManager](INFO): DefineOutput sci2:Science.PeakChlTemperature = nan degC
2025-06-05T14:14:47.620Z,1749132887.620 [MissionManager](INFO): DefineOutput sci2:Science.PeakChlLatitude = nan arcdeg
2025-06-05T14:14:47.655Z,1749132887.655 [MissionManager](INFO): DefineOutput sci2:Science.PeakChlLongitude = nan arcdeg
2025-06-05T14:14:47.657Z,1749132887.657 [MissionManager](INFO): DefineOutput sci2:Science.EdgeChl = nan ug/l
2025-06-05T14:14:47.668Z,1749132887.668 [MissionManager](INFO): DefineOutput sci2:Science.EdgeChlDepth = nan m
2025-06-05T14:14:47.683Z,1749132887.683 [MissionManager](INFO): DefineOutput sci2:Science.EdgeChlTemperature = nan degC
2025-06-05T14:14:47.691Z,1749132887.691 [MissionManager](INFO): DefineOutput sci2:Science.EdgeChlLatitude = nan arcdeg
2025-06-05T14:14:47.694Z,1749132887.694 [MissionManager](INFO): DefineOutput sci2:Science.EdgeChlLongitude = nan arcdeg
2025-06-05T14:14:47.708Z,1749132887.708 [MissionManager](INFO): DefineOutput sci2:Science.PeakNO3 = nan umol/l
2025-06-05T14:14:47.719Z,1749132887.719 [MissionManager](INFO): DefineOutput sci2:Science.PeakNO3Depth = nan m
2025-06-05T14:14:47.721Z,1749132887.721 [MissionManager](INFO): DefineOutput sci2:Science.PeakNO3Latitude = nan arcdeg
2025-06-05T14:14:47.736Z,1749132887.736 [MissionManager](INFO): DefineOutput sci2:Science.PeakNO3Longitude = nan arcdeg
2025-06-05T14:14:47.738Z,1749132887.738 [MissionManager](INFO): DefineOutput sci2:Science.PeakOil = nan kg/m3
2025-06-05T14:14:47.745Z,1749132887.745 [MissionManager](INFO): DefineOutput sci2:Science.PeakOilDepth = nan m
2025-06-05T14:14:47.772Z,1749132887.772 [MissionManager](INFO): DefineOutput sci2:Science.PeakOilLatitude = nan arcdeg
2025-06-05T14:14:47.788Z,1749132887.788 [MissionManager](INFO): DefineOutput sci2:Science.PeakOilLongitude = nan arcdeg
2025-06-05T14:14:47.798Z,1749132887.798 [MissionManager](INFO): DefineOutput sci2:Science.PeakFDOM = nan ppb
2025-06-05T14:14:47.801Z,1749132887.801 [MissionManager](INFO): DefineOutput sci2:Science.PeakFDOMDepth = nan m
2025-06-05T14:14:47.815Z,1749132887.815 [MissionManager](INFO): DefineOutput sci2:Science.PeakFDOMTemperature = nan degC
2025-06-05T14:14:47.817Z,1749132887.817 [MissionManager](INFO): DefineOutput sci2:Science.PeakFDOMLatitude = nan arcdeg
2025-06-05T14:14:47.822Z,1749132887.822 [MissionManager](INFO): DefineOutput sci2:Science.PeakFDOMLongitude = nan arcdeg
2025-06-05T14:14:47.840Z,1749132887.840 [MissionManager](INFO): DefineOutput sci2:Science.PeakSalt = nan psu
2025-06-05T14:14:47.847Z,1749132887.847 [MissionManager](INFO): DefineOutput sci2:Science.PeakSaltDepth = nan m
2025-06-05T14:14:47.849Z,1749132887.849 [MissionManager](INFO): DefineOutput sci2:Science.PeakSaltTemperature = nan degC
2025-06-05T14:14:47.864Z,1749132887.864 [MissionManager](INFO): DefineOutput sci2:Science.PeakSaltLatitude = nan arcdeg
2025-06-05T14:14:47.870Z,1749132887.870 [MissionManager](INFO): DefineOutput sci2:Science.PeakSaltLongitude = nan arcdeg
2025-06-05T14:14:47.873Z,1749132887.873 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-06-05T14:14:47.879Z,1749132887.879 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-06-05T14:14:47.882Z,1749132887.882 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-06-05T14:14:47.892Z,1749132887.892 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-06-05T14:14:47.899Z,1749132887.899 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-06-05T14:14:47.901Z,1749132887.901 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-06-05T14:14:47.903Z,1749132887.903 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-06-05T14:14:47.906Z,1749132887.906 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-06-05T14:14:47.916Z,1749132887.916 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-06-05T14:14:47.924Z,1749132887.924 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-06-05T14:14:47.926Z,1749132887.926 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-06-05T14:14:47.932Z,1749132887.932 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-06-05T14:14:47.939Z,1749132887.939 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-06-05T14:14:47.942Z,1749132887.942 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-06-05T14:14:47.944Z,1749132887.944 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-06-05T14:14:47.951Z,1749132887.951 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreHMavgROI = nan count/s
2025-06-05T14:14:47.953Z,1749132887.953 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreHMavgROIDepth = nan m
2025-06-05T14:14:47.960Z,1749132887.960 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreHMavgROITemperature = nan degC
2025-06-05T14:14:47.962Z,1749132887.962 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreHMavgROILatitude = nan arcdeg
2025-06-05T14:14:47.968Z,1749132887.968 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreHMavgROILongitude = nan arcdeg
2025-06-05T14:14:47.973Z,1749132887.973 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-06-05T14:14:47.987Z,1749132887.987 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-06-05T14:14:47.990Z,1749132887.990 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-06-05T14:14:47.996Z,1749132887.996 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-06-05T14:14:48.014Z,1749132888.014 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-06-05T14:14:48.017Z,1749132888.017 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreDiatoms = nan count/ml
2025-06-05T14:14:48.023Z,1749132888.023 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreDiatomsDepth = nan m
2025-06-05T14:14:48.025Z,1749132888.025 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreDiatomsTemperature = nan degC
2025-06-05T14:14:48.029Z,1749132888.029 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreDiatomsLatitude = nan arcdeg
2025-06-05T14:14:48.077Z,1749132888.077 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreDiatomsLongitude = nan arcdeg
2025-06-05T14:14:48.089Z,1749132888.089 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-06-05T14:14:48.102Z,1749132888.102 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-06-05T14:14:48.131Z,1749132888.131 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-06-05T14:14:48.143Z,1749132888.143 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-06-05T14:14:48.155Z,1749132888.155 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-06-05T14:14:48.165Z,1749132888.165 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreDinoflagellates = nan count/ml
2025-06-05T14:14:48.180Z,1749132888.180 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreDinoflagellatesDepth = nan m
2025-06-05T14:14:48.196Z,1749132888.196 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreDinoflagellatesTemperature = nan degC
2025-06-05T14:14:48.206Z,1749132888.206 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-06-05T14:14:48.210Z,1749132888.210 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-06-05T14:14:48.232Z,1749132888.232 [MissionManager](INFO): DefineOutput sci2:Science.PatchChl = nan ug/l
2025-06-05T14:14:48.237Z,1749132888.237 [MissionManager](INFO): DefineOutput sci2:Science.PatchChlDepth = nan m
2025-06-05T14:14:48.252Z,1749132888.252 [MissionManager](INFO): DefineOutput sci2:Science.PatchChlLatitude = nan arcdeg
2025-06-05T14:14:48.254Z,1749132888.254 [MissionManager](INFO): DefineOutput sci2:Science.PatchChlLongitude = nan arcdeg
2025-06-05T14:14:48.260Z,1749132888.260 [MissionManager](INFO): DefineOutput sci2:Science.PatchChlDistance = nan m
2025-06-05T14:14:48.267Z,1749132888.267 [MissionManager](INFO): DefineOutput sci2:Science.PatchSalt = nan psu
2025-06-05T14:14:48.282Z,1749132888.282 [MissionManager](INFO): DefineOutput sci2:Science.PatchSaltDepth = nan m
2025-06-05T14:14:48.285Z,1749132888.285 [MissionManager](INFO): DefineOutput sci2:Science.PatchSaltLatitude = nan arcdeg
2025-06-05T14:14:48.301Z,1749132888.301 [MissionManager](INFO): DefineOutput sci2:Science.PatchSaltLongitude = nan arcdeg
2025-06-05T14:14:48.310Z,1749132888.310 [MissionManager](INFO): DefineOutput sci2:Science.PatchSaltDistance = nan m
2025-06-05T14:14:48.312Z,1749132888.312 [MissionManager](INFO): DefineOutput sci2:Science.PatchOil = nan psu
2025-06-05T14:14:48.315Z,1749132888.315 [MissionManager](INFO): DefineOutput sci2:Science.PatchOilDepth = nan m
2025-06-05T14:14:48.317Z,1749132888.317 [MissionManager](INFO): DefineOutput sci2:Science.PatchOilLatitude = nan arcdeg
2025-06-05T14:14:48.324Z,1749132888.324 [MissionManager](INFO): DefineOutput sci2:Science.PatchOilLongitude = nan arcdeg
2025-06-05T14:14:48.339Z,1749132888.339 [MissionManager](INFO): DefineOutput sci2:Science.PatchOilDistance = nan m
2025-06-05T14:14:48.341Z,1749132888.341 [MissionManager](INFO): DefineOutput sci2:Science.TriggeredOnChl = 0 bool
2025-06-05T14:14:48.363Z,1749132888.363 [MissionManager](INFO): DefineOutput sci2:Science.ChlTriggering = nan ug/l
2025-06-05T14:14:48.409Z,1749132888.409 [sci2:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-05T14:14:48.502Z,1749132888.502 [sci2:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-06-05T14:14:48.569Z,1749132888.569 [sci2:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-06-05T14:14:48.613Z,1749132888.613 [sci2:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-05T14:14:48.645Z,1749132888.645 [sci2:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-05T14:14:48.659Z,1749132888.659 [sci2:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-06-05T14:14:48.688Z,1749132888.688 [sci2:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-05T14:14:48.729Z,1749132888.729 [sci2:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-05T14:14:48.757Z,1749132888.757 [sci2:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-06-05T14:14:48.777Z,1749132888.777 [sci2:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-05T14:14:48.830Z,1749132888.830 [sci2:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-06-05T14:14:48.921Z,1749132888.921 [sci2:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-05T14:14:48.966Z,1749132888.966 [sci2:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-06-05T14:14:49.012Z,1749132889.012 [sci2:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-05T14:14:49.029Z,1749132889.029 [sci2:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-06-05T14:14:49.059Z,1749132889.059 [sci2:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-05T14:14:49.073Z,1749132889.073 [sci2:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-06-05T14:14:49.096Z,1749132889.096 [sci2:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-06-05T14:14:49.104Z,1749132889.104 [MissionManager](INFO): RedefineArg sci2:Science.PeakDetectChlActive = reader:sci2.PeakDetectChl
2025-06-05T14:14:49.106Z,1749132889.106 [MissionManager](INFO): RedefineArg sci2:Science.ShallowBound = reader:sci2.ShallowBoundChl
2025-06-05T14:14:49.109Z,1749132889.109 [MissionManager](INFO): RedefineArg sci2:Science.DeepBound = reader:sci2.DeepBoundChl
2025-06-05T14:14:49.111Z,1749132889.111 [MissionManager](INFO): RedefineArg sci2:Science.ChlThreshTriggerActive = reader:sci2.ChlThreshTrigger
2025-06-05T14:14:49.112Z,1749132889.112 [MissionManager](INFO): RedefineArg sci2:Science.ChlLowerThresh = reader:sci2.ChlLowerThreshold
2025-06-05T14:14:49.114Z,1749132889.114 [MissionManager](INFO): RedefineArg sci2:Science.ChlUpperThresh = reader:sci2.ChlUpperThreshold
2025-06-05T14:14:49.116Z,1749132889.116 [MissionManager](INFO): RedefineArg sci2:Science.NumProfilesThresh = reader:sci2.NumProfilesThreshold
2025-06-05T14:14:49.116Z,1749132889.116 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-06-05T14:14:49.116Z,1749132889.116 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-06-05T14:14:49.117Z,1749132889.117 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-06-05T14:14:49.407Z,1749132889.407 [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>

2025-06-05T14:14:49.412Z,1749132889.412 [MissionManager](INFO): DefineArg sci2:NeedComms.DiveInterval = 1.000000 h
2025-06-05T14:14:49.414Z,1749132889.414 [MissionManager](INFO): DefineArg sci2:NeedComms.WaitForPitchUp = 10.000000 min
2025-06-05T14:14:49.416Z,1749132889.416 [MissionManager](INFO): DefineArg sci2:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-06-05T14:14:49.419Z,1749132889.419 [MissionManager](INFO): DefineArg sci2:NeedComms.SurfaceDepthRate = nan m/s
2025-06-05T14:14:49.421Z,1749132889.421 [MissionManager](INFO): DefineArg sci2:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-06-05T14:14:49.424Z,1749132889.424 [MissionManager](INFO): DefineArg sci2:NeedComms.SurfacingTimeout = 1000.000000 s
2025-06-05T14:14:49.426Z,1749132889.426 [MissionManager](INFO): DefineArg sci2:NeedComms.GPSTimeout = 7.000000 min
2025-06-05T14:14:49.428Z,1749132889.428 [MissionManager](INFO): DefineArg sci2:NeedComms.CommsTimeout = 30.000000 min
2025-06-05T14:14:49.434Z,1749132889.434 [sci2:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-06-05T14:14:49.477Z,1749132889.477 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-06-05T14:14:49.477Z,1749132889.477 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-06-05T14:14:49.483Z,1749132889.483 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-06-05T14:14:49.564Z,1749132889.564 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>1.5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-06-05T14:14:49.569Z,1749132889.569 [MissionManager](INFO): DefineArg sci2:StandardEnvelopes.MinAltitude = 5.000000 m
2025-06-05T14:14:49.572Z,1749132889.572 [MissionManager](INFO): DefineArg sci2:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2025-06-05T14:14:49.574Z,1749132889.574 [MissionManager](INFO): DefineArg sci2:StandardEnvelopes.MaxDepth = 200.000000 m
2025-06-05T14:14:49.576Z,1749132889.576 [MissionManager](INFO): DefineArg sci2:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-06-05T14:14:49.577Z,1749132889.577 [sci2:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-06-05T14:14:49.583Z,1749132889.583 [sci2:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-06-05T14:14:49.589Z,1749132889.589 [sci2:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-06-05T14:14:49.598Z,1749132889.598 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-06-05T14:14:49.598Z,1749132889.598 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-06-05T14:14:49.599Z,1749132889.599 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-06-05T14:14:49.678Z,1749132889.678 [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>

2025-06-05T14:14:49.700Z,1749132889.700 [MissionManager](INFO): DefineArg sci2:BackseatDriver.EnableBackseat = 0 bool
2025-06-05T14:14:49.702Z,1749132889.702 [sci2:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-06-05T14:14:49.717Z,1749132889.717 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-06-05T14:14:49.717Z,1749132889.717 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-06-05T14:14:49.727Z,1749132889.727 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-06-05T14:14:49.860Z,1749132889.860 [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>

2025-06-05T14:14:49.864Z,1749132889.864 [MissionManager](INFO): DefineArg sci2:PowerOnly.SampleAll = 0 bool
2025-06-05T14:14:49.866Z,1749132889.866 [MissionManager](INFO): DefineArg sci2:PowerOnly.SampleLoad1 = 0 bool
2025-06-05T14:14:49.868Z,1749132889.868 [MissionManager](INFO): DefineArg sci2:PowerOnly.SampleLoad2 = 0 bool
2025-06-05T14:14:49.870Z,1749132889.870 [MissionManager](INFO): DefineArg sci2:PowerOnly.SampleLoad3 = 0 bool
2025-06-05T14:14:49.872Z,1749132889.872 [MissionManager](INFO): DefineArg sci2:PowerOnly.EnabledPowerOnly = 1 bool
2025-06-05T14:14:49.879Z,1749132889.879 [sci2:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-06-05T14:14:49.892Z,1749132889.892 [sci2:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-06-05T14:14:49.918Z,1749132889.918 [sci2:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Construct.
2025-06-05T14:14:49.922Z,1749132889.922 [sci2:DiveCmd:SurfaceSink:sink:D.Pitch](DEBUG): Construct.
2025-06-05T14:14:49.944Z,1749132889.944 [sci2:DiveCmd:YoYoDive:dive:A.Pitch](DEBUG): Construct.
2025-06-05T14:14:49.951Z,1749132889.951 [sci2:DiveCmd:YoYoDive:dive:B.Buoyancy](DEBUG): Construct Buoyancy.
2025-06-05T14:14:49.956Z,1749132889.956 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:SurfaceDive:SurfaceSpeed:A.SetSpeed](DEBUG): Construct.
2025-06-05T14:14:49.961Z,1749132889.961 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:ProfileSpeed:A.SetSpeed](DEBUG): Construct.
2025-06-05T14:14:49.964Z,1749132889.964 [sci2:DiveCmd:YoYoDive:dive:D.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-06-05T14:14:49.972Z,1749132889.972 [sci2:DiveCmd:YoYoDive:dive:E.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-06-05T14:14:49.977Z,1749132889.977 [sci2:DiveCmd:YoYoDive:dive:F.YoYo](DEBUG): Construct YoYo.
2025-06-05T14:14:49.986Z,1749132889.986 [sci2:DiveCmd:YoYoDive:dive:YoYoFlip:A.Pitch](DEBUG): Construct.
2025-06-05T14:14:49.992Z,1749132889.992 [sci2:DiveCmd:YoYoDive:dive:StopIfTriggered:A.Execute](DEBUG): Construct Execute.
2025-06-05T14:14:49.997Z,1749132889.997 [sci2:Lap:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-06-05T14:14:50.016Z,1749132890.016 [sci2:Lap:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-06-05T14:14:50.022Z,1749132890.022 [sci2:Lap:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-06-05T14:14:50.028Z,1749132890.028 [sci2:Lap:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-06-05T14:14:50.035Z,1749132890.035 [sci2:Lap:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-06-05T14:14:50.046Z,1749132890.046 [sci2:Lap:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-06-05T14:14:50.101Z,1749132890.101 [sci2:Lap:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-06-05T14:14:50.253Z,1749132890.253 [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.

#! TethysL version initially based on automated translation from original Science/sci2.xml
#! and then (syntactically) simplified with use of array/macro extensions in TethysL.

mission sci2 {
  """
  Vehicle yo-yo's to the specified waypoints, with science turned on.
  """

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

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

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

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

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

    Speed = 1 meter_per_second
      """
      Speed while performing the YoYo behavior.
      """

    CaptureRadius = NaN meter
      """
      Use in Waypoint behavior.
      """

    YoYoMinDepth = 2 meter
      """
      Minimum depth while performing the YoYo behavior.
      """

    YoYoMaxDepth = 200 meter
      """
      Maximum depth while performing the YoYo behavior.
      """

    YoYoMinAltitude = 9 meter
      """
      Minimum altitude while performing the YoYo behavior (for
      bottom-terminated YoYos).
      """

    YoYoUpPitch = 20 degree
      """
      Vehicle up pitch while performing the YoYo behavior.
      """

    YoYoDownPitch = -20 degree
      """
      Vehicle down pitch while performing the YoYo behavior.
      """

    SurfaceDiveSpeed = NaN meter_per_second
      """
      Vehicle speed to get off of surface, same as speed if skipped
      """

    SurfaceThreshold = Control:VerticalControl.surfaceThreshold
      """
      Depth at which to return to normal speed, skipped if SurfaceDiveSpeed NaN
      """

    SinkOffSurface = false
      """
      If true, use buoyancy only to decend to SinkDepth before driving to first target depth
      """

    SinkDepth = 10 meter
      """
      Initial depth to decend using only buoyancy before driving
      """

    SinkDepthTimeout = 10 minute
      """
      Max wait time for the vehicle to reach the target depth
      """

    YoYoLightTerminate = false
      """
      Set true to terminate dive once PAR value falls below threshold.
      """

    YoYoLightTerminateThreshold = 0.1 micromole_per_second_per_square_meter
      """
      Threshold of PAR output at which pitch command will flip positive if vehicle is pitched down.
      """

    PeakDetectChl = false
      """
      Whether to enable peak chl detection on each yo-yo profile
      """

    ShallowBoundChl = NaN meter
      """
      Used only when PeakDetectChl is true. Shallow depth bound for peak chl detection
      """

    DeepBoundChl = NaN meter
      """
      Used only when PeakDetectChl is true. Deep depth bound for peak chl detection
      """

    ChlThreshTrigger = false
      """
      Whether to enable chl threshold triggering
      """

    ChlLowerThreshold = NaN microgram_per_liter
      """
      Used only when ChlThreshTrigger is true. Triggered when peak chl values on NumProfilesThreshold consecutive yo-yo profiles fall in [ChllowerThreshold ChlUpperThreshold]. ChllowerThreshold is ignored if NaN.
      """

    ChlUpperThreshold = NaN microgram_per_liter
      """
      Used only when ChlThreshTrigger is true. Triggered when peak chl values on NumProfilesThreshold consecutive yo-yo profiles fall in [ChllowerThreshold ChlUpperThreshold]. ChlUpperThreshold is ignored if NaN.
      """

    NumProfilesThreshold = 5 count
      """
      Used only when ChlThreshTrigger is true. Triggered when peak chl values on NumProfilesThreshold consecutive yo-yo profiles fall in [ChllowerThreshold ChlUpperThreshold]. ChlUpperThreshold is ignored if NaN.
      """

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

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

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

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

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

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

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

    SurfaceSink = 1 count
      """
      Mission variable (don't change). The mission will run in this mode
      when sinking from the surface using only buoyancy.
      """

    YoYo = 2 count
      """
      Mission variable (don't change). The mission will run in this mode
      when performing the profiles.
      """
  }

  timeout duration=MissionTimeout

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

    redefineArg PeakDetectChlActive = PeakDetectChl
    redefineArg ShallowBound = ShallowBoundChl
    redefineArg DeepBound = DeepBoundChl
    redefineArg ChlThreshTriggerActive = ChlThreshTrigger
    redefineArg ChlLowerThresh = ChlLowerThreshold
    redefineArg ChlUpperThresh = ChlUpperThreshold
    redefineArg NumProfilesThresh = NumProfilesThreshold
  }

  insert id="NeedComms" Insert/NeedComms.tl

  assign in sequence NeedComms:DiveInterval = NeedCommsTime

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

    assign in sequence DiveMode = DoingComms

    call priorityHere=false refId="NeedComms"

    aggregate setInitial {
      run in sequence

      break if ( SinkOffSurface )

      assign in sequence DiveMode = YoYo
    }

    aggregate setSink {
      run in sequence

      break if ( not SinkOffSurface )

      assign in sequence DiveMode = SurfaceSink
    }
  }

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

  aggregate DiveCmd {
    run when ( called )

    aggregate SurfaceSink {
      run while ( DiveMode == SurfaceSink )

      aggregate sink {
        run in sequence

        behavior Guidance:Buoyancy id="BuoyancyHold" {
          run in parallel

          set position = NaN cc
        }

        behavior Guidance:SetSpeed {
          run in parallel

          set speed = 0 m/s
        }

        syslog info "Sinking to " + SinkDepth~meter

        behavior Guidance:Pitch {
          run in sequence

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

          set depth = SinkDepth
        }

        assign in sequence DiveMode = YoYo
      }
    }

    aggregate YoYoDive {
      run while ( DiveMode == YoYo )

      aggregate dive {
        run in sequence

        behavior Guidance:Pitch {
          run in parallel

          set massPosition = MassDefault
        }

        behavior Guidance:Buoyancy {
          run in parallel

          set position = BuoyancyNeutral
        }

        aggregate SetSpeed {
          run in parallel

          aggregate SurfaceDive {
            run while (
              not isNaN ( SurfaceDiveSpeed )
              and Universal:depth <= SurfaceThreshold
            )

            aggregate SurfaceSpeed {
              run in parallel

              behavior Guidance:SetSpeed {
                run in parallel

                set speed = SurfaceDiveSpeed
              }
            }
          }

          aggregate ProfileSpeed {
            run while (
              isNaN ( SurfaceDiveSpeed )
              or Universal:depth > Control:VerticalControl.surfaceThreshold
            )

            behavior Guidance:SetSpeed {
              run in parallel

              set speed = Speed
            }
          }
        }

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

          run in parallel

          set minDepth = YoYoMinDepth
          set maxDepth = YoYoMaxDepth
          set downPitch = YoYoDownPitch
          set upPitch = YoYoUpPitch
        }

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

          run in parallel

          set minAltitude = YoYoMinAltitude
        }

        behavior Guidance:YoYo {
          run in parallel

          set downPitch = YoYoDownPitch
          set upPitch = YoYoUpPitch
        }

        aggregate YoYoFlip {
          """
          If light value falls below a threshold as we're pointed down, pitch the vehicle back up to terminate the yo.
          """

          run when (
            Science:PAR_Licor.loadAtStartup
            and ( YoYoLightTerminate )
            and ( Science:PAR_Licor.downwelling_photosynthetic_photon_flux_in_sea_water < YoYoLightTerminateThreshold )
            and ( Universal:platform_pitch_angle < 1 degree )
          )

          behavior Guidance:Pitch {
            run in parallel

            set pitch = YoYoUpPitch
          }
        }

        aggregate StopIfTriggered {
          """
          If peak chlorophyll values on NumProfilesThresh consecutive yo-yo profiles fall in [ChlLowerThreshold ChlUpperThreshold], stop mission.
          """

          run when ( Science:TriggeredOnChl )

          behavior Guidance:Execute {
            run in sequence

            set command = "stop"
          }
        }
      }
    }
  }

  aggregate Lap {
    run in sequence repeat=Repeat

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

      call priorityHere=false refId="DiveCmd"
    }

    aggregate Wpt1 {
      run in sequence

      behavior Guidance:Waypoint {
        run in sequence

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

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

        behavior Guidance:Waypoint {
          run in sequence

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


2025-06-05T14:14:50.254Z,1749132890.254 [CommandExec](IMPORTANT): Loaded ./Missions/Science/sci2.tl id=sci2
2025-06-05T14:14:50.510Z,1749132890.510 [MissionManager](IMPORTANT): Started mission Default
2025-06-05T14:14:50.514Z,1749132890.514 [Default] Running Loop=1
2025-06-05T14:14:50.514Z,1749132890.514 [Default](DEBUG): Aggregate::initialize Default
2025-06-05T14:14:50.514Z,1749132890.514 [Default:B.GoToSurface] Running Loop=1
2025-06-05T14:14:50.515Z,1749132890.515 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-06-05T14:14:50.515Z,1749132890.515 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-06-05T14:14:50.515Z,1749132890.515 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-06-05T14:14:50.515Z,1749132890.515 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-06-05T14:14:50.516Z,1749132890.516 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-06-05T14:14:50.516Z,1749132890.516 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-06-05T14:14:50.516Z,1749132890.516 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-06-05T14:14:50.517Z,1749132890.517 [Default:A.Wait] Running Loop=1
2025-06-05T14:14:50.517Z,1749132890.517 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-06-05T14:15:03.880Z,1749132903.880 [Default:A.Wait](INFO): Done Waiting.
2025-06-05T14:15:03.880Z,1749132903.880 [Default:A.Wait] Stopped
2025-06-05T14:15:03.881Z,1749132903.881 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-06-05T14:15:04.257Z,1749132904.257 [Default:CheckIn] Running Loop=1
2025-06-05T14:15:04.257Z,1749132904.257 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-06-05T14:15:04.258Z,1749132904.258 [Default:CheckIn:Read_GPS] Running Loop=1
2025-06-05T14:15:06.237Z,1749132906.237 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,141505.00,A,3647.51728,N,12200.31533,W,1.808,89.94,050625,,,A*48
2025-06-05T14:15:06.240Z,1749132906.240 [NAL9602](INFO): GPS fix at 20250605T141505: (36.791955, -122.005256)
2025-06-05T14:15:06.262Z,1749132906.262 [Default:CheckIn:Read_GPS] Stopped
2025-06-05T14:15:06.294Z,1749132906.294 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-06-05T14:15:08.263Z,1749132908.263 [DataOverHttps](INFO): Sending 76 bytes from file Logs/20250605T121700/Courier0018.lzma
2025-06-05T14:15:08.476Z,1749132908.476 [DataOverHttps](INFO): Moved sent file to Logs/20250605T121700/Courier0018.lzma.bak
2025-06-05T14:15:08.476Z,1749132908.476 [DataOverHttps](INFO): SBD MOMSN=25101047
2025-06-05T14:15:14.538Z,1749132914.538 [CommandExec](IMPORTANT): got command set sci2.MissionTimeout 17 hour
2025-06-05T14:15:14.543Z,1749132914.543 [CommandExec](IMPORTANT): got command set sci2.NeedCommsTime 90 minute
2025-06-05T14:15:14.544Z,1749132914.544 [CommandExec](IMPORTANT): got command set sci2.Lat1 36.79815 degree
2025-06-05T14:15:14.544Z,1749132914.544 [CommandExec](IMPORTANT): got command set sci2.Lon1 -122.05519 degree
2025-06-05T14:15:14.545Z,1749132914.545 [CommandExec](IMPORTANT): got command set sci2.Lat2 36.82262 degree
2025-06-05T14:15:14.546Z,1749132914.546 [CommandExec](IMPORTANT): got command set sci2.Lon2 -121.96198 degree
2025-06-05T14:15:18.788Z,1749132918.788 [NAL9602](INFO): SBD MO Status=0, MOMSN=21072, MT Status=0, MTMSN=0
2025-06-05T14:15:18.788Z,1749132918.788 [NAL9602](INFO): No messages in MT queue
2025-06-05T14:15:38.618Z,1749132938.618 [CommandExec](IMPORTANT): got command set sci2.Lat3 36.8468 degree
2025-06-05T14:15:38.619Z,1749132938.619 [CommandExec](IMPORTANT): got command set sci2.Lon3 -121.97365 degree
2025-06-05T14:15:38.620Z,1749132938.620 [CommandExec](IMPORTANT): got command set sci2.Lat4 36.85834 degree
2025-06-05T14:15:38.620Z,1749132938.620 [CommandExec](IMPORTANT): got command set sci2.Lon4 -121.9479 degree
2025-06-05T14:15:38.621Z,1749132938.621 [CommandExec](IMPORTANT): got command set sci2.Lat5 36.87083 degree
2025-06-05T14:15:38.646Z,1749132938.646 [CommandExec](IMPORTANT): got command set sci2.Lon5 -121.9582 degree
2025-06-05T14:15:38.647Z,1749132938.647 [CommandExec](IMPORTANT): got command set sci2.Lat6 36.86575 degree
2025-06-05T14:15:39.114Z,1749132939.114 [DataOverHttps](INFO): Sending 40 bytes from file Logs/20250605T121700/Courier0024.lzma
2025-06-05T14:15:40.116Z,1749132940.116 [DataOverHttps](INFO): Moved sent file to Logs/20250605T121700/Courier0024.lzma.bak
2025-06-05T14:15:40.117Z,1749132940.117 [DataOverHttps](INFO): SBD MOMSN=25101050
2025-06-05T14:15:49.480Z,1749132949.480 [NAL9602](INFO): Not Powering down - fast GPS
2025-06-05T14:16:03.218Z,1749132963.218 [DataOverHttps](INFO): Sending 806 bytes from file Logs/20250605T121700/Express0020.lzma
2025-06-05T14:16:04.216Z,1749132964.216 [DataOverHttps](INFO): Moved sent file to Logs/20250605T121700/Express0020.lzma.bak
2025-06-05T14:16:04.216Z,1749132964.216 [DataOverHttps](INFO): SBD MOMSN=25101053
2025-06-05T14:16:06.080Z,1749132966.080 [Default:CheckIn:Read_Iridium] Stopped
2025-06-05T14:16:06.080Z,1749132966.080 [Default:CheckIn:C.Wait] Running Loop=1
2025-06-05T14:16:06.080Z,1749132966.080 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-06-05T14:16:14.699Z,1749132974.699 [CommandExec](IMPORTANT): got command set sci2.Lon6 -121.96661 degree
2025-06-05T14:16:14.699Z,1749132974.699 [CommandExec](IMPORTANT): got command set sci2.Lat7 36.84501 degree
2025-06-05T14:16:14.700Z,1749132974.700 [CommandExec](IMPORTANT): got command set sci2.Lon7 -121.95168 degree
2025-06-05T14:16:14.701Z,1749132974.701 [CommandExec](IMPORTANT): got command set sci2.Speed 1 meter_per_second
2025-06-05T14:16:14.702Z,1749132974.702 [CommandExec](IMPORTANT): got command set sci2.YoYoMinDepth 4 meter
2025-06-05T14:16:14.703Z,1749132974.703 [CommandExec](IMPORTANT): got command set sci2.YoYoMaxDepth 40 meter
2025-06-05T14:16:14.703Z,1749132974.703 [CommandExec](IMPORTANT): got command set sci2.SinkOffSurface 1 bool
2025-06-05T14:16:14.704Z,1749132974.704 [CommandExec](IMPORTANT): got command set sci2.SinkDepth 3 meter
2025-06-05T14:16:17.666Z,1749132977.666 [CommandExec](IMPORTANT): got command set sci2.MaxDepth 55 meter
2025-06-05T14:16:17.667Z,1749132977.667 [CommandExec](IMPORTANT): got command run
2025-06-05T14:16:17.669Z,1749132977.669 [CommandExec](IMPORTANT): Running 
2025-06-05T14:16:17.799Z,1749132977.799 [Default] Stopped
2025-06-05T14:16:17.799Z,1749132977.799 [Default](DEBUG): Aggregate::uninitialize Default
2025-06-05T14:16:17.800Z,1749132977.800 [Default:B.GoToSurface] Stopped
2025-06-05T14:16:17.800Z,1749132977.800 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-06-05T14:16:17.800Z,1749132977.800 [Default:CheckIn] Stopped
2025-06-05T14:16:17.800Z,1749132977.800 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-06-05T14:16:17.800Z,1749132977.800 [Default:CheckIn:C.Wait] Stopped
2025-06-05T14:16:17.800Z,1749132977.800 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-06-05T14:16:17.800Z,1749132977.800 [MissionManager](IMPORTANT): Started mission sci2
2025-06-05T14:16:17.801Z,1749132977.801 [sci2] Running Loop=1
2025-06-05T14:16:17.801Z,1749132977.801 [sci2](DEBUG): Aggregate::initialize sci2
2025-06-05T14:16:17.801Z,1749132977.801 [sci2:Science] Running Loop=1
2025-06-05T14:16:17.801Z,1749132977.801 [sci2:Science](DEBUG): Aggregate::initialize sci2:Science
2025-06-05T14:16:17.801Z,1749132977.801 [sci2:Science:A] Running Loop=1
2025-06-05T14:16:17.801Z,1749132977.801 [sci2:Science:B] Running Loop=1
2025-06-05T14:16:17.801Z,1749132977.801 [sci2:Science:C] Running Loop=1
2025-06-05T14:16:17.802Z,1749132977.802 [sci2:Science:D] Running Loop=1
2025-06-05T14:16:17.802Z,1749132977.802 [sci2:Science:E] Running Loop=1
2025-06-05T14:16:17.802Z,1749132977.802 [sci2:Science:F] Running Loop=1
2025-06-05T14:16:17.802Z,1749132977.802 [sci2:Science:Read_Oil] Running Loop=1
2025-06-05T14:16:17.802Z,1749132977.802 [sci2:Science:PeakDetectChl] Running Loop=1
2025-06-05T14:16:17.802Z,1749132977.802 [sci2:Science:PeakDetectChl](DEBUG): Aggregate::initialize sci2:Science:PeakDetectChl
2025-06-05T14:16:17.803Z,1749132977.803 [sci2:Science:PeakDetectChl:A] Running Loop=1
2025-06-05T14:16:17.803Z,1749132977.803 [sci2:Science:EdgeDetectChl] Running Loop=1
2025-06-05T14:16:17.803Z,1749132977.803 [sci2:Science:EdgeDetectChl](DEBUG): Aggregate::initialize sci2:Science:EdgeDetectChl
2025-06-05T14:16:17.803Z,1749132977.803 [sci2:Science:EdgeDetectChl:A] Running Loop=1
2025-06-05T14:16:17.803Z,1749132977.803 [sci2:Science:HighestChlPeakReport] Running Loop=1
2025-06-05T14:16:17.803Z,1749132977.803 [sci2:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize sci2:Science:HighestChlPeakReport
2025-06-05T14:16:17.804Z,1749132977.804 [sci2:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-06-05T14:16:17.804Z,1749132977.804 [sci2:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-06-05T14:16:17.804Z,1749132977.804 [sci2:Science:PeakDetectNO3] Running Loop=1
2025-06-05T14:16:17.804Z,1749132977.804 [sci2:Science:PeakDetectNO3](DEBUG): Aggregate::initialize sci2:Science:PeakDetectNO3
2025-06-05T14:16:17.805Z,1749132977.805 [sci2:Science:PeakDetectNO3:A] Running Loop=1
2025-06-05T14:16:17.805Z,1749132977.805 [sci2:Science:PeakDetectOil] Running Loop=1
2025-06-05T14:16:17.805Z,1749132977.805 [sci2:Science:PeakDetectOil](DEBUG): Aggregate::initialize sci2:Science:PeakDetectOil
2025-06-05T14:16:17.805Z,1749132977.805 [sci2:Science:PeakDetectOil:A] Running Loop=1
2025-06-05T14:16:17.805Z,1749132977.805 [sci2:Science:HighestOilPeakReport] Running Loop=1
2025-06-05T14:16:17.805Z,1749132977.805 [sci2:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize sci2:Science:HighestOilPeakReport
2025-06-05T14:16:17.806Z,1749132977.806 [sci2:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-06-05T14:16:17.806Z,1749132977.806 [sci2:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-06-05T14:16:17.807Z,1749132977.807 [sci2:Science:PeakDetectFDOM] Running Loop=1
2025-06-05T14:16:17.807Z,1749132977.807 [sci2:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize sci2:Science:PeakDetectFDOM
2025-06-05T14:16:17.807Z,1749132977.807 [sci2:Science:PeakDetectFDOM:A] Running Loop=1
2025-06-05T14:16:17.807Z,1749132977.807 [sci2:Science:PeakDetectSalinity] Running Loop=1
2025-06-05T14:16:17.807Z,1749132977.807 [sci2:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize sci2:Science:PeakDetectSalinity
2025-06-05T14:16:17.807Z,1749132977.807 [sci2:Science:PeakDetectSalinity:A] Running Loop=1
2025-06-05T14:16:17.808Z,1749132977.808 [sci2:Science:HighestSaltPeakReport] Running Loop=1
2025-06-05T14:16:17.808Z,1749132977.808 [sci2:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize sci2:Science:HighestSaltPeakReport
2025-06-05T14:16:17.808Z,1749132977.808 [sci2:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-06-05T14:16:17.808Z,1749132977.808 [sci2:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-06-05T14:16:17.809Z,1749132977.809 [sci2:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-06-05T14:16:17.809Z,1749132977.809 [sci2:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize sci2:Science:PeakDetectPlanktivoreLMavgROI
2025-06-05T14:16:17.809Z,1749132977.809 [sci2:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-06-05T14:16:17.809Z,1749132977.809 [sci2:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2025-06-05T14:16:17.809Z,1749132977.809 [sci2:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize sci2:Science:EdgeDetectPlanktivoreLMavgROI
2025-06-05T14:16:17.809Z,1749132977.809 [sci2:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-06-05T14:16:17.810Z,1749132977.810 [sci2:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-06-05T14:16:17.810Z,1749132977.810 [sci2:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize sci2:Science:PeakDetectPlanktivoreHMavgROI
2025-06-05T14:16:17.810Z,1749132977.810 [sci2:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-06-05T14:16:17.810Z,1749132977.810 [sci2:Science:EdgeDetectPlanktivoreHMavgROI] Running Loop=1
2025-06-05T14:16:17.811Z,1749132977.811 [sci2:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize sci2:Science:EdgeDetectPlanktivoreHMavgROI
2025-06-05T14:16:17.811Z,1749132977.811 [sci2:Science:EdgeDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-06-05T14:16:17.811Z,1749132977.811 [sci2:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-06-05T14:16:17.811Z,1749132977.811 [sci2:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize sci2:Science:PeakDetectPlanktivoreDiatoms
2025-06-05T14:16:17.811Z,1749132977.811 [sci2:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2025-06-05T14:16:17.811Z,1749132977.811 [sci2:Science:EdgeDetectPlanktivoreDiatoms] Running Loop=1
2025-06-05T14:16:17.811Z,1749132977.811 [sci2:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize sci2:Science:EdgeDetectPlanktivoreDiatoms
2025-06-05T14:16:17.812Z,1749132977.812 [sci2:Science:EdgeDetectPlanktivoreDiatoms:A] Running Loop=1
2025-06-05T14:16:17.812Z,1749132977.812 [sci2:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-06-05T14:16:17.812Z,1749132977.812 [sci2:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize sci2:Science:PeakDetectPlanktivoreDinoflagellates
2025-06-05T14:16:17.812Z,1749132977.812 [sci2:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-06-05T14:16:17.812Z,1749132977.812 [sci2:Science:EdgeDetectPlanktivoreDinoflagellates] Running Loop=1
2025-06-05T14:16:17.813Z,1749132977.813 [sci2:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize sci2:Science:EdgeDetectPlanktivoreDinoflagellates
2025-06-05T14:16:17.813Z,1749132977.813 [sci2:Science:EdgeDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-06-05T14:16:17.813Z,1749132977.813 [sci2:Science:ChlThreshTrigger] Running Loop=1
2025-06-05T14:16:17.813Z,1749132977.813 [sci2:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize sci2:Science:ChlThreshTrigger
2025-06-05T14:16:17.813Z,1749132977.813 [sci2:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-06-05T14:16:17.813Z,1749132977.813 [sci2:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-06-05T14:16:17.814Z,1749132977.814 [sci2:Science:OceanCurrent] Running Loop=1
2025-06-05T14:16:17.814Z,1749132977.814 [sci2:Science:OceanCurrent](DEBUG): Aggregate::initialize sci2:Science:OceanCurrent
2025-06-05T14:16:17.814Z,1749132977.814 [sci2:Science:OceanCurrent:A.] Running Loop=1
2025-06-05T14:16:17.814Z,1749132977.814 [sci2:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-06-05T14:16:17.814Z,1749132977.814 [sci2:StandardEnvelopes] Running Loop=1
2025-06-05T14:16:17.814Z,1749132977.814 [sci2:StandardEnvelopes](DEBUG): Aggregate::initialize sci2:StandardEnvelopes
2025-06-05T14:16:17.814Z,1749132977.814 [sci2:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-06-05T14:16:17.814Z,1749132977.814 [sci2:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-06-05T14:16:17.815Z,1749132977.815 [sci2:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-06-05T14:16:17.815Z,1749132977.815 [sci2:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-06-05T14:16:17.815Z,1749132977.815 [sci2:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-06-05T14:16:17.815Z,1749132977.815 [sci2:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-06-05T14:16:17.815Z,1749132977.815 [sci2:BackseatDriver] Running Loop=1
2025-06-05T14:16:17.815Z,1749132977.815 [sci2:BackseatDriver](DEBUG): Aggregate::initialize sci2:BackseatDriver
2025-06-05T14:16:17.815Z,1749132977.815 [sci2:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-06-05T14:16:17.815Z,1749132977.815 [sci2:PowerOnly] Running Loop=1
2025-06-05T14:16:17.815Z,1749132977.815 [sci2:PowerOnly](DEBUG): Aggregate::initialize sci2:PowerOnly
2025-06-05T14:16:17.816Z,1749132977.816 [sci2:PowerOnly:A] Running Loop=1
2025-06-05T14:16:17.816Z,1749132977.816 [sci2:PowerOnly:B] Running Loop=1
2025-06-05T14:16:17.816Z,1749132977.816 [sci2:PowerOnly:C] Running Loop=1
2025-06-05T14:16:17.816Z,1749132977.816 [sci2:PowerOnly:D] Running Loop=1
2025-06-05T14:16:17.816Z,1749132977.816 [sci2:PowerOnly:E.Wait] Running Loop=1
2025-06-05T14:16:17.816Z,1749132977.816 [sci2:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-06-05T14:16:17.816Z,1749132977.816 [sci2:C] Running Loop=1
2025-06-05T14:16:17.817Z,1749132977.817 [sci2:PowerOnly] Running Loop=1
2025-06-05T14:16:17.817Z,1749132977.817 [sci2:PowerOnly:D] Stopped
2025-06-05T14:16:17.817Z,1749132977.817 [sci2:PowerOnly:C] Stopped
2025-06-05T14:16:17.817Z,1749132977.817 [sci2:PowerOnly:B] Stopped
2025-06-05T14:16:17.817Z,1749132977.817 [sci2:PowerOnly:A] Stopped
2025-06-05T14:16:17.817Z,1749132977.817 [sci2:BackseatDriver] Running Loop=1
2025-06-05T14:16:17.818Z,1749132977.818 [sci2:StandardEnvelopes] Running Loop=1
2025-06-05T14:16:17.818Z,1749132977.818 [sci2:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-06-05T14:16:17.834Z,1749132977.834 [sci2:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-06-05T14:16:17.835Z,1749132977.835 [sci2:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-06-05T14:16:17.835Z,1749132977.835 [sci2:C] Stopped
2025-06-05T14:16:17.835Z,1749132977.835 [sci2:E] Running Loop=1
2025-06-05T14:16:17.835Z,1749132977.835 [sci2:Science] Running Loop=1
2025-06-05T14:16:17.842Z,1749132977.842 [sci2:Science:ChlThreshTrigger] Stopped
2025-06-05T14:16:17.843Z,1749132977.843 [sci2:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize sci2:Science:ChlThreshTrigger
2025-06-05T14:16:17.843Z,1749132977.843 [sci2:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-06-05T14:16:17.843Z,1749132977.843 [sci2:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-06-05T14:16:17.843Z,1749132977.843 [sci2:Science:EdgeDetectPlanktivoreDinoflagellates] Stopped
2025-06-05T14:16:17.843Z,1749132977.843 [sci2:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize sci2:Science:EdgeDetectPlanktivoreDinoflagellates
2025-06-05T14:16:17.843Z,1749132977.843 [sci2:Science:EdgeDetectPlanktivoreDinoflagellates:A] Stopped
2025-06-05T14:16:17.843Z,1749132977.843 [sci2:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-06-05T14:16:17.843Z,1749132977.843 [sci2:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize sci2:Science:PeakDetectPlanktivoreDinoflagellates
2025-06-05T14:16:17.843Z,1749132977.843 [sci2:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2025-06-05T14:16:17.843Z,1749132977.843 [sci2:Science:EdgeDetectPlanktivoreDiatoms] Stopped
2025-06-05T14:16:17.843Z,1749132977.843 [sci2:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize sci2:Science:EdgeDetectPlanktivoreDiatoms
2025-06-05T14:16:17.844Z,1749132977.844 [sci2:Science:EdgeDetectPlanktivoreDiatoms:A] Stopped
2025-06-05T14:16:17.844Z,1749132977.844 [sci2:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-06-05T14:16:17.844Z,1749132977.844 [sci2:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize sci2:Science:PeakDetectPlanktivoreDiatoms
2025-06-05T14:16:17.844Z,1749132977.844 [sci2:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2025-06-05T14:16:17.844Z,1749132977.844 [sci2:Science:EdgeDetectPlanktivoreHMavgROI] Stopped
2025-06-05T14:16:17.844Z,1749132977.844 [sci2:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize sci2:Science:EdgeDetectPlanktivoreHMavgROI
2025-06-05T14:16:17.844Z,1749132977.844 [sci2:Science:EdgeDetectPlanktivoreHMavgROI:A] Stopped
2025-06-05T14:16:17.844Z,1749132977.844 [sci2:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-06-05T14:16:17.844Z,1749132977.844 [sci2:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize sci2:Science:PeakDetectPlanktivoreHMavgROI
2025-06-05T14:16:17.844Z,1749132977.844 [sci2:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2025-06-05T14:16:17.844Z,1749132977.844 [sci2:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2025-06-05T14:16:17.844Z,1749132977.844 [sci2:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize sci2:Science:EdgeDetectPlanktivoreLMavgROI
2025-06-05T14:16:17.844Z,1749132977.844 [sci2:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2025-06-05T14:16:17.845Z,1749132977.845 [sci2:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-06-05T14:16:17.845Z,1749132977.845 [sci2:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize sci2:Science:PeakDetectPlanktivoreLMavgROI
2025-06-05T14:16:17.845Z,1749132977.845 [sci2:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2025-06-05T14:16:17.845Z,1749132977.845 [sci2:Science:HighestSaltPeakReport] Stopped
2025-06-05T14:16:17.845Z,1749132977.845 [sci2:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize sci2:Science:HighestSaltPeakReport
2025-06-05T14:16:17.845Z,1749132977.845 [sci2:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-06-05T14:16:17.845Z,1749132977.845 [sci2:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-06-05T14:16:17.845Z,1749132977.845 [sci2:Science:PeakDetectSalinity] Stopped
2025-06-05T14:16:17.845Z,1749132977.845 [sci2:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize sci2:Science:PeakDetectSalinity
2025-06-05T14:16:17.845Z,1749132977.845 [sci2:Science:PeakDetectSalinity:A] Stopped
2025-06-05T14:16:17.845Z,1749132977.845 [sci2:Science:PeakDetectFDOM] Stopped
2025-06-05T14:16:17.845Z,1749132977.845 [sci2:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize sci2:Science:PeakDetectFDOM
2025-06-05T14:16:17.845Z,1749132977.845 [sci2:Science:PeakDetectFDOM:A] Stopped
2025-06-05T14:16:17.845Z,1749132977.845 [sci2:Science:HighestOilPeakReport] Stopped
2025-06-05T14:16:17.846Z,1749132977.846 [sci2:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize sci2:Science:HighestOilPeakReport
2025-06-05T14:16:17.846Z,1749132977.846 [sci2:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-06-05T14:16:17.846Z,1749132977.846 [sci2:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-06-05T14:16:17.846Z,1749132977.846 [sci2:Science:PeakDetectOil] Stopped
2025-06-05T14:16:17.850Z,1749132977.850 [sci2:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize sci2:Science:PeakDetectOil
2025-06-05T14:16:17.850Z,1749132977.850 [sci2:Science:PeakDetectOil:A] Stopped
2025-06-05T14:16:17.850Z,1749132977.850 [sci2:Science:PeakDetectNO3] Stopped
2025-06-05T14:16:17.850Z,1749132977.850 [sci2:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize sci2:Science:PeakDetectNO3
2025-06-05T14:16:17.851Z,1749132977.851 [sci2:Science:PeakDetectNO3:A] Stopped
2025-06-05T14:16:17.851Z,1749132977.851 [sci2:Science:HighestChlPeakReport] Stopped
2025-06-05T14:16:17.851Z,1749132977.851 [sci2:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize sci2:Science:HighestChlPeakReport
2025-06-05T14:16:17.851Z,1749132977.851 [sci2:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-06-05T14:16:17.851Z,1749132977.851 [sci2:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-06-05T14:16:17.851Z,1749132977.851 [sci2:Science:EdgeDetectChl] Stopped
2025-06-05T14:16:17.851Z,1749132977.851 [sci2:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize sci2:Science:EdgeDetectChl
2025-06-05T14:16:17.851Z,1749132977.851 [sci2:Science:EdgeDetectChl:A] Stopped
2025-06-05T14:16:17.851Z,1749132977.851 [sci2:Science:PeakDetectChl] Stopped
2025-06-05T14:16:17.851Z,1749132977.851 [sci2:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize sci2:Science:PeakDetectChl
2025-06-05T14:16:17.851Z,1749132977.851 [sci2:Science:PeakDetectChl:A] Stopped
2025-06-05T14:16:17.851Z,1749132977.851 [sci2:Science:OceanCurrent:A.] Running Loop=1
2025-06-05T14:16:17.852Z,1749132977.852 [sci2:Science:Read_Oil] Stopped
2025-06-05T14:16:17.852Z,1749132977.852 [sci2:Science:F] Stopped
2025-06-05T14:16:17.852Z,1749132977.852 [sci2:Science:E] Running Loop=1
2025-06-05T14:16:17.852Z,1749132977.852 [sci2:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2025-06-05T14:16:17.852Z,1749132977.852 [sci2:Science:D] Stopped
2025-06-05T14:16:17.852Z,1749132977.852 [sci2:Science:C] Running Loop=1
2025-06-05T14:16:17.853Z,1749132977.853 [sci2:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2025-06-05T14:16:17.853Z,1749132977.853 [sci2:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2025-06-05T14:16:17.853Z,1749132977.853 [sci2:Science:B] Running Loop=1
2025-06-05T14:16:17.854Z,1749132977.854 [sci2:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2025-06-05T14:16:17.859Z,1749132977.859 [sci2:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2025-06-05T14:16:17.859Z,1749132977.859 [sci2:Science:A] Stopped
2025-06-05T14:16:17.960Z,1749132977.960 [WetLabsBB2FL](INFO): Powering up
2025-06-05T14:16:18.200Z,1749132978.200 [sci2:E] Stopped
2025-06-05T14:16:18.200Z,1749132978.200 [sci2:F] Running Loop=1
2025-06-05T14:16:18.578Z,1749132978.578 [sci2:F] Stopped
2025-06-05T14:16:18.578Z,1749132978.578 [sci2:G] Running Loop=1
2025-06-05T14:16:18.983Z,1749132978.983 [sci2:G] Stopped
2025-06-05T14:16:18.983Z,1749132978.983 [sci2:StartingMission] Running Loop=1
2025-06-05T14:16:18.983Z,1749132978.983 [sci2:StartingMission](DEBUG): Aggregate::initialize sci2:StartingMission
2025-06-05T14:16:19.394Z,1749132979.394 [sci2:SurfaceComms] Running Loop=1
2025-06-05T14:16:19.395Z,1749132979.395 [sci2:SurfaceComms](DEBUG): Aggregate::initialize sci2:SurfaceComms
2025-06-05T14:16:19.395Z,1749132979.395 [sci2:SurfaceComms:A] Running Loop=1
2025-06-05T14:16:19.395Z,1749132979.395 [sci2:SurfaceComms:A] Stopped
2025-06-05T14:16:19.395Z,1749132979.395 [sci2:SurfaceComms:B] Running Loop=1
2025-06-05T14:16:19.395Z,1749132979.395 [sci2:SurfaceComms:B](DEBUG): Aggregate::initialize sci2:SurfaceComms:B
2025-06-05T14:16:19.832Z,1749132979.832 [sci2:NeedComms] Running Loop=1
2025-06-05T14:16:19.832Z,1749132979.832 [sci2:NeedComms](DEBUG): Aggregate::initialize sci2:NeedComms
2025-06-05T14:16:19.832Z,1749132979.832 [sci2:NeedComms:B.GoToSurface] Running Loop=1
2025-06-05T14:16:19.832Z,1749132979.832 [sci2:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-06-05T14:16:19.833Z,1749132979.833 [sci2:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-06-05T14:16:19.833Z,1749132979.833 [sci2:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-06-05T14:16:19.833Z,1749132979.833 [sci2:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-06-05T14:16:19.834Z,1749132979.834 [sci2:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-06-05T14:16:19.834Z,1749132979.834 [sci2:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-06-05T14:16:19.835Z,1749132979.835 [sci2:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-06-05T14:16:19.835Z,1749132979.835 [sci2:NeedComms:A] Running Loop=1
2025-06-05T14:16:19.836Z,1749132979.836 [sci2:NeedComms:A](INFO): last time_fix was:  1749132905.000000 second since 1970/01/01T00:00:00Z 
2025-06-05T14:16:19.836Z,1749132979.836 [sci2:NeedComms:A] Stopped
2025-06-05T14:16:20.204Z,1749132980.204 [sci2:NeedComms:C] Running Loop=1
2025-06-05T14:16:20.605Z,1749132980.605 [sci2:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-06-05T14:16:21.051Z,1749132981.051 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2025-06-05T14:16:22.206Z,1749132982.206 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,141621.00,A,3647.50757,N,12200.29189,W,2.041,106.66,050625,,,A*75
2025-06-05T14:16:22.208Z,1749132982.208 [NAL9602](INFO): GPS fix at 20250605T141621: (36.791793, -122.004865)
2025-06-05T14:16:22.220Z,1749132982.220 [sci2:NeedComms:C] Stopped
2025-06-05T14:16:22.220Z,1749132982.220 [sci2:NeedComms:D] Running Loop=1
2025-06-05T14:16:22.652Z,1749132982.652 [sci2:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-06-05T14:16:30.458Z,1749132990.458 [DataOverHttps](INFO): Sending 76 bytes from file Logs/20250605T121700/Courier0027.lzma
2025-06-05T14:16:31.460Z,1749132991.460 [DataOverHttps](INFO): Moved sent file to Logs/20250605T121700/Courier0027.lzma.bak
2025-06-05T14:16:31.460Z,1749132991.460 [DataOverHttps](INFO): SBD MOMSN=25101077
2025-06-05T14:16:36.345Z,1749132996.345 [NAL9602](INFO): SBD MO Status=0, MOMSN=21073, MT Status=0, MTMSN=0
2025-06-05T14:16:36.345Z,1749132996.345 [NAL9602](INFO): No messages in MT queue
2025-06-05T14:16:48.863Z,1749133008.863 [DataOverHttps](INFO): Sending 481 bytes from file Logs/20250605T121700/Express0028.lzma
2025-06-05T14:16:49.864Z,1749133009.864 [DataOverHttps](INFO): Moved sent file to Logs/20250605T121700/Express0028.lzma.bak
2025-06-05T14:16:49.864Z,1749133009.864 [DataOverHttps](INFO): SBD MOMSN=25101080
2025-06-05T14:16:51.411Z,1749133011.411 [sci2:NeedComms:D] Stopped
2025-06-05T14:16:51.411Z,1749133011.411 [sci2:NeedComms:E] Running Loop=1
2025-06-05T14:16:51.785Z,1749133011.785 [sci2:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-06-05T14:16:53.407Z,1749133013.407 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,141652.00,A,3647.50390,N,12200.28159,W,1.691,114.64,050625,,,A*7B
2025-06-05T14:16:53.409Z,1749133013.409 [NAL9602](INFO): GPS fix at 20250605T141652: (36.791732, -122.004693)
2025-06-05T14:16:53.457Z,1749133013.457 [sci2:NeedComms:E] Stopped
2025-06-05T14:16:53.466Z,1749133013.466 [sci2:NeedComms](INFO): Completed sci2:NeedComms
2025-06-05T14:16:53.467Z,1749133013.467 [sci2:NeedComms] Stopped
2025-06-05T14:16:53.467Z,1749133013.467 [sci2:NeedComms](DEBUG): Aggregate::uninitialize sci2:NeedComms
2025-06-05T14:16:53.467Z,1749133013.467 [sci2:NeedComms:B.GoToSurface] Stopped
2025-06-05T14:16:53.467Z,1749133013.467 [sci2:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-06-05T14:16:53.851Z,1749133013.851 [sci2:SurfaceComms:B](INFO): Completed sci2:SurfaceComms:B
2025-06-05T14:16:53.851Z,1749133013.851 [sci2:SurfaceComms:B] Stopped
2025-06-05T14:16:53.851Z,1749133013.851 [sci2:SurfaceComms:B](DEBUG): Aggregate::uninitialize sci2:SurfaceComms:B
2025-06-05T14:16:53.851Z,1749133013.851 [sci2:SurfaceComms:setInitial] Running Loop=1
2025-06-05T14:16:53.851Z,1749133013.851 [sci2:SurfaceComms:setInitial](DEBUG): Aggregate::initialize sci2:SurfaceComms:setInitial
2025-06-05T14:16:53.851Z,1749133013.851 [sci2:SurfaceComms:setInitial:A] Running Loop=1
2025-06-05T14:16:54.239Z,1749133014.239 [sci2:SurfaceComms:setInitial] Stopped
2025-06-05T14:16:54.239Z,1749133014.239 [sci2:SurfaceComms:setInitial](DEBUG): Aggregate::uninitialize sci2:SurfaceComms:setInitial
2025-06-05T14:16:54.239Z,1749133014.239 [sci2:SurfaceComms:setInitial:A] Stopped
2025-06-05T14:16:54.239Z,1749133014.239 [sci2:SurfaceComms:setSink] Running Loop=1
2025-06-05T14:16:54.239Z,1749133014.239 [sci2:SurfaceComms:setSink](DEBUG): Aggregate::initialize sci2:SurfaceComms:setSink
2025-06-05T14:16:54.240Z,1749133014.240 [sci2:SurfaceComms:setSink:A] Running Loop=1
2025-06-05T14:16:54.631Z,1749133014.631 [sci2:SurfaceComms:setSink:A] Stopped
2025-06-05T14:16:54.632Z,1749133014.632 [sci2:SurfaceComms:setSink](INFO): Completed sci2:SurfaceComms:setSink
2025-06-05T14:16:54.632Z,1749133014.632 [sci2:SurfaceComms:setSink] Stopped
2025-06-05T14:16:54.632Z,1749133014.632 [sci2:SurfaceComms:setSink](DEBUG): Aggregate::uninitialize sci2:SurfaceComms:setSink
2025-06-05T14:16:54.632Z,1749133014.632 [sci2:SurfaceComms](INFO): Completed sci2:SurfaceComms
2025-06-05T14:16:54.632Z,1749133014.632 [sci2:SurfaceComms] Stopped
2025-06-05T14:16:54.632Z,1749133014.632 [sci2:SurfaceComms](DEBUG): Aggregate::uninitialize sci2:SurfaceComms
2025-06-05T14:16:55.129Z,1749133015.129 [sci2:StartingMission](INFO): Completed sci2:StartingMission
2025-06-05T14:16:55.129Z,1749133015.129 [sci2:StartingMission] Stopped
2025-06-05T14:16:55.129Z,1749133015.129 [sci2:StartingMission](DEBUG): Aggregate::uninitialize sci2:StartingMission
2025-06-05T14:16:55.129Z,1749133015.129 [sci2:Lap] Running Loop=1
2025-06-05T14:16:55.130Z,1749133015.130 [sci2:Lap](DEBUG): Aggregate::initialize sci2:Lap
2025-06-05T14:16:55.130Z,1749133015.130 [sci2:Lap:Dive] Running Loop=1
2025-06-05T14:16:55.130Z,1749133015.130 [sci2:Lap:Dive](DEBUG): Aggregate::initialize sci2:Lap:Dive
2025-06-05T14:16:55.154Z,1749133015.154 [sci2:Lap:Dive:A] Running Loop=1
2025-06-05T14:16:55.154Z,1749133015.154 [sci2:Lap:Dive:A](DEBUG): Aggregate::initialize sci2:Lap:Dive:A
2025-06-05T14:16:55.154Z,1749133015.154 [sci2:Lap:Wpt1] Running Loop=1
2025-06-05T14:16:55.155Z,1749133015.155 [sci2:Lap:Wpt1](DEBUG): Aggregate::initialize sci2:Lap:Wpt1
2025-06-05T14:16:55.155Z,1749133015.155 [sci2:Lap:Wpt1:A.Waypoint] Running Loop=1
2025-06-05T14:16:55.155Z,1749133015.155 [sci2:Lap:Wpt1:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-06-05T14:16:55.156Z,1749133015.156 [sci2:Lap:Wpt1:A.Waypoint](IMPORTANT): Navigating to waypoint: 36.798149,-122.055191
2025-06-05T14:16:55.468Z,1749133015.468 [sci2:Lap:Wpt1:A.Waypoint](INFO): Navigating to waypoint: 36.798149,-122.055191
2025-06-05T14:16:55.469Z,1749133015.469 [sci2:Lap:Dive] Running Loop=1
2025-06-05T14:16:55.469Z,1749133015.469 [sci2:DiveCmd] Running Loop=1
2025-06-05T14:16:55.469Z,1749133015.469 [sci2:DiveCmd](DEBUG): Aggregate::initialize sci2:DiveCmd
2025-06-05T14:16:55.469Z,1749133015.469 [sci2:DiveCmd:SurfaceSink] Running Loop=1
2025-06-05T14:16:55.469Z,1749133015.469 [sci2:DiveCmd:SurfaceSink](DEBUG): Aggregate::initialize sci2:DiveCmd:SurfaceSink
2025-06-05T14:16:55.470Z,1749133015.470 [sci2:DiveCmd:SurfaceSink:sink] Running Loop=1
2025-06-05T14:16:55.470Z,1749133015.470 [sci2:DiveCmd:SurfaceSink:sink](DEBUG): Aggregate::initialize sci2:DiveCmd:SurfaceSink:sink
2025-06-05T14:16:55.470Z,1749133015.470 [sci2:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy] Running Loop=1
2025-06-05T14:16:55.470Z,1749133015.470 [sci2:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-06-05T14:16:55.478Z,1749133015.478 [sci2:DiveCmd:SurfaceSink:sink:B.SetSpeed] Running Loop=1
2025-06-05T14:16:55.478Z,1749133015.478 [sci2:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Initialize.
2025-06-05T14:16:55.478Z,1749133015.478 [sci2:DiveCmd:SurfaceSink:sink:C] Running Loop=1
2025-06-05T14:16:55.478Z,1749133015.478 [sci2:DiveCmd:YoYoDive] Running Loop=1
2025-06-05T14:16:55.479Z,1749133015.479 [sci2:DiveCmd:YoYoDive](DEBUG): Aggregate::initialize sci2:DiveCmd:YoYoDive
2025-06-05T14:16:55.479Z,1749133015.479 [sci2:DiveCmd:YoYoDive:dive] Running Loop=1
2025-06-05T14:16:55.479Z,1749133015.479 [sci2:DiveCmd:YoYoDive:dive](DEBUG): Aggregate::initialize sci2:DiveCmd:YoYoDive:dive
2025-06-05T14:16:55.479Z,1749133015.479 [sci2:DiveCmd:YoYoDive:dive:A.Pitch] Running Loop=1
2025-06-05T14:16:55.479Z,1749133015.479 [sci2:DiveCmd:YoYoDive:dive:A.Pitch](DEBUG): Initialize.
2025-06-05T14:16:55.479Z,1749133015.479 [sci2:DiveCmd:YoYoDive:dive:B.Buoyancy] Running Loop=1
2025-06-05T14:16:55.479Z,1749133015.479 [sci2:DiveCmd:YoYoDive:dive:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-06-05T14:16:55.479Z,1749133015.479 [sci2:DiveCmd:YoYoDive:dive:SetSpeed] Running Loop=1
2025-06-05T14:16:55.479Z,1749133015.479 [sci2:DiveCmd:YoYoDive:dive:SetSpeed](DEBUG): Aggregate::initialize sci2:DiveCmd:YoYoDive:dive:SetSpeed
2025-06-05T14:16:55.479Z,1749133015.479 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:SurfaceDive] Running Loop=1
2025-06-05T14:16:55.480Z,1749133015.480 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:SurfaceDive](DEBUG): Aggregate::initialize sci2:DiveCmd:YoYoDive:dive:SetSpeed:SurfaceDive
2025-06-05T14:16:55.480Z,1749133015.480 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:SurfaceDive:SurfaceSpeed] Running Loop=1
2025-06-05T14:16:55.480Z,1749133015.480 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:SurfaceDive:SurfaceSpeed](DEBUG): Aggregate::initialize sci2:DiveCmd:YoYoDive:dive:SetSpeed:SurfaceDive:SurfaceSpeed
2025-06-05T14:16:55.480Z,1749133015.480 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:SurfaceDive:SurfaceSpeed:A.SetSpeed] Running Loop=1
2025-06-05T14:16:55.480Z,1749133015.480 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:SurfaceDive:SurfaceSpeed:A.SetSpeed](DEBUG): Initialize.
2025-06-05T14:16:55.480Z,1749133015.480 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:ProfileSpeed] Running Loop=1
2025-06-05T14:16:55.480Z,1749133015.480 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:ProfileSpeed](DEBUG): Aggregate::initialize sci2:DiveCmd:YoYoDive:dive:SetSpeed:ProfileSpeed
2025-06-05T14:16:55.480Z,1749133015.480 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:ProfileSpeed:A.SetSpeed] Running Loop=1
2025-06-05T14:16:55.480Z,1749133015.480 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:ProfileSpeed:A.SetSpeed](DEBUG): Initialize.
2025-06-05T14:16:55.481Z,1749133015.481 [sci2:DiveCmd:YoYoDive:dive:D.DepthEnvelope] Running Loop=1
2025-06-05T14:16:55.481Z,1749133015.481 [sci2:DiveCmd:YoYoDive:dive:D.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-06-05T14:16:55.481Z,1749133015.481 [sci2:DiveCmd:YoYoDive:dive:E.AltitudeEnvelope] Running Loop=1
2025-06-05T14:16:55.481Z,1749133015.481 [sci2:DiveCmd:YoYoDive:dive:E.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-06-05T14:16:55.481Z,1749133015.481 [sci2:DiveCmd:YoYoDive:dive:F.YoYo] Running Loop=1
2025-06-05T14:16:55.481Z,1749133015.481 [sci2:DiveCmd:YoYoDive:dive:F.YoYo](DEBUG): Initialize YoYoComponent.
2025-06-05T14:16:55.482Z,1749133015.482 [sci2:DiveCmd:YoYoDive] Stopped
2025-06-05T14:16:55.482Z,1749133015.482 [sci2:DiveCmd:YoYoDive](DEBUG): Aggregate::uninitialize sci2:DiveCmd:YoYoDive
2025-06-05T14:16:55.482Z,1749133015.482 [sci2:DiveCmd:YoYoDive:dive] Stopped
2025-06-05T14:16:55.491Z,1749133015.491 [sci2:DiveCmd:YoYoDive:dive](DEBUG): Aggregate::uninitialize sci2:DiveCmd:YoYoDive:dive
2025-06-05T14:16:55.491Z,1749133015.491 [sci2:DiveCmd:YoYoDive:dive:A.Pitch] Stopped
2025-06-05T14:16:55.491Z,1749133015.491 [sci2:DiveCmd:YoYoDive:dive:B.Buoyancy] Stopped
2025-06-05T14:16:55.491Z,1749133015.491 [sci2:DiveCmd:YoYoDive:dive:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-06-05T14:16:55.491Z,1749133015.491 [sci2:DiveCmd:YoYoDive:dive:SetSpeed] Stopped
2025-06-05T14:16:55.491Z,1749133015.491 [sci2:DiveCmd:YoYoDive:dive:SetSpeed](DEBUG): Aggregate::uninitialize sci2:DiveCmd:YoYoDive:dive:SetSpeed
2025-06-05T14:16:55.491Z,1749133015.491 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:SurfaceDive] Stopped
2025-06-05T14:16:55.491Z,1749133015.491 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:SurfaceDive](DEBUG): Aggregate::uninitialize sci2:DiveCmd:YoYoDive:dive:SetSpeed:SurfaceDive
2025-06-05T14:16:55.491Z,1749133015.491 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:SurfaceDive:SurfaceSpeed] Stopped
2025-06-05T14:16:55.491Z,1749133015.491 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:SurfaceDive:SurfaceSpeed](DEBUG): Aggregate::uninitialize sci2:DiveCmd:YoYoDive:dive:SetSpeed:SurfaceDive:SurfaceSpeed
2025-06-05T14:16:55.492Z,1749133015.492 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:SurfaceDive:SurfaceSpeed:A.SetSpeed] Stopped
2025-06-05T14:16:55.492Z,1749133015.492 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:SurfaceDive:SurfaceSpeed:A.SetSpeed](DEBUG): Uninitialize.
2025-06-05T14:16:55.492Z,1749133015.492 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:ProfileSpeed] Stopped
2025-06-05T14:16:55.492Z,1749133015.492 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:ProfileSpeed](DEBUG): Aggregate::uninitialize sci2:DiveCmd:YoYoDive:dive:SetSpeed:ProfileSpeed
2025-06-05T14:16:55.492Z,1749133015.492 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:ProfileSpeed:A.SetSpeed] Stopped
2025-06-05T14:16:55.492Z,1749133015.492 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:ProfileSpeed:A.SetSpeed](DEBUG): Uninitialize.
2025-06-05T14:16:55.492Z,1749133015.492 [sci2:DiveCmd:YoYoDive:dive:D.DepthEnvelope] Stopped
2025-06-05T14:16:55.492Z,1749133015.492 [sci2:DiveCmd:YoYoDive:dive:D.DepthEnvelope](DEBUG): Uninitialize.
2025-06-05T14:16:55.492Z,1749133015.492 [sci2:DiveCmd:YoYoDive:dive:E.AltitudeEnvelope] Stopped
2025-06-05T14:16:55.492Z,1749133015.492 [sci2:DiveCmd:YoYoDive:dive:E.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-06-05T14:16:55.492Z,1749133015.492 [sci2:DiveCmd:YoYoDive:dive:F.YoYo] Stopped
2025-06-05T14:16:55.492Z,1749133015.492 [sci2:DiveCmd:YoYoDive:dive:F.YoYo](DEBUG): Uninitialize YoYoComponent.
2025-06-05T14:16:55.492Z,1749133015.492 [sci2:DiveCmd:SurfaceSink] Running Loop=1
2025-06-05T14:16:55.493Z,1749133015.493 [sci2:DiveCmd:SurfaceSink:sink:C](INFO): Sinking to  3.000000 m 
2025-06-05T14:16:55.493Z,1749133015.493 [sci2:DiveCmd:SurfaceSink:sink:C] Stopped
2025-06-05T14:16:55.493Z,1749133015.493 [sci2:DiveCmd:SurfaceSink:sink:D.Pitch] Running Loop=1
2025-06-05T14:16:55.493Z,1749133015.493 [sci2:DiveCmd:SurfaceSink:sink:D.Pitch](DEBUG): Initialize.
2025-06-05T14:16:55.493Z,1749133015.493 [sci2:DiveCmd:SurfaceSink:sink:B.SetSpeed] Running Loop=1
2025-06-05T14:16:55.494Z,1749133015.494 [sci2:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy] Running Loop=1
2025-06-05T14:17:25.612Z,1749133045.612 [NAL9602](INFO): Not Powering down - fast GPS
2025-06-05T14:23:36.859Z,1749133416.859 [CTD_Seabird](ERROR): Failed to parse device response: 0.09,14.644.97
2025-06-05T14:23:38.019Z,1749133418.019 [DVL_micro](ERROR): Failed to parse:
:WI,+00433,-00250,-00808,+00000,A
2025-06-05T14:23:41.671Z,1749133421.671 [DVL_micro](ERROR): Failed to parse:
:BD,+00000000.00,+00000000.00,+00000000.00,9999.99,000.00
2025-06-05T14:26:40.948Z,1749133600.948 [DataOverHttps](IMPORTANT): SBD MTMSN=20250605T142639
2025-06-05T14:26:41.690Z,1749133601.690 [DVL_micro](ERROR): Failed to parse:
:RD,+9999.99,+9999.99,+9999.99,+9999.99
2025-06-05T14:26:49.038Z,1749133609.038 [DataOverHttps](INFO): Received command: load Transport/transit.tl;set transit.MissionTimeout 10 min;set transit.Latitude 36.90378 degree;set transit.Longitude -122.11055 degree;set transit.Speed -1 m/s;run
2025-06-05T14:26:49.084Z,1749133609.084 [CommandExec](IMPORTANT): got command load ./Missions/Transport/transit.tl
2025-06-05T14:26:49.084Z,1749133609.084 [MissionManager](INFO): Uninitializing Mission sci2
2025-06-05T14:26:49.084Z,1749133609.084 [sci2] Stopped
2025-06-05T14:26:49.084Z,1749133609.084 [sci2](DEBUG): Aggregate::uninitialize sci2
2025-06-05T14:26:49.084Z,1749133609.084 [sci2:Science] Stopped
2025-06-05T14:26:49.084Z,1749133609.084 [sci2:Science](DEBUG): Aggregate::uninitialize sci2:Science
2025-06-05T14:26:49.084Z,1749133609.084 [sci2:Science:B] Stopped
2025-06-05T14:26:49.084Z,1749133609.084 [sci2:Science:C] Stopped
2025-06-05T14:26:49.085Z,1749133609.085 [sci2:Science:E] Stopped
2025-06-05T14:26:49.085Z,1749133609.085 [sci2:Science:OceanCurrent] Stopped
2025-06-05T14:26:49.085Z,1749133609.085 [sci2:Science:OceanCurrent](DEBUG): Aggregate::uninitialize sci2:Science:OceanCurrent
2025-06-05T14:26:49.085Z,1749133609.085 [sci2:Science:OceanCurrent:A.] Stopped
2025-06-05T14:26:49.085Z,1749133609.085 [sci2:StandardEnvelopes] Stopped
2025-06-05T14:26:49.085Z,1749133609.085 [sci2:StandardEnvelopes](DEBUG): Aggregate::uninitialize sci2:StandardEnvelopes
2025-06-05T14:26:49.085Z,1749133609.085 [sci2:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-06-05T14:26:49.085Z,1749133609.085 [sci2:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-06-05T14:26:49.085Z,1749133609.085 [sci2:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-06-05T14:26:49.085Z,1749133609.085 [sci2:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-06-05T14:26:49.085Z,1749133609.085 [sci2:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-06-05T14:26:49.085Z,1749133609.085 [sci2:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-06-05T14:26:49.085Z,1749133609.085 [sci2:BackseatDriver] Stopped
2025-06-05T14:26:49.086Z,1749133609.086 [sci2:BackseatDriver](DEBUG): Aggregate::uninitialize sci2:BackseatDriver
2025-06-05T14:26:49.086Z,1749133609.086 [sci2:BackseatDriver:A.BackseatDriver] Stopped
2025-06-05T14:26:49.086Z,1749133609.086 [sci2:PowerOnly] Stopped
2025-06-05T14:26:49.086Z,1749133609.086 [sci2:PowerOnly](DEBUG): Aggregate::uninitialize sci2:PowerOnly
2025-06-05T14:26:49.086Z,1749133609.086 [sci2:PowerOnly:E.Wait] Stopped
2025-06-05T14:26:49.086Z,1749133609.086 [sci2:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-06-05T14:26:49.086Z,1749133609.086 [sci2:DiveCmd] Stopped
2025-06-05T14:26:49.086Z,1749133609.086 [sci2:DiveCmd](DEBUG): Aggregate::uninitialize sci2:DiveCmd
2025-06-05T14:26:49.086Z,1749133609.086 [sci2:DiveCmd:SurfaceSink] Stopped
2025-06-05T14:26:49.086Z,1749133609.086 [sci2:DiveCmd:SurfaceSink](DEBUG): Aggregate::uninitialize sci2:DiveCmd:SurfaceSink
2025-06-05T14:26:49.086Z,1749133609.086 [sci2:DiveCmd:SurfaceSink:sink] Stopped
2025-06-05T14:26:49.087Z,1749133609.087 [sci2:DiveCmd:SurfaceSink:sink](DEBUG): Aggregate::uninitialize sci2:DiveCmd:SurfaceSink:sink
2025-06-05T14:26:49.087Z,1749133609.087 [sci2:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy] Stopped
2025-06-05T14:26:49.087Z,1749133609.087 [sci2:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-06-05T14:26:49.087Z,1749133609.087 [sci2:DiveCmd:SurfaceSink:sink:B.SetSpeed] Stopped
2025-06-05T14:26:49.087Z,1749133609.087 [sci2:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Uninitialize.
2025-06-05T14:26:49.087Z,1749133609.087 [sci2:DiveCmd:SurfaceSink:sink:D.Pitch] Stopped
2025-06-05T14:26:49.087Z,1749133609.087 [sci2:Lap] Stopped
2025-06-05T14:26:49.087Z,1749133609.087 [sci2:Lap](DEBUG): Aggregate::uninitialize sci2:Lap
2025-06-05T14:26:49.087Z,1749133609.087 [sci2:Lap:Dive] Stopped
2025-06-05T14:26:49.087Z,1749133609.087 [sci2:Lap:Dive](DEBUG): Aggregate::uninitialize sci2:Lap:Dive
2025-06-05T14:26:49.087Z,1749133609.087 [sci2:Lap:Dive:A] Stopped
2025-06-05T14:26:49.087Z,1749133609.087 [sci2:Lap:Dive:A](DEBUG): Aggregate::uninitialize sci2:Lap:Dive:A
2025-06-05T14:26:49.088Z,1749133609.088 [sci2:Lap:Wpt1] Stopped
2025-06-05T14:26:49.088Z,1749133609.088 [sci2:Lap:Wpt1](DEBUG): Aggregate::uninitialize sci2:Lap:Wpt1
2025-06-05T14:26:49.088Z,1749133609.088 [sci2:Lap:Wpt1:A.Waypoint] Stopped
2025-06-05T14:26:49.088Z,1749133609.088 [sci2:Lap:Wpt1:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-06-05T14:26:49.319Z,1749133609.319 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/transit.tl
2025-06-05T14:26:49.320Z,1749133609.320 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/transit.tl
2025-06-05T14:26:49.337Z,1749133609.337 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/transit.tl
2025-06-05T14:26:49.526Z,1749133609.526 [WetLabsBB2FL](INFO): Powering down
2025-06-05T14:26:50.335Z,1749133610.335 [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>

2025-06-05T14:26:50.340Z,1749133610.340 [MissionManager](INFO): DefineArg transit.MissionTimeout = 60.000000 min
2025-06-05T14:26:50.342Z,1749133610.342 [MissionManager](INFO): DefineArg transit.NeedCommsTime = 30.000000 min
2025-06-05T14:26:50.344Z,1749133610.344 [MissionManager](INFO): DefineArg transit.Latitude = nan arcdeg
2025-06-05T14:26:50.347Z,1749133610.347 [MissionManager](INFO): DefineArg transit.Longitude = nan arcdeg
2025-06-05T14:26:50.349Z,1749133610.349 [MissionManager](INFO): DefineArg transit.Northings = 0.000000 m
2025-06-05T14:26:50.351Z,1749133610.351 [MissionManager](INFO): DefineArg transit.Eastings = 0.000000 m
2025-06-05T14:26:50.353Z,1749133610.353 [MissionManager](INFO): DefineArg transit.Depth = 10.000000 m
2025-06-05T14:26:50.355Z,1749133610.355 [MissionManager](INFO): DefineArg transit.Speed = 1.000000 m/s
2025-06-05T14:26:50.358Z,1749133610.358 [MissionManager](INFO): DefineArg transit.MaxDepth = 20.000000 m
2025-06-05T14:26:50.360Z,1749133610.360 [MissionManager](INFO): DefineArg transit.MinOffshore = 1.000000 km
2025-06-05T14:26:50.362Z,1749133610.362 [MissionManager](INFO): DefineArg transit.MinAltitude = 7.000000 m
2025-06-05T14:26:50.364Z,1749133610.364 [MissionManager](INFO): DefineArg transit.MassHold = 1 bool
2025-06-05T14:26:50.390Z,1749133610.390 [MissionManager](INFO): DefineArg transit.BuoyancyHold = 1 bool
2025-06-05T14:26:50.391Z,1749133610.391 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-06-05T14:26:50.391Z,1749133610.391 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-06-05T14:26:50.392Z,1749133610.392 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-06-05T14:26:50.717Z,1749133610.717 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/NeedComms.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="NeedComms">
    <DefineArg Name="DiveInterval">
        <Units:hour />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="WaitForPitchUp">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="SurfacePitch">
        <Units:degree />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="SurfaceDepthRate">
        <Units:meter_per_second />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="SurfaceSpeed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="SurfacingTimeout">
        <Units:second />
        <Value>1000</Value>
    </DefineArg>
    <DefineArg Name="GPSTimeout">
        <Units:minute />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="CommsTimeout">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <When>
        <Called />
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
                <Add>
                    <Arg Name="WaitForPitchUp" />
                </Add>
            </Gt>
        </Or>
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
            </Gt>
            <And>
                <Universal:platform_pitch_angle />
                <Gt>
                    <Units:degree />
                    <Value>0</Value>
                </Gt>
            </And>
        </Or>
    </When>
    <Syslog Severity="Info">
        last time_fix was: 
        <Universal:time_fix />
        <Units:epoch_second />
    </Syslog>
    <Guidance:GoToSurface>
        <Progression />
        <Setting>
            <Guidance:GoToSurface.pitch />
            <Arg Name="SurfacePitch" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.depthRate />
            <Arg Name="SurfaceDepthRate" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.speed />
            <Arg Name="SurfaceSpeed" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.surfaceTimeout />
            <Arg Name="SurfacingTimeout" />
        </Setting>
    </Guidance:GoToSurface>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">first GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="CommsTimeout">
            <Syslog Severity="Important">
                Comms timed out after 
                <Arg Name="CommsTimeout" />
                <Units:minute />
                minutes
            </Syslog>
        </Timeout>
        <Universal:platform_communications />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">second GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
</Aggregate>

2025-06-05T14:26:50.722Z,1749133610.722 [MissionManager](INFO): DefineArg transit:NeedComms.DiveInterval = 1.000000 h
2025-06-05T14:26:50.725Z,1749133610.725 [MissionManager](INFO): DefineArg transit:NeedComms.WaitForPitchUp = 10.000000 min
2025-06-05T14:26:50.727Z,1749133610.727 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-06-05T14:26:50.729Z,1749133610.729 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceDepthRate = nan m/s
2025-06-05T14:26:50.732Z,1749133610.732 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-06-05T14:26:50.734Z,1749133610.734 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacingTimeout = 1000.000000 s
2025-06-05T14:26:50.767Z,1749133610.767 [MissionManager](INFO): DefineArg transit:NeedComms.GPSTimeout = 7.000000 min
2025-06-05T14:26:50.770Z,1749133610.770 [MissionManager](INFO): DefineArg transit:NeedComms.CommsTimeout = 30.000000 min
2025-06-05T14:26:50.799Z,1749133610.799 [transit:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-06-05T14:26:50.825Z,1749133610.825 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-06-05T14:26:50.826Z,1749133610.826 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-06-05T14:26:50.827Z,1749133610.827 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-06-05T14:26:50.913Z,1749133610.913 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>1.5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-06-05T14:26:50.917Z,1749133610.917 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinAltitude = 5.000000 m
2025-06-05T14:26:50.919Z,1749133610.919 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2025-06-05T14:26:50.921Z,1749133610.921 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepth = 200.000000 m
2025-06-05T14:26:50.924Z,1749133610.924 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-06-05T14:26:50.925Z,1749133610.925 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-06-05T14:26:50.931Z,1749133610.931 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-06-05T14:26:51.013Z,1749133611.013 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-06-05T14:26:51.038Z,1749133611.038 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-06-05T14:26:51.038Z,1749133611.038 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-06-05T14:26:51.039Z,1749133611.039 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-06-05T14:26:51.087Z,1749133611.087 [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>

2025-06-05T14:26:51.090Z,1749133611.090 [MissionManager](INFO): DefineArg transit:BackseatDriver.EnableBackseat = 0 bool
2025-06-05T14:26:51.093Z,1749133611.093 [transit:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-06-05T14:26:51.095Z,1749133611.095 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-06-05T14:26:51.095Z,1749133611.095 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-06-05T14:26:51.096Z,1749133611.096 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-06-05T14:26:51.234Z,1749133611.234 [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>

2025-06-05T14:26:51.239Z,1749133611.239 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleAll = 0 bool
2025-06-05T14:26:51.251Z,1749133611.251 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad1 = 0 bool
2025-06-05T14:26:51.255Z,1749133611.255 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad2 = 0 bool
2025-06-05T14:26:51.279Z,1749133611.279 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad3 = 0 bool
2025-06-05T14:26:51.286Z,1749133611.286 [MissionManager](INFO): DefineArg transit:PowerOnly.EnabledPowerOnly = 1 bool
2025-06-05T14:26:51.352Z,1749133611.352 [transit:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-06-05T14:26:51.356Z,1749133611.356 [transit:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-06-05T14:26:51.407Z,1749133611.407 [transit:MassHold.Pitch](DEBUG): Construct.
2025-06-05T14:26:51.417Z,1749133611.417 [transit:Transit:A.Pitch](DEBUG): Construct.
2025-06-05T14:26:51.434Z,1749133611.434 [transit:Transit:B.SetSpeed](DEBUG): Construct.
2025-06-05T14:26:51.445Z,1749133611.445 [transit:Transit:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-06-05T14:26:51.496Z,1749133611.496 [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"
  }
}


2025-06-05T14:26:51.497Z,1749133611.497 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/transit.tl id=transit
2025-06-05T14:26:51.798Z,1749133611.798 [MissionManager](IMPORTANT): Started mission Default
2025-06-05T14:26:51.818Z,1749133611.818 [Default] Running Loop=1
2025-06-05T14:26:51.818Z,1749133611.818 [Default](DEBUG): Aggregate::initialize Default
2025-06-05T14:26:51.818Z,1749133611.818 [Default:B.GoToSurface] Running Loop=1
2025-06-05T14:26:51.818Z,1749133611.818 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-06-05T14:26:51.819Z,1749133611.819 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-06-05T14:26:51.819Z,1749133611.819 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-06-05T14:26:51.819Z,1749133611.819 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-06-05T14:26:51.820Z,1749133611.820 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-06-05T14:26:51.820Z,1749133611.820 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-06-05T14:26:51.820Z,1749133611.820 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-06-05T14:26:51.821Z,1749133611.821 [Default:A.Wait] Running Loop=1
2025-06-05T14:26:51.821Z,1749133611.821 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-06-05T14:27:05.143Z,1749133625.143 [Default:A.Wait](INFO): Done Waiting.
2025-06-05T14:27:05.143Z,1749133625.143 [Default:A.Wait] Stopped
2025-06-05T14:27:05.143Z,1749133625.143 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-06-05T14:27:05.563Z,1749133625.563 [Default:CheckIn] Running Loop=1
2025-06-05T14:27:05.564Z,1749133625.564 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-06-05T14:27:05.564Z,1749133625.564 [Default:CheckIn:Read_GPS] Running Loop=1
2025-06-05T14:27:07.559Z,1749133627.559 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,142706.00,A,3647.40916,N,12200.09209,W,1.147,119.40,050625,,,A*7F
2025-06-05T14:27:07.561Z,1749133627.561 [NAL9602](INFO): GPS fix at 20250605T142706: (36.790153, -122.001535)
2025-06-05T14:27:07.622Z,1749133627.622 [Default:CheckIn:Read_GPS] Stopped
2025-06-05T14:27:07.622Z,1749133627.622 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-06-05T14:27:07.896Z,1749133627.896 [CommandExec](IMPORTANT): got command set transit.MissionTimeout 10 minute
2025-06-05T14:27:07.897Z,1749133627.897 [CommandExec](IMPORTANT): got command set transit.Latitude 36.90378 degree
2025-06-05T14:27:07.898Z,1749133627.898 [CommandExec](IMPORTANT): got command set transit.Longitude -122.11055 degree
2025-06-05T14:27:07.898Z,1749133627.898 [CommandExec](IMPORTANT): got command set transit.Speed -1 meter_per_second
2025-06-05T14:27:07.899Z,1749133627.899 [CommandExec](IMPORTANT): got command run
2025-06-05T14:27:07.905Z,1749133627.905 [CommandExec](IMPORTANT): Running 
2025-06-05T14:27:08.043Z,1749133628.043 [Default] Stopped
2025-06-05T14:27:08.043Z,1749133628.043 [Default](DEBUG): Aggregate::uninitialize Default
2025-06-05T14:27:08.043Z,1749133628.043 [Default:B.GoToSurface] Stopped
2025-06-05T14:27:08.043Z,1749133628.043 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-06-05T14:27:08.043Z,1749133628.043 [Default:CheckIn] Stopped
2025-06-05T14:27:08.043Z,1749133628.043 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-06-05T14:27:08.043Z,1749133628.043 [Default:CheckIn:Read_Iridium] Stopped
2025-06-05T14:27:08.044Z,1749133628.044 [MissionManager](IMPORTANT): Started mission transit
2025-06-05T14:27:08.044Z,1749133628.044 [transit] Running Loop=1
2025-06-05T14:27:08.044Z,1749133628.044 [transit](DEBUG): Aggregate::initialize transit
2025-06-05T14:27:08.044Z,1749133628.044 [transit:StandardEnvelopes] Running Loop=1
2025-06-05T14:27:08.044Z,1749133628.044 [transit:StandardEnvelopes](DEBUG): Aggregate::initialize transit:StandardEnvelopes
2025-06-05T14:27:08.044Z,1749133628.044 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-06-05T14:27:08.044Z,1749133628.044 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-06-05T14:27:08.045Z,1749133628.045 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-06-05T14:27:08.045Z,1749133628.045 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-06-05T14:27:08.045Z,1749133628.045 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-06-05T14:27:08.045Z,1749133628.045 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-06-05T14:27:08.045Z,1749133628.045 [transit:BackseatDriver] Running Loop=1
2025-06-05T14:27:08.045Z,1749133628.045 [transit:BackseatDriver](DEBUG): Aggregate::initialize transit:BackseatDriver
2025-06-05T14:27:08.045Z,1749133628.045 [transit:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-06-05T14:27:08.045Z,1749133628.045 [transit:PowerOnly] Running Loop=1
2025-06-05T14:27:08.045Z,1749133628.045 [transit:PowerOnly](DEBUG): Aggregate::initialize transit:PowerOnly
2025-06-05T14:27:08.045Z,1749133628.045 [transit:PowerOnly:A] Running Loop=1
2025-06-05T14:27:08.046Z,1749133628.046 [transit:PowerOnly:B] Running Loop=1
2025-06-05T14:27:08.046Z,1749133628.046 [transit:PowerOnly:C] Running Loop=1
2025-06-05T14:27:08.046Z,1749133628.046 [transit:PowerOnly:D] Running Loop=1
2025-06-05T14:27:08.046Z,1749133628.046 [transit:PowerOnly:E.Wait] Running Loop=1
2025-06-05T14:27:08.050Z,1749133628.050 [transit:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-06-05T14:27:08.050Z,1749133628.050 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-06-05T14:27:08.050Z,1749133628.050 [transit:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-06-05T14:27:08.050Z,1749133628.050 [transit:MassHold.Pitch] Running Loop=1
2025-06-05T14:27:08.050Z,1749133628.050 [transit:MassHold.Pitch](DEBUG): Initialize.
2025-06-05T14:27:08.051Z,1749133628.051 [transit:B] Running Loop=1
2025-06-05T14:27:08.051Z,1749133628.051 [transit:MassHold.Pitch] Running Loop=1
2025-06-05T14:27:08.052Z,1749133628.052 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-06-05T14:27:08.052Z,1749133628.052 [transit:PowerOnly] Running Loop=1
2025-06-05T14:27:08.052Z,1749133628.052 [transit:PowerOnly:D] Stopped
2025-06-05T14:27:08.052Z,1749133628.052 [transit:PowerOnly:C] Stopped
2025-06-05T14:27:08.052Z,1749133628.052 [transit:PowerOnly:B] Stopped
2025-06-05T14:27:08.052Z,1749133628.052 [transit:PowerOnly:A] Stopped
2025-06-05T14:27:08.052Z,1749133628.052 [transit:BackseatDriver] Running Loop=1
2025-06-05T14:27:08.053Z,1749133628.053 [transit:StandardEnvelopes] Running Loop=1
2025-06-05T14:27:08.053Z,1749133628.053 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-06-05T14:27:08.053Z,1749133628.053 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-06-05T14:27:08.053Z,1749133628.053 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-06-05T14:27:08.054Z,1749133628.054 [transit:B] Stopped
2025-06-05T14:27:08.058Z,1749133628.058 [transit:C] Running Loop=1
2025-06-05T14:27:08.365Z,1749133628.365 [transit:C] Stopped
2025-06-05T14:27:08.365Z,1749133628.365 [transit:E] Running Loop=1
2025-06-05T14:27:08.806Z,1749133628.806 [transit:E] Stopped
2025-06-05T14:27:08.806Z,1749133628.806 [transit:F] Running Loop=1
2025-06-05T14:27:09.217Z,1749133629.217 [transit:F] Stopped
2025-06-05T14:27:09.217Z,1749133629.217 [transit:G] Running Loop=1
2025-06-05T14:27:09.572Z,1749133629.572 [transit:G] Stopped
2025-06-05T14:27:09.572Z,1749133629.572 [transit:Transit] Running Loop=1
2025-06-05T14:27:09.572Z,1749133629.572 [transit:Transit](DEBUG): Aggregate::initialize transit:Transit
2025-06-05T14:27:09.572Z,1749133629.572 [transit:Transit:A.Pitch] Running Loop=1
2025-06-05T14:27:09.573Z,1749133629.573 [transit:Transit:A.Pitch](DEBUG): Initialize.
2025-06-05T14:27:09.573Z,1749133629.573 [transit:Transit:B.SetSpeed] Running Loop=1
2025-06-05T14:27:09.573Z,1749133629.573 [transit:Transit:B.SetSpeed](DEBUG): Initialize.
2025-06-05T14:27:09.573Z,1749133629.573 [transit:Transit:Wpt1.Waypoint] Running Loop=1
2025-06-05T14:27:09.573Z,1749133629.573 [transit:Transit:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-06-05T14:27:09.574Z,1749133629.574 [transit:Transit:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.903782,-122.110550
2025-06-05T14:27:09.980Z,1749133629.980 [transit:Transit:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.903782,-122.110550
2025-06-05T14:27:09.981Z,1749133629.981 [transit:Transit:B.SetSpeed] Running Loop=1
2025-06-05T14:27:09.981Z,1749133629.981 [transit:Transit:A.Pitch] Running Loop=1
2025-06-05T14:27:22.896Z,1749133642.896 [NAL9602](INFO): SBD MO Status=0, MOMSN=21074, MT Status=0, MTMSN=0
2025-06-05T14:27:22.896Z,1749133642.896 [NAL9602](INFO): No messages in MT queue
2025-06-05T14:27:48.838Z,1749133668.838 [ThrusterHE](INFO): Failure count cleared after critical for ThrusterHE
2025-06-05T14:27:53.600Z,1749133673.600 [NAL9602](INFO): Not Powering down - fast GPS
2025-06-05T14:28:43.727Z,1749133723.727 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T14:30:16.906Z,1749133816.906 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T14:30:48.040Z,1749133848.040 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T14:31:19.162Z,1749133879.162 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T14:31:50.287Z,1749133910.287 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T14:32:13.379Z,1749133933.379 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.727356
2025-06-05T14:32:51.535Z,1749133971.535 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T14:33:22.658Z,1749134002.658 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T14:33:39.640Z,1749134019.640 [DataOverHttps](IMPORTANT): SBD MTMSN=20250605T143339
2025-06-05T14:33:39.644Z,1749134019.644 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003504
2025-06-05T14:34:34.386Z,1749134074.386 [DVL_micro](ERROR): Failed to parse:
:RD,+9999.99,+9999.99,+9999.99,+9999.99
2025-06-05T14:34:41.899Z,1749134081.899 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T14:35:00.939Z,1749134100.939 [DataOverHttps](INFO): Received command: schedule resume
2025-06-05T14:35:01.017Z,1749134101.017 [CommandExec](IMPORTANT): got command schedule resume
2025-06-05T14:35:01.940Z,1749134101.940 [DataOverHttps](IMPORTANT): SBD MTMSN=20250605T143501
2025-06-05T14:35:09.844Z,1749134109.844 [DataOverHttps](INFO): Received command: sched "load Transport/transit.tl;set transit.MissionTimeout 10 min;set transit.Latitude 36.90378 degree;set transit.Longitude -122.11055 degree;set transit.Speed 1 m/s;run"
2025-06-05T14:35:09.869Z,1749134109.869 [CommandExec](IMPORTANT): got command schedule "load Transport/transit.tl;set transit.MissionTimeout 10 min;set transit.Latitude 36.90378 degree;set transit.Longitude -122.11055 degree;set transit.Speed 1 m/s;run"
2025-06-05T14:35:09.870Z,1749134109.870 [CommandExec](IMPORTANT): Scheduled #25: "load Transport/transit.tl;set transit.MissionTimeout 10 min;set transit.Latitude 36.90378 degree;set transit.Longitude -122.11055 degree;set transit.Speed 1 m/s;run", AFTER MISSION
2025-06-05T14:35:10.845Z,1749134110.845 [DataOverHttps](IMPORTANT): SBD MTMSN=20250605T143510
2025-06-05T14:35:18.915Z,1749134118.915 [DataOverHttps](INFO): Received command: sched "load Transport/transit.tl;set transit.MissionTimeout 10 min;set transit.Latitude 36.90378 degree;set transit.Longitude -122.11055 degree;set transit.Speed -1 m/s;run"
2025-06-05T14:35:19.029Z,1749134119.029 [CommandExec](IMPORTANT): got command schedule "load Transport/transit.tl;set transit.MissionTimeout 10 min;set transit.Latitude 36.90378 degree;set transit.Longitude -122.11055 degree;set transit.Speed -1 m/s;run"
2025-06-05T14:35:19.029Z,1749134119.029 [CommandExec](IMPORTANT): Scheduled #26: "load Transport/transit.tl;set transit.MissionTimeout 10 min;set transit.Latitude 36.90378 degree;set transit.Longitude -122.11055 degree;set transit.Speed -1 m/s;run", AFTER MISSION
2025-06-05T14:35:19.917Z,1749134119.917 [DataOverHttps](IMPORTANT): SBD MTMSN=20250605T143518
2025-06-05T14:35:27.737Z,1749134127.737 [DataOverHttps](INFO): Received command: sched "load Transport/transit.tl;set transit.MissionTimeout 10 min;set transit.Latitude 36.90378 degree;set transit.Longitude -122.11055 degree;set transit.Speed 1 m/s;run"
2025-06-05T14:35:27.813Z,1749134127.813 [CommandExec](IMPORTANT): got command schedule "load Transport/transit.tl;set transit.MissionTimeout 10 min;set transit.Latitude 36.90378 degree;set transit.Longitude -122.11055 degree;set transit.Speed 1 m/s;run"
2025-06-05T14:35:27.813Z,1749134127.813 [CommandExec](IMPORTANT): Scheduled #27: "load Transport/transit.tl;set transit.MissionTimeout 10 min;set transit.Latitude 36.90378 degree;set transit.Longitude -122.11055 degree;set transit.Speed 1 m/s;run", AFTER MISSION
2025-06-05T14:35:28.736Z,1749134128.736 [DataOverHttps](IMPORTANT): SBD MTMSN=20250605T143527
2025-06-05T14:36:30.983Z,1749134190.983 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T14:37:02.111Z,1749134222.111 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T14:37:08.340Z,1749134228.340 [transit](INFO): Timed out from 2025-06-05T14:27:08.0Z
2025-06-05T14:37:08.340Z,1749134228.340 [MissionManager](INFO): transit is completed.
2025-06-05T14:37:08.341Z,1749134228.341 [MissionManager](INFO): Uninitializing Mission transit
2025-06-05T14:37:08.341Z,1749134228.341 [transit] Stopped
2025-06-05T14:37:08.341Z,1749134228.341 [transit](DEBUG): Aggregate::uninitialize transit
2025-06-05T14:37:08.341Z,1749134228.341 [transit:StandardEnvelopes] Stopped
2025-06-05T14:37:08.341Z,1749134228.341 [transit:StandardEnvelopes](DEBUG): Aggregate::uninitialize transit:StandardEnvelopes
2025-06-05T14:37:08.341Z,1749134228.341 [transit:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-06-05T14:37:08.341Z,1749134228.341 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-06-05T14:37:08.341Z,1749134228.341 [transit:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-06-05T14:37:08.341Z,1749134228.341 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-06-05T14:37:08.341Z,1749134228.341 [transit:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-06-05T14:37:08.341Z,1749134228.341 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-06-05T14:37:08.342Z,1749134228.342 [transit:BackseatDriver] Stopped
2025-06-05T14:37:08.342Z,1749134228.342 [transit:BackseatDriver](DEBUG): Aggregate::uninitialize transit:BackseatDriver
2025-06-05T14:37:08.342Z,1749134228.342 [transit:BackseatDriver:A.BackseatDriver] Stopped
2025-06-05T14:37:08.342Z,1749134228.342 [transit:PowerOnly] Stopped
2025-06-05T14:37:08.343Z,1749134228.343 [transit:PowerOnly](DEBUG): Aggregate::uninitialize transit:PowerOnly
2025-06-05T14:37:08.343Z,1749134228.343 [transit:PowerOnly:E.Wait] Stopped
2025-06-05T14:37:08.343Z,1749134228.343 [transit:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-06-05T14:37:08.343Z,1749134228.343 [transit:BuoyancyHold.Buoyancy] Stopped
2025-06-05T14:37:08.343Z,1749134228.343 [transit:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-06-05T14:37:08.343Z,1749134228.343 [transit:MassHold.Pitch] Stopped
2025-06-05T14:37:08.343Z,1749134228.343 [transit:Transit] Stopped
2025-06-05T14:37:08.343Z,1749134228.343 [transit:Transit](DEBUG): Aggregate::uninitialize transit:Transit
2025-06-05T14:37:08.343Z,1749134228.343 [transit:Transit:A.Pitch] Stopped
2025-06-05T14:37:08.343Z,1749134228.343 [transit:Transit:B.SetSpeed] Stopped
2025-06-05T14:37:08.343Z,1749134228.343 [transit:Transit:B.SetSpeed](DEBUG): Uninitialize.
2025-06-05T14:37:08.343Z,1749134228.343 [transit:Transit:Wpt1.Waypoint] Stopped
2025-06-05T14:37:08.344Z,1749134228.344 [transit:Transit:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-06-05T14:37:08.439Z,1749134228.439 [CommandExec](IMPORTANT): got command load ./Missions/Transport/transit.tl
2025-06-05T14:37:08.440Z,1749134228.440 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/transit.tl
2025-06-05T14:37:08.440Z,1749134228.440 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/transit.tl
2025-06-05T14:37:08.441Z,1749134228.441 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/transit.tl
2025-06-05T14:37:09.283Z,1749134229.283 [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>

2025-06-05T14:37:09.288Z,1749134229.288 [MissionManager](INFO): DefineArg transit.MissionTimeout = 60.000000 min
2025-06-05T14:37:09.290Z,1749134229.290 [MissionManager](INFO): DefineArg transit.NeedCommsTime = 30.000000 min
2025-06-05T14:37:09.292Z,1749134229.292 [MissionManager](INFO): DefineArg transit.Latitude = nan arcdeg
2025-06-05T14:37:09.294Z,1749134229.294 [MissionManager](INFO): DefineArg transit.Longitude = nan arcdeg
2025-06-05T14:37:09.296Z,1749134229.296 [MissionManager](INFO): DefineArg transit.Northings = 0.000000 m
2025-06-05T14:37:09.323Z,1749134229.323 [MissionManager](INFO): DefineArg transit.Eastings = 0.000000 m
2025-06-05T14:37:09.325Z,1749134229.325 [MissionManager](INFO): DefineArg transit.Depth = 10.000000 m
2025-06-05T14:37:09.332Z,1749134229.332 [MissionManager](INFO): DefineArg transit.Speed = 1.000000 m/s
2025-06-05T14:37:09.334Z,1749134229.334 [MissionManager](INFO): DefineArg transit.MaxDepth = 20.000000 m
2025-06-05T14:37:09.337Z,1749134229.337 [MissionManager](INFO): DefineArg transit.MinOffshore = 1.000000 km
2025-06-05T14:37:09.365Z,1749134229.365 [MissionManager](INFO): DefineArg transit.MinAltitude = 7.000000 m
2025-06-05T14:37:09.367Z,1749134229.367 [MissionManager](INFO): DefineArg transit.MassHold = 1 bool
2025-06-05T14:37:09.369Z,1749134229.369 [MissionManager](INFO): DefineArg transit.BuoyancyHold = 1 bool
2025-06-05T14:37:09.370Z,1749134229.370 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-06-05T14:37:09.370Z,1749134229.370 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-06-05T14:37:09.371Z,1749134229.371 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-06-05T14:37:09.644Z,1749134229.644 [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>

2025-06-05T14:37:09.649Z,1749134229.649 [MissionManager](INFO): DefineArg transit:NeedComms.DiveInterval = 1.000000 h
2025-06-05T14:37:09.651Z,1749134229.651 [MissionManager](INFO): DefineArg transit:NeedComms.WaitForPitchUp = 10.000000 min
2025-06-05T14:37:09.653Z,1749134229.653 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-06-05T14:37:09.655Z,1749134229.655 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceDepthRate = nan m/s
2025-06-05T14:37:09.658Z,1749134229.658 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-06-05T14:37:09.660Z,1749134229.660 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacingTimeout = 1000.000000 s
2025-06-05T14:37:09.662Z,1749134229.662 [MissionManager](INFO): DefineArg transit:NeedComms.GPSTimeout = 7.000000 min
2025-06-05T14:37:09.664Z,1749134229.664 [MissionManager](INFO): DefineArg transit:NeedComms.CommsTimeout = 30.000000 min
2025-06-05T14:37:09.707Z,1749134229.707 [transit:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-06-05T14:37:09.733Z,1749134229.733 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-06-05T14:37:09.733Z,1749134229.733 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-06-05T14:37:09.735Z,1749134229.735 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-06-05T14:37:09.804Z,1749134229.804 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>1.5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-06-05T14:37:09.807Z,1749134229.807 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinAltitude = 5.000000 m
2025-06-05T14:37:09.810Z,1749134229.810 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2025-06-05T14:37:09.812Z,1749134229.812 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepth = 200.000000 m
2025-06-05T14:37:09.814Z,1749134229.814 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-06-05T14:37:09.815Z,1749134229.815 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-06-05T14:37:09.821Z,1749134229.821 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-06-05T14:37:09.856Z,1749134229.856 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-06-05T14:37:09.866Z,1749134229.866 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-06-05T14:37:09.866Z,1749134229.866 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-06-05T14:37:09.867Z,1749134229.867 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-06-05T14:37:09.895Z,1749134229.895 [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>

2025-06-05T14:37:09.898Z,1749134229.898 [MissionManager](INFO): DefineArg transit:BackseatDriver.EnableBackseat = 0 bool
2025-06-05T14:37:09.901Z,1749134229.901 [transit:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-06-05T14:37:09.903Z,1749134229.903 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-06-05T14:37:09.903Z,1749134229.903 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-06-05T14:37:09.904Z,1749134229.904 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-06-05T14:37:10.087Z,1749134230.087 [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>

2025-06-05T14:37:10.091Z,1749134230.091 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleAll = 0 bool
2025-06-05T14:37:10.092Z,1749134230.092 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad1 = 0 bool
2025-06-05T14:37:10.095Z,1749134230.095 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad2 = 0 bool
2025-06-05T14:37:10.096Z,1749134230.096 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad3 = 0 bool
2025-06-05T14:37:10.099Z,1749134230.099 [MissionManager](INFO): DefineArg transit:PowerOnly.EnabledPowerOnly = 1 bool
2025-06-05T14:37:10.106Z,1749134230.106 [transit:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-06-05T14:37:10.107Z,1749134230.107 [transit:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-06-05T14:37:10.111Z,1749134230.111 [transit:MassHold.Pitch](DEBUG): Construct.
2025-06-05T14:37:10.125Z,1749134230.125 [transit:Transit:A.Pitch](DEBUG): Construct.
2025-06-05T14:37:10.130Z,1749134230.130 [transit:Transit:B.SetSpeed](DEBUG): Construct.
2025-06-05T14:37:10.133Z,1749134230.133 [transit:Transit:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-06-05T14:37:10.203Z,1749134230.203 [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"
  }
}


2025-06-05T14:37:10.203Z,1749134230.203 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/transit.tl id=transit
2025-06-05T14:37:10.395Z,1749134230.395 [MissionManager](IMPORTANT): Started mission Default
2025-06-05T14:37:10.395Z,1749134230.395 [Default] Running Loop=1
2025-06-05T14:37:10.396Z,1749134230.396 [Default](DEBUG): Aggregate::initialize Default
2025-06-05T14:37:10.396Z,1749134230.396 [Default:B.GoToSurface] Running Loop=1
2025-06-05T14:37:10.396Z,1749134230.396 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-06-05T14:37:10.396Z,1749134230.396 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-06-05T14:37:10.396Z,1749134230.396 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-06-05T14:37:10.397Z,1749134230.397 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-06-05T14:37:10.397Z,1749134230.397 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-06-05T14:37:10.397Z,1749134230.397 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-06-05T14:37:10.397Z,1749134230.397 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-06-05T14:37:10.398Z,1749134230.398 [Default:A.Wait] Running Loop=1
2025-06-05T14:37:10.398Z,1749134230.398 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-06-05T14:37:23.740Z,1749134243.740 [Default:A.Wait](INFO): Done Waiting.
2025-06-05T14:37:23.740Z,1749134243.740 [Default:A.Wait] Stopped
2025-06-05T14:37:23.740Z,1749134243.740 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-06-05T14:37:28.327Z,1749134248.327 [CommandExec](IMPORTANT): got command set transit.MissionTimeout 10 minute
2025-06-05T14:37:28.328Z,1749134248.328 [CommandExec](IMPORTANT): got command set transit.Latitude 36.90378 degree
2025-06-05T14:37:28.329Z,1749134248.329 [CommandExec](IMPORTANT): got command set transit.Longitude -122.11055 degree
2025-06-05T14:37:28.329Z,1749134248.329 [CommandExec](IMPORTANT): got command set transit.Speed 1 meter_per_second
2025-06-05T14:37:28.330Z,1749134248.330 [CommandExec](IMPORTANT): got command run
2025-06-05T14:37:28.356Z,1749134248.356 [CommandExec](IMPORTANT): Running 
2025-06-05T14:37:28.584Z,1749134248.584 [Default] Stopped
2025-06-05T14:37:28.584Z,1749134248.584 [Default](DEBUG): Aggregate::uninitialize Default
2025-06-05T14:37:28.584Z,1749134248.584 [Default:B.GoToSurface] Stopped
2025-06-05T14:37:28.584Z,1749134248.584 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-06-05T14:37:28.584Z,1749134248.584 [MissionManager](IMPORTANT): Started mission transit
2025-06-05T14:37:28.584Z,1749134248.584 [transit] Running Loop=1
2025-06-05T14:37:28.584Z,1749134248.584 [transit](DEBUG): Aggregate::initialize transit
2025-06-05T14:37:28.585Z,1749134248.585 [transit:StandardEnvelopes] Running Loop=1
2025-06-05T14:37:28.585Z,1749134248.585 [transit:StandardEnvelopes](DEBUG): Aggregate::initialize transit:StandardEnvelopes
2025-06-05T14:37:28.585Z,1749134248.585 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-06-05T14:37:28.585Z,1749134248.585 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-06-05T14:37:28.585Z,1749134248.585 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-06-05T14:37:28.585Z,1749134248.585 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-06-05T14:37:28.585Z,1749134248.585 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-06-05T14:37:28.585Z,1749134248.585 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-06-05T14:37:28.585Z,1749134248.585 [transit:BackseatDriver] Running Loop=1
2025-06-05T14:37:28.586Z,1749134248.586 [transit:BackseatDriver](DEBUG): Aggregate::initialize transit:BackseatDriver
2025-06-05T14:37:28.586Z,1749134248.586 [transit:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-06-05T14:37:28.586Z,1749134248.586 [transit:PowerOnly] Running Loop=1
2025-06-05T14:37:28.586Z,1749134248.586 [transit:PowerOnly](DEBUG): Aggregate::initialize transit:PowerOnly
2025-06-05T14:37:28.586Z,1749134248.586 [transit:PowerOnly:A] Running Loop=1
2025-06-05T14:37:28.586Z,1749134248.586 [transit:PowerOnly:B] Running Loop=1
2025-06-05T14:37:28.586Z,1749134248.586 [transit:PowerOnly:C] Running Loop=1
2025-06-05T14:37:28.586Z,1749134248.586 [transit:PowerOnly:D] Running Loop=1
2025-06-05T14:37:28.587Z,1749134248.587 [transit:PowerOnly:E.Wait] Running Loop=1
2025-06-05T14:37:28.587Z,1749134248.587 [transit:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-06-05T14:37:28.587Z,1749134248.587 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-06-05T14:37:28.587Z,1749134248.587 [transit:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-06-05T14:37:28.587Z,1749134248.587 [transit:MassHold.Pitch] Running Loop=1
2025-06-05T14:37:28.587Z,1749134248.587 [transit:MassHold.Pitch](DEBUG): Initialize.
2025-06-05T14:37:28.587Z,1749134248.587 [transit:B] Running Loop=1
2025-06-05T14:37:28.588Z,1749134248.588 [transit:MassHold.Pitch] Running Loop=1
2025-06-05T14:37:28.588Z,1749134248.588 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-06-05T14:37:28.588Z,1749134248.588 [transit:PowerOnly] Running Loop=1
2025-06-05T14:37:28.589Z,1749134248.589 [transit:PowerOnly:D] Stopped
2025-06-05T14:37:28.589Z,1749134248.589 [transit:PowerOnly:C] Stopped
2025-06-05T14:37:28.589Z,1749134248.589 [transit:PowerOnly:B] Stopped
2025-06-05T14:37:28.589Z,1749134248.589 [transit:PowerOnly:A] Stopped
2025-06-05T14:37:28.589Z,1749134248.589 [transit:BackseatDriver] Running Loop=1
2025-06-05T14:37:28.589Z,1749134248.589 [transit:StandardEnvelopes] Running Loop=1
2025-06-05T14:37:28.589Z,1749134248.589 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-06-05T14:37:28.589Z,1749134248.589 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-06-05T14:37:28.590Z,1749134248.590 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-06-05T14:37:28.591Z,1749134248.591 [transit:B] Stopped
2025-06-05T14:37:28.591Z,1749134248.591 [transit:C] Running Loop=1
2025-06-05T14:37:28.987Z,1749134248.987 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position 31.28 mm (4 active estimators).
2025-06-05T14:37:28.994Z,1749134248.994 [transit:C] Stopped
2025-06-05T14:37:28.994Z,1749134248.994 [transit:E] Running Loop=1
2025-06-05T14:37:29.472Z,1749134249.472 [transit:E] Stopped
2025-06-05T14:37:29.472Z,1749134249.472 [transit:F] Running Loop=1
2025-06-05T14:37:29.839Z,1749134249.839 [transit:F] Stopped
2025-06-05T14:37:29.839Z,1749134249.839 [transit:G] Running Loop=1
2025-06-05T14:37:30.247Z,1749134250.247 [transit:G] Stopped
2025-06-05T14:37:30.247Z,1749134250.247 [transit:Transit] Running Loop=1
2025-06-05T14:37:30.247Z,1749134250.247 [transit:Transit](DEBUG): Aggregate::initialize transit:Transit
2025-06-05T14:37:30.247Z,1749134250.247 [transit:Transit:A.Pitch] Running Loop=1
2025-06-05T14:37:30.248Z,1749134250.248 [transit:Transit:A.Pitch](DEBUG): Initialize.
2025-06-05T14:37:30.248Z,1749134250.248 [transit:Transit:B.SetSpeed] Running Loop=1
2025-06-05T14:37:30.248Z,1749134250.248 [transit:Transit:B.SetSpeed](DEBUG): Initialize.
2025-06-05T14:37:30.248Z,1749134250.248 [transit:Transit:Wpt1.Waypoint] Running Loop=1
2025-06-05T14:37:30.248Z,1749134250.248 [transit:Transit:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-06-05T14:37:30.249Z,1749134250.249 [transit:Transit:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.903782,-122.110550
2025-06-05T14:37:30.648Z,1749134250.648 [transit:Transit:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.903782,-122.110550
2025-06-05T14:37:30.649Z,1749134250.649 [transit:Transit:B.SetSpeed] Running Loop=1
2025-06-05T14:37:30.649Z,1749134250.649 [transit:Transit:A.Pitch] Running Loop=1
2025-06-05T14:37:33.236Z,1749134253.236 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T14:38:04.358Z,1749134284.358 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T14:38:29.459Z,1749134309.459 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.722870
2025-06-05T14:39:00.583Z,1749134340.583 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T14:39:16.710Z,1749134356.710 [Radio_Surface](INFO): Powering down
2025-06-05T14:39:31.706Z,1749134371.706 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T14:39:32.711Z,1749134372.711 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-06-05T14:41:10.421Z,1749134470.421 [DVL_micro](ERROR): Failed to parse:
:SA,+00.01,-06.00,299.2
2025-06-05T14:47:28.588Z,1749134848.588 [transit](INFO): Timed out from 2025-06-05T14:37:28.6Z
2025-06-05T14:47:28.588Z,1749134848.588 [MissionManager](INFO): transit is completed.
2025-06-05T14:47:28.589Z,1749134848.589 [MissionManager](INFO): Uninitializing Mission transit
2025-06-05T14:47:28.589Z,1749134848.589 [transit] Stopped
2025-06-05T14:47:28.589Z,1749134848.589 [transit](DEBUG): Aggregate::uninitialize transit
2025-06-05T14:47:28.589Z,1749134848.589 [transit:StandardEnvelopes] Stopped
2025-06-05T14:47:28.589Z,1749134848.589 [transit:StandardEnvelopes](DEBUG): Aggregate::uninitialize transit:StandardEnvelopes
2025-06-05T14:47:28.589Z,1749134848.589 [transit:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-06-05T14:47:28.589Z,1749134848.589 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-06-05T14:47:28.589Z,1749134848.589 [transit:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-06-05T14:47:28.589Z,1749134848.589 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-06-05T14:47:28.589Z,1749134848.589 [transit:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-06-05T14:47:28.589Z,1749134848.589 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-06-05T14:47:28.589Z,1749134848.589 [transit:BackseatDriver] Stopped
2025-06-05T14:47:28.590Z,1749134848.590 [transit:BackseatDriver](DEBUG): Aggregate::uninitialize transit:BackseatDriver
2025-06-05T14:47:28.590Z,1749134848.590 [transit:BackseatDriver:A.BackseatDriver] Stopped
2025-06-05T14:47:28.590Z,1749134848.590 [transit:PowerOnly] Stopped
2025-06-05T14:47:28.590Z,1749134848.590 [transit:PowerOnly](DEBUG): Aggregate::uninitialize transit:PowerOnly
2025-06-05T14:47:28.590Z,1749134848.590 [transit:PowerOnly:E.Wait] Stopped
2025-06-05T14:47:28.590Z,1749134848.590 [transit:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-06-05T14:47:28.590Z,1749134848.590 [transit:BuoyancyHold.Buoyancy] Stopped
2025-06-05T14:47:28.590Z,1749134848.590 [transit:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-06-05T14:47:28.590Z,1749134848.590 [transit:MassHold.Pitch] Stopped
2025-06-05T14:47:28.590Z,1749134848.590 [transit:Transit] Stopped
2025-06-05T14:47:28.591Z,1749134848.591 [transit:Transit](DEBUG): Aggregate::uninitialize transit:Transit
2025-06-05T14:47:28.591Z,1749134848.591 [transit:Transit:A.Pitch] Stopped
2025-06-05T14:47:28.591Z,1749134848.591 [transit:Transit:B.SetSpeed] Stopped
2025-06-05T14:47:28.591Z,1749134848.591 [transit:Transit:B.SetSpeed](DEBUG): Uninitialize.
2025-06-05T14:47:28.591Z,1749134848.591 [transit:Transit:Wpt1.Waypoint] Stopped
2025-06-05T14:47:28.591Z,1749134848.591 [transit:Transit:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-06-05T14:47:28.700Z,1749134848.700 [CommandExec](IMPORTANT): got command load ./Missions/Transport/transit.tl
2025-06-05T14:47:28.700Z,1749134848.700 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/transit.tl
2025-06-05T14:47:28.700Z,1749134848.700 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/transit.tl
2025-06-05T14:47:28.701Z,1749134848.701 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/transit.tl
2025-06-05T14:47:29.577Z,1749134849.577 [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>

2025-06-05T14:47:29.582Z,1749134849.582 [MissionManager](INFO): DefineArg transit.MissionTimeout = 60.000000 min
2025-06-05T14:47:29.584Z,1749134849.584 [MissionManager](INFO): DefineArg transit.NeedCommsTime = 30.000000 min
2025-06-05T14:47:29.587Z,1749134849.587 [MissionManager](INFO): DefineArg transit.Latitude = nan arcdeg
2025-06-05T14:47:29.589Z,1749134849.589 [MissionManager](INFO): DefineArg transit.Longitude = nan arcdeg
2025-06-05T14:47:29.592Z,1749134849.592 [MissionManager](INFO): DefineArg transit.Northings = 0.000000 m
2025-06-05T14:47:29.594Z,1749134849.594 [MissionManager](INFO): DefineArg transit.Eastings = 0.000000 m
2025-06-05T14:47:29.596Z,1749134849.596 [MissionManager](INFO): DefineArg transit.Depth = 10.000000 m
2025-06-05T14:47:29.599Z,1749134849.599 [MissionManager](INFO): DefineArg transit.Speed = 1.000000 m/s
2025-06-05T14:47:29.601Z,1749134849.601 [MissionManager](INFO): DefineArg transit.MaxDepth = 20.000000 m
2025-06-05T14:47:29.603Z,1749134849.603 [MissionManager](INFO): DefineArg transit.MinOffshore = 1.000000 km
2025-06-05T14:47:29.605Z,1749134849.605 [MissionManager](INFO): DefineArg transit.MinAltitude = 7.000000 m
2025-06-05T14:47:29.607Z,1749134849.607 [MissionManager](INFO): DefineArg transit.MassHold = 1 bool
2025-06-05T14:47:29.609Z,1749134849.609 [MissionManager](INFO): DefineArg transit.BuoyancyHold = 1 bool
2025-06-05T14:47:29.610Z,1749134849.610 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-06-05T14:47:29.610Z,1749134849.610 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-06-05T14:47:29.611Z,1749134849.611 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-06-05T14:47:29.949Z,1749134849.949 [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>

2025-06-05T14:47:29.954Z,1749134849.954 [MissionManager](INFO): DefineArg transit:NeedComms.DiveInterval = 1.000000 h
2025-06-05T14:47:29.956Z,1749134849.956 [MissionManager](INFO): DefineArg transit:NeedComms.WaitForPitchUp = 10.000000 min
2025-06-05T14:47:29.959Z,1749134849.959 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-06-05T14:47:29.961Z,1749134849.961 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceDepthRate = nan m/s
2025-06-05T14:47:29.963Z,1749134849.963 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-06-05T14:47:29.965Z,1749134849.965 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacingTimeout = 1000.000000 s
2025-06-05T14:47:29.967Z,1749134849.967 [MissionManager](INFO): DefineArg transit:NeedComms.GPSTimeout = 7.000000 min
2025-06-05T14:47:29.970Z,1749134849.970 [MissionManager](INFO): DefineArg transit:NeedComms.CommsTimeout = 30.000000 min
2025-06-05T14:47:29.976Z,1749134849.976 [transit:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-06-05T14:47:30.039Z,1749134850.039 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-06-05T14:47:30.039Z,1749134850.039 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-06-05T14:47:30.040Z,1749134850.040 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-06-05T14:47:30.117Z,1749134850.117 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>1.5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-06-05T14:47:30.121Z,1749134850.121 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinAltitude = 5.000000 m
2025-06-05T14:47:30.123Z,1749134850.123 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2025-06-05T14:47:30.125Z,1749134850.125 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepth = 200.000000 m
2025-06-05T14:47:30.128Z,1749134850.128 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-06-05T14:47:30.129Z,1749134850.129 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-06-05T14:47:30.135Z,1749134850.135 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-06-05T14:47:30.141Z,1749134850.141 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-06-05T14:47:30.150Z,1749134850.150 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-06-05T14:47:30.150Z,1749134850.150 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-06-05T14:47:30.211Z,1749134850.211 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-06-05T14:47:30.264Z,1749134850.264 [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>

2025-06-05T14:47:30.271Z,1749134850.271 [MissionManager](INFO): DefineArg transit:BackseatDriver.EnableBackseat = 0 bool
2025-06-05T14:47:30.273Z,1749134850.273 [transit:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-06-05T14:47:30.276Z,1749134850.276 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-06-05T14:47:30.276Z,1749134850.276 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-06-05T14:47:30.277Z,1749134850.277 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-06-05T14:47:30.405Z,1749134850.405 [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>

2025-06-05T14:47:30.408Z,1749134850.408 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleAll = 0 bool
2025-06-05T14:47:30.411Z,1749134850.411 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad1 = 0 bool
2025-06-05T14:47:30.412Z,1749134850.412 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad2 = 0 bool
2025-06-05T14:47:30.414Z,1749134850.414 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad3 = 0 bool
2025-06-05T14:47:30.417Z,1749134850.417 [MissionManager](INFO): DefineArg transit:PowerOnly.EnabledPowerOnly = 1 bool
2025-06-05T14:47:30.450Z,1749134850.450 [transit:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-06-05T14:47:30.452Z,1749134850.452 [transit:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-06-05T14:47:30.456Z,1749134850.456 [transit:MassHold.Pitch](DEBUG): Construct.
2025-06-05T14:47:30.461Z,1749134850.461 [transit:Transit:A.Pitch](DEBUG): Construct.
2025-06-05T14:47:30.466Z,1749134850.466 [transit:Transit:B.SetSpeed](DEBUG): Construct.
2025-06-05T14:47:30.468Z,1749134850.468 [transit:Transit:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-06-05T14:47:30.500Z,1749134850.500 [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"
  }
}


2025-06-05T14:47:30.501Z,1749134850.501 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/transit.tl id=transit
2025-06-05T14:47:30.624Z,1749134850.624 [MissionManager](IMPORTANT): Started mission Default
2025-06-05T14:47:30.624Z,1749134850.624 [Default] Running Loop=1
2025-06-05T14:47:30.624Z,1749134850.624 [Default](DEBUG): Aggregate::initialize Default
2025-06-05T14:47:30.624Z,1749134850.624 [Default:B.GoToSurface] Running Loop=1
2025-06-05T14:47:30.625Z,1749134850.625 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-06-05T14:47:30.625Z,1749134850.625 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-06-05T14:47:30.625Z,1749134850.625 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-06-05T14:47:30.625Z,1749134850.625 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-06-05T14:47:30.626Z,1749134850.626 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-06-05T14:47:30.630Z,1749134850.630 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-06-05T14:47:30.631Z,1749134850.631 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-06-05T14:47:30.631Z,1749134850.631 [Default:A.Wait] Running Loop=1
2025-06-05T14:47:30.631Z,1749134850.631 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-06-05T14:47:31.242Z,1749134851.242 [Radio_Surface](INFO): Powering up
2025-06-05T14:47:36.707Z,1749134856.707 [DataOverHttps](INFO): Radio surface powered ON.
2025-06-05T14:47:43.694Z,1749134863.694 [Default:A.Wait](INFO): Done Waiting.
2025-06-05T14:47:43.694Z,1749134863.694 [Default:A.Wait] Stopped
2025-06-05T14:47:43.695Z,1749134863.695 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-06-05T14:47:48.655Z,1749134868.655 [CommandExec](IMPORTANT): got command set transit.MissionTimeout 10 minute
2025-06-05T14:47:48.656Z,1749134868.656 [CommandExec](IMPORTANT): got command set transit.Latitude 36.90378 degree
2025-06-05T14:47:48.657Z,1749134868.657 [CommandExec](IMPORTANT): got command set transit.Longitude -122.11055 degree
2025-06-05T14:47:48.657Z,1749134868.657 [CommandExec](IMPORTANT): got command set transit.Speed -1 meter_per_second
2025-06-05T14:47:48.678Z,1749134868.678 [CommandExec](IMPORTANT): got command run
2025-06-05T14:47:48.680Z,1749134868.680 [CommandExec](IMPORTANT): Running 
2025-06-05T14:47:48.898Z,1749134868.898 [Default] Stopped
2025-06-05T14:47:48.898Z,1749134868.898 [Default](DEBUG): Aggregate::uninitialize Default
2025-06-05T14:47:48.898Z,1749134868.898 [Default:B.GoToSurface] Stopped
2025-06-05T14:47:48.898Z,1749134868.898 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-06-05T14:47:48.898Z,1749134868.898 [MissionManager](IMPORTANT): Started mission transit
2025-06-05T14:47:48.899Z,1749134868.899 [transit] Running Loop=1
2025-06-05T14:47:48.899Z,1749134868.899 [transit](DEBUG): Aggregate::initialize transit
2025-06-05T14:47:48.899Z,1749134868.899 [transit:StandardEnvelopes] Running Loop=1
2025-06-05T14:47:48.899Z,1749134868.899 [transit:StandardEnvelopes](DEBUG): Aggregate::initialize transit:StandardEnvelopes
2025-06-05T14:47:48.899Z,1749134868.899 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-06-05T14:47:48.899Z,1749134868.899 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-06-05T14:47:48.899Z,1749134868.899 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-06-05T14:47:48.899Z,1749134868.899 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-06-05T14:47:48.900Z,1749134868.900 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-06-05T14:47:48.900Z,1749134868.900 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-06-05T14:47:48.900Z,1749134868.900 [transit:BackseatDriver] Running Loop=1
2025-06-05T14:47:48.900Z,1749134868.900 [transit:BackseatDriver](DEBUG): Aggregate::initialize transit:BackseatDriver
2025-06-05T14:47:48.900Z,1749134868.900 [transit:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-06-05T14:47:48.900Z,1749134868.900 [transit:PowerOnly] Running Loop=1
2025-06-05T14:47:48.900Z,1749134868.900 [transit:PowerOnly](DEBUG): Aggregate::initialize transit:PowerOnly
2025-06-05T14:47:48.900Z,1749134868.900 [transit:PowerOnly:A] Running Loop=1
2025-06-05T14:47:48.900Z,1749134868.900 [transit:PowerOnly:B] Running Loop=1
2025-06-05T14:47:48.900Z,1749134868.900 [transit:PowerOnly:C] Running Loop=1
2025-06-05T14:47:48.900Z,1749134868.900 [transit:PowerOnly:D] Running Loop=1
2025-06-05T14:47:48.901Z,1749134868.901 [transit:PowerOnly:E.Wait] Running Loop=1
2025-06-05T14:47:48.901Z,1749134868.901 [transit:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-06-05T14:47:48.901Z,1749134868.901 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-06-05T14:47:48.901Z,1749134868.901 [transit:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-06-05T14:47:48.901Z,1749134868.901 [transit:MassHold.Pitch] Running Loop=1
2025-06-05T14:47:48.901Z,1749134868.901 [transit:MassHold.Pitch](DEBUG): Initialize.
2025-06-05T14:47:48.901Z,1749134868.901 [transit:B] Running Loop=1
2025-06-05T14:47:48.902Z,1749134868.902 [transit:MassHold.Pitch] Running Loop=1
2025-06-05T14:47:48.902Z,1749134868.902 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-06-05T14:47:48.903Z,1749134868.903 [transit:PowerOnly] Running Loop=1
2025-06-05T14:47:48.903Z,1749134868.903 [transit:PowerOnly:D] Stopped
2025-06-05T14:47:48.903Z,1749134868.903 [transit:PowerOnly:C] Stopped
2025-06-05T14:47:48.903Z,1749134868.903 [transit:PowerOnly:B] Stopped
2025-06-05T14:47:48.903Z,1749134868.903 [transit:PowerOnly:A] Stopped
2025-06-05T14:47:48.903Z,1749134868.903 [transit:BackseatDriver] Running Loop=1
2025-06-05T14:47:48.903Z,1749134868.903 [transit:StandardEnvelopes] Running Loop=1
2025-06-05T14:47:48.903Z,1749134868.903 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-06-05T14:47:48.904Z,1749134868.904 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-06-05T14:47:48.904Z,1749134868.904 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-06-05T14:47:48.905Z,1749134868.905 [transit:B] Stopped
2025-06-05T14:47:48.905Z,1749134868.905 [transit:C] Running Loop=1
2025-06-05T14:47:49.327Z,1749134869.327 [transit:C] Stopped
2025-06-05T14:47:49.327Z,1749134869.327 [transit:E] Running Loop=1
2025-06-05T14:47:49.808Z,1749134869.808 [transit:E] Stopped
2025-06-05T14:47:49.809Z,1749134869.809 [transit:F] Running Loop=1
2025-06-05T14:47:50.208Z,1749134870.208 [transit:F] Stopped
2025-06-05T14:47:50.208Z,1749134870.208 [transit:G] Running Loop=1
2025-06-05T14:47:50.817Z,1749134870.817 [transit:G] Stopped
2025-06-05T14:47:50.817Z,1749134870.817 [transit:Transit] Running Loop=1
2025-06-05T14:47:50.817Z,1749134870.817 [transit:Transit](DEBUG): Aggregate::initialize transit:Transit
2025-06-05T14:47:50.817Z,1749134870.817 [transit:Transit:A.Pitch] Running Loop=1
2025-06-05T14:47:50.817Z,1749134870.817 [transit:Transit:A.Pitch](DEBUG): Initialize.
2025-06-05T14:47:50.817Z,1749134870.817 [transit:Transit:B.SetSpeed] Running Loop=1
2025-06-05T14:47:50.818Z,1749134870.818 [transit:Transit:B.SetSpeed](DEBUG): Initialize.
2025-06-05T14:47:50.818Z,1749134870.818 [transit:Transit:Wpt1.Waypoint] Running Loop=1
2025-06-05T14:47:50.818Z,1749134870.818 [transit:Transit:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-06-05T14:47:50.819Z,1749134870.819 [transit:Transit:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.903782,-122.110550
2025-06-05T14:47:51.035Z,1749134871.035 [transit:Transit:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.903782,-122.110550
2025-06-05T14:47:51.035Z,1749134871.035 [transit:Transit:B.SetSpeed] Running Loop=1
2025-06-05T14:47:51.036Z,1749134871.036 [transit:Transit:A.Pitch] Running Loop=1
2025-06-05T14:48:06.827Z,1749134886.827 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T14:48:37.975Z,1749134917.975 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T14:48:51.307Z,1749134931.307 [Radio_Surface](INFO): Powering down
2025-06-05T14:49:01.406Z,1749134941.406 [DVL_micro](ERROR): DVL uart error: serial timeout
2025-06-05T14:49:01.406Z,1749134941.406 [DVL_micro] Communications Fault, FailCount= 1
2025-06-05T14:49:01.407Z,1749134941.407 [DVL_micro](ERROR): Communications Fault
2025-06-05T14:49:01.407Z,1749134941.407 [DVL_micro](ERROR): Failed to parse:
2025-06-05T14:49:01.510Z,1749134941.510 [CBIT](ERROR): Communications Fault in component: DVL_micro
2025-06-05T14:49:01.822Z,1749134941.822 [DVL_micro](INFO): Powering down
2025-06-05T14:49:02.648Z,1749134942.648 [CBIT](INFO): Clearing failed state for component DVL_micro
2025-06-05T14:49:02.648Z,1749134942.648 [DVL_micro] No Fault, FailCount= 1
2025-06-05T14:49:09.098Z,1749134949.098 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T14:49:10.102Z,1749134950.102 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-06-05T14:49:12.718Z,1749134952.718 [Radio_Surface](INFO): Powering up
2025-06-05T14:49:18.135Z,1749134958.135 [DataOverHttps](INFO): Radio surface powered ON.
2025-06-05T14:49:20.317Z,1749134960.317 [DVL_micro](ERROR): Failed to parse:
:SA,-08.90,-03.92,010.1
2025-06-05T14:49:48.255Z,1749134988.255 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T14:50:19.390Z,1749135019.390 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T14:50:19.765Z,1749135019.765 [DVL_micro](ERROR): only read 2 of 4 data items for beam range. Device response is::RD,+9999.99,+9999.9999
2025-06-05T14:50:19.766Z,1749135019.766 [DVL_micro](ERROR): Failed to parse:
:RD,+9999.99,+9999.9999
2025-06-05T14:50:50.526Z,1749135050.526 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T14:51:21.651Z,1749135081.651 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T14:51:29.550Z,1749135089.550 [DataOverHttps](INFO): Received command: sched "load Transport/transit.tl;set transit.MissionTimeout 10 min;set transit.Latitude 36.90378 degree;set transit.Longitude -122.11055 degree;set transit.Speed -1 m/s;run"
2025-06-05T14:51:29.601Z,1749135089.601 [CommandExec](IMPORTANT): got command schedule "load Transport/transit.tl;set transit.MissionTimeout 10 min;set transit.Latitude 36.90378 degree;set transit.Longitude -122.11055 degree;set transit.Speed -1 m/s;run"
2025-06-05T14:51:29.601Z,1749135089.601 [CommandExec](IMPORTANT): Scheduled #28: "load Transport/transit.tl;set transit.MissionTimeout 10 min;set transit.Latitude 36.90378 degree;set transit.Longitude -122.11055 degree;set transit.Speed -1 m/s;run", AFTER MISSION
2025-06-05T14:51:30.555Z,1749135090.555 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003240
2025-06-05T14:53:23.770Z,1749135203.770 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T14:53:54.899Z,1749135234.899 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T14:54:56.971Z,1749135296.971 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T14:55:28.098Z,1749135328.098 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T14:55:59.230Z,1749135359.230 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T14:56:30.358Z,1749135390.358 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T14:57:08.603Z,1749135428.603 [transit:NeedComms] Running Loop=1
2025-06-05T14:57:08.604Z,1749135428.604 [transit:NeedComms](DEBUG): Aggregate::initialize transit:NeedComms
2025-06-05T14:57:08.604Z,1749135428.604 [transit:NeedComms:B.GoToSurface] Running Loop=1
2025-06-05T14:57:08.604Z,1749135428.604 [transit:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-06-05T14:57:08.604Z,1749135428.604 [transit:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-06-05T14:57:08.605Z,1749135428.605 [transit:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-06-05T14:57:08.606Z,1749135428.606 [transit:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-06-05T14:57:08.607Z,1749135428.607 [transit:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-06-05T14:57:08.607Z,1749135428.607 [transit:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-06-05T14:57:08.608Z,1749135428.608 [transit:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-06-05T14:57:08.608Z,1749135428.608 [transit:NeedComms:A] Running Loop=1
2025-06-05T14:57:08.611Z,1749135428.611 [transit:NeedComms:A](INFO): last time_fix was:  1749133626.000000 second since 1970/01/01T00:00:00Z 
2025-06-05T14:57:08.611Z,1749135428.611 [transit:NeedComms:A] Stopped
2025-06-05T14:57:16.564Z,1749135436.564 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.771576
2025-06-05T14:57:28.469Z,1749135448.469 [transit:NeedComms:C] Running Loop=1
2025-06-05T14:57:28.873Z,1749135448.873 [transit:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-06-05T14:57:49.077Z,1749135469.077 [transit](INFO): Timed out from 2025-06-05T14:47:48.9Z
2025-06-05T14:57:49.078Z,1749135469.078 [MissionManager](INFO): transit is completed.
2025-06-05T14:57:49.078Z,1749135469.078 [MissionManager](INFO): Uninitializing Mission transit
2025-06-05T14:57:49.078Z,1749135469.078 [transit] Stopped
2025-06-05T14:57:49.078Z,1749135469.078 [transit](DEBUG): Aggregate::uninitialize transit
2025-06-05T14:57:49.078Z,1749135469.078 [transit:NeedComms] Stopped
2025-06-05T14:57:49.078Z,1749135469.078 [transit:NeedComms](DEBUG): Aggregate::uninitialize transit:NeedComms
2025-06-05T14:57:49.078Z,1749135469.078 [transit:NeedComms:B.GoToSurface] Stopped
2025-06-05T14:57:49.079Z,1749135469.079 [transit:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-06-05T14:57:49.079Z,1749135469.079 [transit:NeedComms:C] Stopped
2025-06-05T14:57:49.079Z,1749135469.079 [transit:StandardEnvelopes] Stopped
2025-06-05T14:57:49.079Z,1749135469.079 [transit:StandardEnvelopes](DEBUG): Aggregate::uninitialize transit:StandardEnvelopes
2025-06-05T14:57:49.079Z,1749135469.079 [transit:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-06-05T14:57:49.079Z,1749135469.079 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-06-05T14:57:49.079Z,1749135469.079 [transit:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-06-05T14:57:49.079Z,1749135469.079 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-06-05T14:57:49.079Z,1749135469.079 [transit:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-06-05T14:57:49.079Z,1749135469.079 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-06-05T14:57:49.079Z,1749135469.079 [transit:BackseatDriver] Stopped
2025-06-05T14:57:49.079Z,1749135469.079 [transit:BackseatDriver](DEBUG): Aggregate::uninitialize transit:BackseatDriver
2025-06-05T14:57:49.080Z,1749135469.080 [transit:BackseatDriver:A.BackseatDriver] Stopped
2025-06-05T14:57:49.080Z,1749135469.080 [transit:PowerOnly] Stopped
2025-06-05T14:57:49.080Z,1749135469.080 [transit:PowerOnly](DEBUG): Aggregate::uninitialize transit:PowerOnly
2025-06-05T14:57:49.080Z,1749135469.080 [transit:PowerOnly:E.Wait] Stopped
2025-06-05T14:57:49.080Z,1749135469.080 [transit:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-06-05T14:57:49.080Z,1749135469.080 [transit:BuoyancyHold.Buoyancy] Stopped
2025-06-05T14:57:49.080Z,1749135469.080 [transit:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-06-05T14:57:49.080Z,1749135469.080 [transit:MassHold.Pitch] Stopped
2025-06-05T14:57:49.080Z,1749135469.080 [transit:Transit] Stopped
2025-06-05T14:57:49.080Z,1749135469.080 [transit:Transit](DEBUG): Aggregate::uninitialize transit:Transit
2025-06-05T14:57:49.080Z,1749135469.080 [transit:Transit:A.Pitch] Stopped
2025-06-05T14:57:49.080Z,1749135469.080 [transit:Transit:B.SetSpeed] Stopped
2025-06-05T14:57:49.080Z,1749135469.080 [transit:Transit:B.SetSpeed](DEBUG): Uninitialize.
2025-06-05T14:57:49.080Z,1749135469.080 [transit:Transit:Wpt1.Waypoint] Stopped
2025-06-05T14:57:49.081Z,1749135469.081 [transit:Transit:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-06-05T14:57:49.137Z,1749135469.137 [CommandExec](IMPORTANT): got command load ./Missions/Transport/transit.tl
2025-06-05T14:57:49.137Z,1749135469.137 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/transit.tl
2025-06-05T14:57:49.138Z,1749135469.138 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/transit.tl
2025-06-05T14:57:49.140Z,1749135469.140 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/transit.tl
2025-06-05T14:57:50.084Z,1749135470.084 [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>

2025-06-05T14:57:50.089Z,1749135470.089 [MissionManager](INFO): DefineArg transit.MissionTimeout = 60.000000 min
2025-06-05T14:57:50.092Z,1749135470.092 [MissionManager](INFO): DefineArg transit.NeedCommsTime = 30.000000 min
2025-06-05T14:57:50.094Z,1749135470.094 [MissionManager](INFO): DefineArg transit.Latitude = nan arcdeg
2025-06-05T14:57:50.096Z,1749135470.096 [MissionManager](INFO): DefineArg transit.Longitude = nan arcdeg
2025-06-05T14:57:50.115Z,1749135470.115 [MissionManager](INFO): DefineArg transit.Northings = 0.000000 m
2025-06-05T14:57:50.117Z,1749135470.117 [MissionManager](INFO): DefineArg transit.Eastings = 0.000000 m
2025-06-05T14:57:50.121Z,1749135470.121 [MissionManager](INFO): DefineArg transit.Depth = 10.000000 m
2025-06-05T14:57:50.140Z,1749135470.140 [MissionManager](INFO): DefineArg transit.Speed = 1.000000 m/s
2025-06-05T14:57:50.146Z,1749135470.146 [MissionManager](INFO): DefineArg transit.MaxDepth = 20.000000 m
2025-06-05T14:57:50.149Z,1749135470.149 [MissionManager](INFO): DefineArg transit.MinOffshore = 1.000000 km
2025-06-05T14:57:50.155Z,1749135470.155 [MissionManager](INFO): DefineArg transit.MinAltitude = 7.000000 m
2025-06-05T14:57:50.157Z,1749135470.157 [MissionManager](INFO): DefineArg transit.MassHold = 1 bool
2025-06-05T14:57:50.160Z,1749135470.160 [MissionManager](INFO): DefineArg transit.BuoyancyHold = 1 bool
2025-06-05T14:57:50.161Z,1749135470.161 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-06-05T14:57:50.161Z,1749135470.161 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-06-05T14:57:50.178Z,1749135470.178 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-06-05T14:57:50.459Z,1749135470.459 [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>

2025-06-05T14:57:50.465Z,1749135470.465 [MissionManager](INFO): DefineArg transit:NeedComms.DiveInterval = 1.000000 h
2025-06-05T14:57:50.482Z,1749135470.482 [MissionManager](INFO): DefineArg transit:NeedComms.WaitForPitchUp = 10.000000 min
2025-06-05T14:57:50.484Z,1749135470.484 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-06-05T14:57:50.486Z,1749135470.486 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceDepthRate = nan m/s
2025-06-05T14:57:50.489Z,1749135470.489 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-06-05T14:57:50.491Z,1749135470.491 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacingTimeout = 1000.000000 s
2025-06-05T14:57:50.493Z,1749135470.493 [MissionManager](INFO): DefineArg transit:NeedComms.GPSTimeout = 7.000000 min
2025-06-05T14:57:50.495Z,1749135470.495 [MissionManager](INFO): DefineArg transit:NeedComms.CommsTimeout = 30.000000 min
2025-06-05T14:57:50.502Z,1749135470.502 [transit:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-06-05T14:57:50.520Z,1749135470.520 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-06-05T14:57:50.520Z,1749135470.520 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-06-05T14:57:50.521Z,1749135470.521 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-06-05T14:57:50.633Z,1749135470.633 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>1.5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-06-05T14:57:50.636Z,1749135470.636 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinAltitude = 5.000000 m
2025-06-05T14:57:50.639Z,1749135470.639 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2025-06-05T14:57:50.641Z,1749135470.641 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepth = 200.000000 m
2025-06-05T14:57:50.643Z,1749135470.643 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-06-05T14:57:50.644Z,1749135470.644 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-06-05T14:57:50.675Z,1749135470.675 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-06-05T14:57:50.721Z,1749135470.721 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-06-05T14:57:50.752Z,1749135470.752 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-06-05T14:57:50.752Z,1749135470.752 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-06-05T14:57:50.753Z,1749135470.753 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-06-05T14:57:50.797Z,1749135470.797 [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>

2025-06-05T14:57:50.801Z,1749135470.801 [MissionManager](INFO): DefineArg transit:BackseatDriver.EnableBackseat = 0 bool
2025-06-05T14:57:50.809Z,1749135470.809 [transit:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-06-05T14:57:50.812Z,1749135470.812 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-06-05T14:57:50.812Z,1749135470.812 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-06-05T14:57:50.813Z,1749135470.813 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-06-05T14:57:50.929Z,1749135470.929 [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>

2025-06-05T14:57:50.944Z,1749135470.944 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleAll = 0 bool
2025-06-05T14:57:50.955Z,1749135470.955 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad1 = 0 bool
2025-06-05T14:57:50.957Z,1749135470.957 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad2 = 0 bool
2025-06-05T14:57:50.959Z,1749135470.959 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad3 = 0 bool
2025-06-05T14:57:50.961Z,1749135470.961 [MissionManager](INFO): DefineArg transit:PowerOnly.EnabledPowerOnly = 1 bool
2025-06-05T14:57:50.968Z,1749135470.968 [transit:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-06-05T14:57:50.969Z,1749135470.969 [transit:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-06-05T14:57:50.973Z,1749135470.973 [transit:MassHold.Pitch](DEBUG): Construct.
2025-06-05T14:57:50.979Z,1749135470.979 [transit:Transit:A.Pitch](DEBUG): Construct.
2025-06-05T14:57:50.983Z,1749135470.983 [transit:Transit:B.SetSpeed](DEBUG): Construct.
2025-06-05T14:57:50.985Z,1749135470.985 [transit:Transit:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-06-05T14:57:51.025Z,1749135471.025 [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"
  }
}


2025-06-05T14:57:51.026Z,1749135471.026 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/transit.tl id=transit
2025-06-05T14:57:51.135Z,1749135471.135 [MissionManager](IMPORTANT): Started mission Default
2025-06-05T14:57:51.135Z,1749135471.135 [Default] Running Loop=1
2025-06-05T14:57:51.135Z,1749135471.135 [Default](DEBUG): Aggregate::initialize Default
2025-06-05T14:57:51.136Z,1749135471.136 [Default:B.GoToSurface] Running Loop=1
2025-06-05T14:57:51.136Z,1749135471.136 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-06-05T14:57:51.136Z,1749135471.136 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-06-05T14:57:51.137Z,1749135471.137 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-06-05T14:57:51.137Z,1749135471.137 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-06-05T14:57:51.138Z,1749135471.138 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-06-05T14:57:51.148Z,1749135471.148 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-06-05T14:57:51.149Z,1749135471.149 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-06-05T14:57:51.149Z,1749135471.149 [Default:A.Wait] Running Loop=1
2025-06-05T14:57:51.149Z,1749135471.149 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-06-05T14:58:02.763Z,1749135482.763 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T14:58:04.450Z,1749135484.450 [Default:A.Wait](INFO): Done Waiting.
2025-06-05T14:58:04.450Z,1749135484.450 [Default:A.Wait] Stopped
2025-06-05T14:58:04.451Z,1749135484.451 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-06-05T14:58:04.857Z,1749135484.857 [Default:CheckIn] Running Loop=1
2025-06-05T14:58:04.857Z,1749135484.857 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-06-05T14:58:04.857Z,1749135484.857 [Default:CheckIn:Read_GPS] Running Loop=1
2025-06-05T14:58:07.331Z,1749135487.331 [CommandExec](IMPORTANT): got command set transit.MissionTimeout 10 minute
2025-06-05T14:58:07.332Z,1749135487.332 [CommandExec](IMPORTANT): got command set transit.Latitude 36.90378 degree
2025-06-05T14:58:07.333Z,1749135487.333 [CommandExec](IMPORTANT): got command set transit.Longitude -122.11055 degree
2025-06-05T14:58:07.334Z,1749135487.334 [CommandExec](IMPORTANT): got command set transit.Speed 1 meter_per_second
2025-06-05T14:58:07.334Z,1749135487.334 [CommandExec](IMPORTANT): got command run
2025-06-05T14:58:07.336Z,1749135487.336 [CommandExec](IMPORTANT): Running 
2025-06-05T14:58:07.659Z,1749135487.659 [Default] Stopped
2025-06-05T14:58:07.659Z,1749135487.659 [Default](DEBUG): Aggregate::uninitialize Default
2025-06-05T14:58:07.659Z,1749135487.659 [Default:B.GoToSurface] Stopped
2025-06-05T14:58:07.659Z,1749135487.659 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-06-05T14:58:07.659Z,1749135487.659 [Default:CheckIn] Stopped
2025-06-05T14:58:07.659Z,1749135487.659 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-06-05T14:58:07.659Z,1749135487.659 [Default:CheckIn:Read_GPS] Stopped
2025-06-05T14:58:07.660Z,1749135487.660 [MissionManager](IMPORTANT): Started mission transit
2025-06-05T14:58:07.660Z,1749135487.660 [transit] Running Loop=1
2025-06-05T14:58:07.660Z,1749135487.660 [transit](DEBUG): Aggregate::initialize transit
2025-06-05T14:58:07.660Z,1749135487.660 [transit:StandardEnvelopes] Running Loop=1
2025-06-05T14:58:07.660Z,1749135487.660 [transit:StandardEnvelopes](DEBUG): Aggregate::initialize transit:StandardEnvelopes
2025-06-05T14:58:07.660Z,1749135487.660 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-06-05T14:58:07.660Z,1749135487.660 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-06-05T14:58:07.660Z,1749135487.660 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-06-05T14:58:07.661Z,1749135487.661 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-06-05T14:58:07.661Z,1749135487.661 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-06-05T14:58:07.661Z,1749135487.661 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-06-05T14:58:07.661Z,1749135487.661 [transit:BackseatDriver] Running Loop=1
2025-06-05T14:58:07.661Z,1749135487.661 [transit:BackseatDriver](DEBUG): Aggregate::initialize transit:BackseatDriver
2025-06-05T14:58:07.661Z,1749135487.661 [transit:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-06-05T14:58:07.661Z,1749135487.661 [transit:PowerOnly] Running Loop=1
2025-06-05T14:58:07.661Z,1749135487.661 [transit:PowerOnly](DEBUG): Aggregate::initialize transit:PowerOnly
2025-06-05T14:58:07.661Z,1749135487.661 [transit:PowerOnly:A] Running Loop=1
2025-06-05T14:58:07.661Z,1749135487.661 [transit:PowerOnly:B] Running Loop=1
2025-06-05T14:58:07.662Z,1749135487.662 [transit:PowerOnly:C] Running Loop=1
2025-06-05T14:58:07.662Z,1749135487.662 [transit:PowerOnly:D] Running Loop=1
2025-06-05T14:58:07.662Z,1749135487.662 [transit:PowerOnly:E.Wait] Running Loop=1
2025-06-05T14:58:07.662Z,1749135487.662 [transit:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-06-05T14:58:07.662Z,1749135487.662 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-06-05T14:58:07.662Z,1749135487.662 [transit:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-06-05T14:58:07.662Z,1749135487.662 [transit:MassHold.Pitch] Running Loop=1
2025-06-05T14:58:07.662Z,1749135487.662 [transit:MassHold.Pitch](DEBUG): Initialize.
2025-06-05T14:58:07.663Z,1749135487.663 [transit:B] Running Loop=1
2025-06-05T14:58:07.663Z,1749135487.663 [transit:MassHold.Pitch] Running Loop=1
2025-06-05T14:58:07.664Z,1749135487.664 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-06-05T14:58:07.664Z,1749135487.664 [transit:PowerOnly] Running Loop=1
2025-06-05T14:58:07.664Z,1749135487.664 [transit:PowerOnly:D] Stopped
2025-06-05T14:58:07.664Z,1749135487.664 [transit:PowerOnly:C] Stopped
2025-06-05T14:58:07.664Z,1749135487.664 [transit:PowerOnly:B] Stopped
2025-06-05T14:58:07.664Z,1749135487.664 [transit:PowerOnly:A] Stopped
2025-06-05T14:58:07.664Z,1749135487.664 [transit:BackseatDriver] Running Loop=1
2025-06-05T14:58:07.665Z,1749135487.665 [transit:StandardEnvelopes] Running Loop=1
2025-06-05T14:58:07.665Z,1749135487.665 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-06-05T14:58:07.665Z,1749135487.665 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-06-05T14:58:07.665Z,1749135487.665 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-06-05T14:58:07.666Z,1749135487.666 [transit:B] Stopped
2025-06-05T14:58:07.666Z,1749135487.666 [transit:C] Running Loop=1
2025-06-05T14:58:08.067Z,1749135488.067 [transit:C] Stopped
2025-06-05T14:58:08.067Z,1749135488.067 [transit:E] Running Loop=1
2025-06-05T14:58:08.458Z,1749135488.458 [transit:E] Stopped
2025-06-05T14:58:08.458Z,1749135488.458 [transit:F] Running Loop=1
2025-06-05T14:58:08.459Z,1749135488.459 [transit:NeedComms] Running Loop=1
2025-06-05T14:58:08.459Z,1749135488.459 [transit:NeedComms](DEBUG): Aggregate::initialize transit:NeedComms
2025-06-05T14:58:08.459Z,1749135488.459 [transit:NeedComms:B.GoToSurface] Running Loop=1
2025-06-05T14:58:08.459Z,1749135488.459 [transit:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-06-05T14:58:08.460Z,1749135488.460 [transit:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-06-05T14:58:08.460Z,1749135488.460 [transit:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-06-05T14:58:08.460Z,1749135488.460 [transit:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-06-05T14:58:08.461Z,1749135488.461 [transit:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-06-05T14:58:08.461Z,1749135488.461 [transit:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-06-05T14:58:08.461Z,1749135488.461 [transit:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-06-05T14:58:08.462Z,1749135488.462 [transit:NeedComms:A] Running Loop=1
2025-06-05T14:58:08.463Z,1749135488.463 [transit:NeedComms:A](INFO): last time_fix was:  1749133626.000000 second since 1970/01/01T00:00:00Z 
2025-06-05T14:58:08.463Z,1749135488.463 [transit:NeedComms:A] Stopped
2025-06-05T14:58:08.878Z,1749135488.878 [transit:F] Stopped
2025-06-05T14:58:08.879Z,1749135488.879 [transit:G] Running Loop=1
2025-06-05T14:58:08.880Z,1749135488.880 [transit:NeedComms:C] Running Loop=1
2025-06-05T14:58:09.272Z,1749135489.272 [transit:G] Stopped
2025-06-05T14:58:09.272Z,1749135489.272 [transit:Transit] Running Loop=1
2025-06-05T14:58:09.273Z,1749135489.273 [transit:Transit](DEBUG): Aggregate::initialize transit:Transit
2025-06-05T14:58:09.273Z,1749135489.273 [transit:Transit:A.Pitch] Running Loop=1
2025-06-05T14:58:09.273Z,1749135489.273 [transit:Transit:A.Pitch](DEBUG): Initialize.
2025-06-05T14:58:09.273Z,1749135489.273 [transit:Transit:B.SetSpeed] Running Loop=1
2025-06-05T14:58:09.273Z,1749135489.273 [transit:Transit:B.SetSpeed](DEBUG): Initialize.
2025-06-05T14:58:09.273Z,1749135489.273 [transit:Transit:Wpt1.Waypoint] Running Loop=1
2025-06-05T14:58:09.273Z,1749135489.273 [transit:Transit:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-06-05T14:58:09.275Z,1749135489.275 [transit:Transit:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.903782,-122.110550
2025-06-05T14:58:09.276Z,1749135489.276 [transit:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-06-05T14:58:09.689Z,1749135489.689 [transit:Transit:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.903782,-122.110550
2025-06-05T14:58:09.690Z,1749135489.690 [transit:Transit:B.SetSpeed] Running Loop=1
2025-06-05T14:58:09.690Z,1749135489.690 [transit:Transit:A.Pitch] Running Loop=1
2025-06-05T14:58:13.301Z,1749135493.301 [NAL9602](INFO): SBD MO Status=2, MOMSN=21075, MT Status=2, MTMSN=0
2025-06-05T14:58:13.302Z,1749135493.302 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-06-05T14:58:33.886Z,1749135513.886 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T14:58:39.179Z,1749135519.179 [NAL9602](INFO): SBD MO Status=2, MOMSN=21075, MT Status=2, MTMSN=0
2025-06-05T14:58:39.180Z,1749135519.180 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-06-05T14:58:55.075Z,1749135535.075 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003188
2025-06-05T14:59:10.278Z,1749135550.278 [NAL9602](INFO): SBD MO Status=0, MOMSN=21075, MT Status=0, MTMSN=0
2025-06-05T14:59:10.278Z,1749135550.278 [NAL9602](INFO): No messages in MT queue
2025-06-05T14:59:11.473Z,1749135551.473 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,145910.00,A,3647.02896,N,12200.02437,W,1.691,120.04,050625,,,A*78
2025-06-05T14:59:11.475Z,1749135551.475 [NAL9602](INFO): GPS fix at 20250605T145910: (36.783816, -122.000406)
2025-06-05T14:59:11.507Z,1749135551.507 [UniversalFixResidualReporter](INFO): Fix residual: 91.9 %DT, over the last 1751.1 m. Residual distance 1609.0 m at bearing 14.7 degrees. Fix at (36.7838, -122.0004) with 711.7 m made good.
2025-06-05T14:59:11.511Z,1749135551.511 [transit:NeedComms:C] Stopped
2025-06-05T14:59:11.512Z,1749135551.512 [transit:NeedComms:D] Running Loop=1
2025-06-05T14:59:11.973Z,1749135551.973 [transit:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-06-05T14:59:43.463Z,1749135583.463 [NAL9602](INFO): Not Powering down - fast GPS
2025-06-05T15:00:07.171Z,1749135607.171 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T15:00:38.303Z,1749135638.303 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T15:01:03.114Z,1749135663.114 [DataOverHttps](INFO): Sending 84 bytes from file Logs/20250605T121700/Courier0030.lzma
2025-06-05T15:01:04.117Z,1749135664.117 [DataOverHttps](INFO): Moved sent file to Logs/20250605T121700/Courier0030.lzma.bak
2025-06-05T15:01:04.118Z,1749135664.118 [DataOverHttps](IMPORTANT): SBD MOMSN=25101179, MTMSN=20250605T150103
2025-06-05T15:01:11.970Z,1749135671.970 [DataOverHttps](INFO): Received command: stop
2025-06-05T15:01:11.991Z,1749135671.991 [CommandExec](IMPORTANT): got command stop
2025-06-05T15:01:11.991Z,1749135671.991 [CommandExec](IMPORTANT): Scheduling is paused for 1 commands
2025-06-05T15:01:11.991Z,1749135671.991 [Supervisor](INFO): Stop Mission called by CommandExec::commandStop
2025-06-05T15:01:12.300Z,1749135672.300 [MissionManager](INFO): MissionManager is completed.
2025-06-05T15:01:12.301Z,1749135672.301 [MissionManager](INFO): Uninitializing Mission transit
2025-06-05T15:01:12.301Z,1749135672.301 [transit] Stopped
2025-06-05T15:01:12.301Z,1749135672.301 [transit](DEBUG): Aggregate::uninitialize transit
2025-06-05T15:01:12.301Z,1749135672.301 [transit:NeedComms] Stopped
2025-06-05T15:01:12.301Z,1749135672.301 [transit:NeedComms](DEBUG): Aggregate::uninitialize transit:NeedComms
2025-06-05T15:01:12.301Z,1749135672.301 [transit:NeedComms:B.GoToSurface] Stopped
2025-06-05T15:01:12.301Z,1749135672.301 [transit:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-06-05T15:01:12.301Z,1749135672.301 [transit:NeedComms:D] Stopped
2025-06-05T15:01:12.301Z,1749135672.301 [transit:StandardEnvelopes] Stopped
2025-06-05T15:01:12.301Z,1749135672.301 [transit:StandardEnvelopes](DEBUG): Aggregate::uninitialize transit:StandardEnvelopes
2025-06-05T15:01:12.301Z,1749135672.301 [transit:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-06-05T15:01:12.301Z,1749135672.301 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-06-05T15:01:12.302Z,1749135672.302 [transit:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-06-05T15:01:12.302Z,1749135672.302 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-06-05T15:01:12.302Z,1749135672.302 [transit:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-06-05T15:01:12.302Z,1749135672.302 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-06-05T15:01:12.302Z,1749135672.302 [transit:BackseatDriver] Stopped
2025-06-05T15:01:12.303Z,1749135672.303 [transit:BackseatDriver](DEBUG): Aggregate::uninitialize transit:BackseatDriver
2025-06-05T15:01:12.303Z,1749135672.303 [transit:BackseatDriver:A.BackseatDriver] Stopped
2025-06-05T15:01:12.303Z,1749135672.303 [transit:PowerOnly] Stopped
2025-06-05T15:01:12.303Z,1749135672.303 [transit:PowerOnly](DEBUG): Aggregate::uninitialize transit:PowerOnly
2025-06-05T15:01:12.303Z,1749135672.303 [transit:PowerOnly:E.Wait] Stopped
2025-06-05T15:01:12.303Z,1749135672.303 [transit:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-06-05T15:01:12.303Z,1749135672.303 [transit:BuoyancyHold.Buoyancy] Stopped
2025-06-05T15:01:12.303Z,1749135672.303 [transit:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-06-05T15:01:12.303Z,1749135672.303 [transit:MassHold.Pitch] Stopped
2025-06-05T15:01:12.303Z,1749135672.303 [transit:Transit] Stopped
2025-06-05T15:01:12.304Z,1749135672.304 [transit:Transit](DEBUG): Aggregate::uninitialize transit:Transit
2025-06-05T15:01:12.304Z,1749135672.304 [transit:Transit:A.Pitch] Stopped
2025-06-05T15:01:12.304Z,1749135672.304 [transit:Transit:B.SetSpeed] Stopped
2025-06-05T15:01:12.304Z,1749135672.304 [transit:Transit:B.SetSpeed](DEBUG): Uninitialize.
2025-06-05T15:01:12.304Z,1749135672.304 [transit:Transit:Wpt1.Waypoint] Stopped
2025-06-05T15:01:12.304Z,1749135672.304 [transit:Transit:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-06-05T15:01:12.709Z,1749135672.709 [MissionManager](IMPORTANT): Started mission Default
2025-06-05T15:01:12.709Z,1749135672.709 [Default] Running Loop=1
2025-06-05T15:01:12.709Z,1749135672.709 [Default](DEBUG): Aggregate::initialize Default
2025-06-05T15:01:12.709Z,1749135672.709 [Default:B.GoToSurface] Running Loop=1
2025-06-05T15:01:12.709Z,1749135672.709 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-06-05T15:01:12.710Z,1749135672.710 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-06-05T15:01:12.710Z,1749135672.710 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-06-05T15:01:12.711Z,1749135672.711 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-06-05T15:01:12.711Z,1749135672.711 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-06-05T15:01:12.711Z,1749135672.711 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-06-05T15:01:12.712Z,1749135672.712 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-06-05T15:01:12.712Z,1749135672.712 [Default:A.Wait] Running Loop=1
2025-06-05T15:01:12.712Z,1749135672.712 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-06-05T15:01:20.485Z,1749135680.485 [DataOverHttps](INFO): Sending 1265 bytes from file Logs/20250605T121700/Express0031.lzma
2025-06-05T15:01:21.485Z,1749135681.485 [DataOverHttps](INFO): Moved sent file to Logs/20250605T121700/Express0031.lzma.bak
2025-06-05T15:01:21.485Z,1749135681.485 [DataOverHttps](INFO): SBD MOMSN=25101189
2025-06-05T15:01:26.049Z,1749135686.049 [Default:A.Wait](INFO): Done Waiting.
2025-06-05T15:01:26.049Z,1749135686.049 [Default:A.Wait] Stopped
2025-06-05T15:01:26.049Z,1749135686.049 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-06-05T15:01:26.455Z,1749135686.455 [Default:CheckIn] Running Loop=1
2025-06-05T15:01:26.455Z,1749135686.455 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-06-05T15:01:26.455Z,1749135686.455 [Default:CheckIn:Read_GPS] Running Loop=1
2025-06-05T15:01:28.520Z,1749135688.520 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,150127.00,A,3647.00231,N,12159.98514,W,0.622,156.12,050625,,,A*76
2025-06-05T15:01:28.522Z,1749135688.522 [NAL9602](INFO): GPS fix at 20250605T150127: (36.783372, -121.999752)
2025-06-05T15:01:28.543Z,1749135688.543 [Default:CheckIn:Read_GPS] Stopped
2025-06-05T15:01:28.543Z,1749135688.543 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-06-05T15:01:48.190Z,1749135708.190 [DataOverHttps](INFO): Sending 75 bytes from file Logs/20250605T121700/Courier0036.lzma
2025-06-05T15:01:49.192Z,1749135709.192 [DataOverHttps](INFO): Moved sent file to Logs/20250605T121700/Courier0036.lzma.bak
2025-06-05T15:01:49.192Z,1749135709.192 [DataOverHttps](INFO): SBD MOMSN=25101254
2025-06-05T15:01:53.516Z,1749135713.516 [NAL9602](INFO): SBD MO Status=0, MOMSN=21076, MT Status=0, MTMSN=0
2025-06-05T15:01:53.517Z,1749135713.517 [NAL9602](INFO): No messages in MT queue
2025-06-05T15:02:05.746Z,1749135725.746 [DataOverHttps](INFO): Sending 62 bytes from file Logs/20250605T121700/Express0034.lzma
2025-06-05T15:02:06.748Z,1749135726.748 [DataOverHttps](INFO): Moved sent file to Logs/20250605T121700/Express0034.lzma.bak
2025-06-05T15:02:06.748Z,1749135726.748 [DataOverHttps](INFO): SBD MOMSN=25101257
2025-06-05T15:02:23.194Z,1749135743.194 [DataOverHttps](INFO): Sending 246 bytes from file Logs/20250605T121700/Express0037.lzma
2025-06-05T15:02:24.219Z,1749135744.219 [NAL9602](INFO): Not Powering down - fast GPS
2025-06-05T15:02:26.212Z,1749135746.212 [DataOverHttps](INFO): Moved sent file to Logs/20250605T121700/Express0037.lzma.bak
2025-06-05T15:02:26.213Z,1749135746.213 [DataOverHttps](INFO): SBD MOMSN=25101260
2025-06-05T15:02:43.982Z,1749135763.982 [DataOverHttps](INFO): Sending 62 bytes from file Logs/20250605T121700/Express0040.lzma
2025-06-05T15:02:44.984Z,1749135764.984 [DataOverHttps](INFO): Moved sent file to Logs/20250605T121700/Express0040.lzma.bak
2025-06-05T15:02:44.984Z,1749135764.984 [DataOverHttps](INFO): SBD MOMSN=25101266
2025-06-05T15:02:46.473Z,1749135766.473 [Default:CheckIn:Read_Iridium] Stopped
2025-06-05T15:02:46.473Z,1749135766.473 [Default:CheckIn:C.Wait] Running Loop=1
2025-06-05T15:02:46.473Z,1749135766.473 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-06-05T15:03:33.309Z,1749135813.309 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging
2025-06-05T15:03:55.516Z,1749135835.516 [BPC1](ERROR): BPC1A: No match for serial number 1717 in BPC1A's battery stick inventory (sticks 1-31 in onboard configuration file).
2025-06-05T15:05:26.419Z,1749135926.419 [BPC1](ERROR): Battery stick #2 (s/n: 0124) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-06-05T15:05:26.420Z,1749135926.420 [BPC1](INFO): Calculating totals. Valid battery stick count: 54. Valid reserve battery stick count: 6.
2025-06-05T15:05:26.423Z,1749135926.423 [BPC1](INFO): Received data from all battery sticks.
2025-06-05T15:07:47.021Z,1749136067.021 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2025-06-05T15:07:47.021Z,1749136067.021 [Default:CheckIn:C.Wait] Stopped
2025-06-05T15:07:47.021Z,1749136067.021 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-06-05T15:07:47.022Z,1749136067.022 [Default:CheckIn:D] Running Loop=1
2025-06-05T15:07:47.432Z,1749136067.432 [Default:CheckIn:D] Stopped
2025-06-05T15:07:47.432Z,1749136067.432 [Default:CheckIn:E] Running Loop=1
2025-06-05T15:07:47.832Z,1749136067.832 [Default:CheckIn:E](IMPORTANT): Default mission has been running for  6.578705 min 
2025-06-05T15:07:47.832Z,1749136067.832 [Default:CheckIn:E] Stopped
2025-06-05T15:07:47.832Z,1749136067.832 [Default:CheckIn](INFO): Completed Default:CheckIn
2025-06-05T15:07:47.832Z,1749136067.832 [Default:CheckIn] Stopped
2025-06-05T15:07:47.832Z,1749136067.832 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-06-05T15:07:47.832Z,1749136067.832 [Default:CheckIn](INFO): Running loop #2
2025-06-05T15:07:47.832Z,1749136067.832 [Default:CheckIn] Running Loop=2
2025-06-05T15:07:47.832Z,1749136067.832 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-06-05T15:07:47.833Z,1749136067.833 [Default:CheckIn:Read_GPS] Running Loop=1
2025-06-05T15:07:49.837Z,1749136069.837 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,150749.00,A,3646.93432,N,12159.86714,W,1.652,122.01,050625,,,D*79
2025-06-05T15:07:49.840Z,1749136069.840 [NAL9602](INFO): GPS fix at 20250605T150749: (36.782239, -121.997786)
2025-06-05T15:07:49.870Z,1749136069.870 [Default:CheckIn:Read_GPS] Stopped
2025-06-05T15:07:49.870Z,1749136069.870 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-06-05T15:07:57.810Z,1749136077.810 [DataOverHttps](INFO): Sending 89 bytes from file Logs/20250605T121700/Courier0042.lzma
2025-06-05T15:07:58.815Z,1749136078.815 [DataOverHttps](INFO): Moved sent file to Logs/20250605T121700/Courier0042.lzma.bak
2025-06-05T15:07:58.815Z,1749136078.815 [DataOverHttps](INFO): SBD MOMSN=25101274
2025-06-05T15:08:15.142Z,1749136095.142 [DataOverHttps](INFO): Sending 176 bytes from file Logs/20250605T121700/Express0043.lzma
2025-06-05T15:08:16.144Z,1749136096.144 [DataOverHttps](INFO): Moved sent file to Logs/20250605T121700/Express0043.lzma.bak
2025-06-05T15:08:16.144Z,1749136096.144 [DataOverHttps](INFO): SBD MOMSN=25101277
2025-06-05T15:08:17.746Z,1749136097.746 [Default:CheckIn:Read_Iridium] Stopped
2025-06-05T15:08:17.746Z,1749136097.746 [Default:CheckIn:C.Wait] Running Loop=1
2025-06-05T15:08:17.746Z,1749136097.746 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-06-05T15:08:19.753Z,1749136099.753 [NAL9602](INFO): SBD MO Status=2, MOMSN=21077, MT Status=2, MTMSN=0
2025-06-05T15:08:19.753Z,1749136099.753 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-06-05T15:08:28.242Z,1749136108.242 [NAL9602](INFO): SBD MO Status=0, MOMSN=21077, MT Status=0, MTMSN=0
2025-06-05T15:08:28.242Z,1749136108.242 [NAL9602](INFO): No messages in MT queue
2025-06-05T15:08:55.880Z,1749136135.880 [DataOverHttps](IMPORTANT): SBD MTMSN=20250605T150855
2025-06-05T15:08:58.946Z,1749136138.946 [NAL9602](INFO): Not Powering down - fast GPS
2025-06-05T15:09:03.538Z,1749136143.538 [DataOverHttps](INFO): Received command: load Engineering/sink.tl;set sink.SinkDuration 15 h;run
2025-06-05T15:09:03.612Z,1749136143.612 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/sink.tl
2025-06-05T15:09:03.612Z,1749136143.612 [MissionManager](INFO): Loading Mission from file: ./Missions/Engineering/sink.tl
2025-06-05T15:09:03.612Z,1749136143.612 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Engineering/sink.tl
2025-06-05T15:09:03.617Z,1749136143.617 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Engineering/sink.tl
2025-06-05T15:09:08.548Z,1749136148.548 [MissionManager](DEBUG): TethyslAPI: ./Missions/Engineering/sink.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="sink">
    <DefineArg Name="SinkDuration">
        <Units:hour />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="WaitToFloat">
        <Units:minute />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="Depth">
        <Units:meter />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="DepthDeadband">
        <Units:meter />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="SurfaceThreshold">
        <Units:meter />
        <Value>2.5</Value>
    </DefineArg>
    <DefineArg Name="TargetDepthTimeout">
        <Units:minute />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="DoBallastAndTrim">
        <False />
    </DefineArg>
    <DefineArg Name="BTSettleTime">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="EstimationTimeout">
        <Units:minute />
        <Value>45</Value>
    </DefineArg>
    <DefineArg Name="MinEstimationTime">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="MassEstimationErrorBound">
        <Units:millimeter />
        <Value>0.5</Value>
    </DefineArg>
    <DefineArg Name="BuoyEstimationErrorBound">
        <Units:cubic_centimeter />
        <Value>25</Value>
    </DefineArg>
    <DefineArg Name="EstimationConfidence">
        <Units:percent />
        <Value>98</Value>
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="SkipComms">
        <False />
    </DefineArg>
    <DefineOutput Name="MissionTimeout">
        <Arg Name="SinkDuration" />
    </DefineOutput>
    <Timeout Duration="MissionTimeout" />
    <Assign>
        <Sequence />
        <Arg Name="MissionTimeout" />
        <Arg Name="SinkDuration" />
        <Add>
            <Arg Name="WaitToFloat" />
        </Add>
    </Assign>
    <Insert Filename="Insert/Science.tl" />
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="MissionTimeout" />
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Aggregate Id="startComms">
        <Sequence />
        <Break>
            <Arg Name="SkipComms" />
        </Break>
        <Call RefId="NeedComms" Id="StartingMission" PriorityHere="false" />
    </Aggregate>
    <Aggregate Id="RunSink">
        <Sequence />
        <Timeout Duration="SinkDuration" />
        <Insert Filename="Insert/BallastAndTrim.tl">
            <RedefineArg Name="InsertDepthDeadband">
                <Arg Name="DepthDeadband" />
            </RedefineArg>
            <RedefineArg Name="InsertApproachDepthTimeout">
                <Arg Name="TargetDepthTimeout" />
            </RedefineArg>
            <RedefineArg Name="InsertSettleTime">
                <Arg Name="BTSettleTime" />
            </RedefineArg>
            <RedefineArg Name="EstTimeout">
                <Arg Name="EstimationTimeout" />
            </RedefineArg>
            <RedefineArg Name="MinEstTime">
                <Arg Name="MinEstimationTime" />
            </RedefineArg>
            <RedefineArg Name="MassEstErrorBound">
                <Arg Name="MassEstimationErrorBound" />
            </RedefineArg>
            <RedefineArg Name="BuoyEstErrorBound">
                <Arg Name="BuoyEstimationErrorBound" />
            </RedefineArg>
            <RedefineArg Name="EstConfidence">
                <Arg Name="EstimationConfidence" />
            </RedefineArg>
        </Insert>
        <Aggregate Id="RunBallastAndTrim">
            <Sequence />
            <Break>
                <IsNaN>
                    <Arg Name="Depth" />
                </IsNaN>
                <Or>
                    <Not>
                        <Arg Name="DoBallastAndTrim" />
                    </Not>
                </Or>
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="BallastAndTrim:InsertDepth" />
                <Arg Name="Depth" />
            </Assign>
            <Call RefId="BallastAndTrim" PriorityHere="false" />
        </Aggregate>
        <Aggregate Id="JustSink">
            <Sequence />
            <Break>
                <IsNaN>
                    <Arg Name="Depth" />
                </IsNaN>
                <Or>
                    <Arg Name="DoBallastAndTrim" />
                </Or>
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="BallastAndTrim:InsertDepth" />
                <Arg Name="Depth" />
            </Assign>
            <Assign>
                <Sequence />
                <Arg Name="BTSettleTime" />
                <Arg Name="SinkDuration" />
            </Assign>
            <Call RefId="BallastAndTrim" PriorityHere="false" />
        </Aggregate>
    </Aggregate>
    <Aggregate Id="FloatUp">
        <Sequence />
        <Break>
            <Universal:depth />
            <Lt>
                <Arg Name="SurfaceThreshold" />
            </Lt>
        </Break>
        <Guidance:Buoyancy>
            <Parallel />
            <Setting>
                <Guidance:Buoyancy.position />
                <Control:VerticalControl.buoyancyDefault />
            </Setting>
        </Guidance:Buoyancy>
        <Guidance:Wait>
            <Sequence />
            <Setting>
                <Guidance:Wait.duration />
                <Arg Name="WaitToFloat" />
            </Setting>
        </Guidance:Wait>
    </Aggregate>
    <Call RefId="NeedComms" Id="EndingMission" PriorityHere="false" />
</Mission>

2025-06-05T15:09:08.564Z,1749136148.564 [MissionManager](INFO): DefineArg sink.SinkDuration = 2.000000 h
2025-06-05T15:09:08.568Z,1749136148.568 [MissionManager](INFO): DefineArg sink.WaitToFloat = 20.000000 min
2025-06-05T15:09:08.571Z,1749136148.571 [MissionManager](INFO): DefineArg sink.Depth = 20.000000 m
2025-06-05T15:09:08.574Z,1749136148.574 [MissionManager](INFO): DefineArg sink.DepthDeadband = 1.000000 m
2025-06-05T15:09:08.577Z,1749136148.577 [MissionManager](INFO): DefineArg sink.SurfaceThreshold = 2.500000 m
2025-06-05T15:09:08.580Z,1749136148.580 [MissionManager](INFO): DefineArg sink.TargetDepthTimeout = 20.000000 min
2025-06-05T15:09:08.583Z,1749136148.583 [MissionManager](INFO): DefineArg sink.DoBallastAndTrim = 0 bool
2025-06-05T15:09:08.590Z,1749136148.590 [MissionManager](INFO): DefineArg sink.BTSettleTime = 10.000000 min
2025-06-05T15:09:08.594Z,1749136148.594 [MissionManager](INFO): DefineArg sink.EstimationTimeout = 45.000000 min
2025-06-05T15:09:08.597Z,1749136148.597 [MissionManager](INFO): DefineArg sink.MinEstimationTime = 10.000000 min
2025-06-05T15:09:08.601Z,1749136148.601 [MissionManager](INFO): DefineArg sink.MassEstimationErrorBound = 0.500000 mm
2025-06-05T15:09:08.604Z,1749136148.604 [MissionManager](INFO): DefineArg sink.BuoyEstimationErrorBound = 25.000000 cc
2025-06-05T15:09:08.667Z,1749136148.667 [MissionManager](INFO): DefineArg sink.EstimationConfidence = 98.000000 %
2025-06-05T15:09:08.697Z,1749136148.697 [MissionManager](INFO): DefineArg sink.MinAltitude = 5.000000 m
2025-06-05T15:09:08.724Z,1749136148.724 [MissionManager](INFO): DefineArg sink.MaxDepth = 30.000000 m
2025-06-05T15:09:08.734Z,1749136148.734 [MissionManager](INFO): DefineArg sink.MinOffshore = 2.000000 km
2025-06-05T15:09:08.745Z,1749136148.745 [MissionManager](INFO): DefineArg sink.SkipComms = 0 bool
2025-06-05T15:09:08.749Z,1749136148.749 [MissionManager](INFO): DefineOutput sink.MissionTimeout = 2.000000 h
2025-06-05T15:09:08.760Z,1749136148.760 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-06-05T15:09:08.761Z,1749136148.761 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-06-05T15:09:08.770Z,1749136148.770 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-06-05T15:09:12.756Z,1749136152.756 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/Science.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="Science">
    <DefineArg Name="PeakDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="TimeWindowPeakReport">
        <Units:minute />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="HighestChlPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestSaltPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestOilPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="PatchTracking">
        <False />
    </DefineArg>
    <DefineArg Name="FilterWidthHorizontal">
        <Units:count />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesSlidingwindow">
        <Units:count />
        <Value>100</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionHorizontal">
        <Units:percent />
        <Value>80</Value>
    </DefineArg>
    <DefineArg Name="PeakDetectNO3Active">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectOilActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectFDOMActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectSalinityActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDinoflagellatesActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreDinoflagellatesActive">
        <False />
    </DefineArg>
    <DefineArg Name="UpwardDerivativeOfTemperatureActive">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledAanderaaO2">
        <Science:Aanderaa_O2.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledNeilBrown">
        <Science:CTD_NeilBrown.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledRBRTridente">
        <Science:RBRTridente.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledSeabird">
        <Science:CTD_Seabird.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsBB2FL">
        <Science:WetLabsBB2FL.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsSeaOWL_UV_A">
        <Science:WetLabsSeaOWL_UV_A.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsUBAT">
        <Science:WetLabsUBAT.loadAtStartup />
    </DefineArg>
    <DefineArg Name="LowPassWindowLength">
        <Units:count />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="MedianFilterLen">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="ShallowBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DeepBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DepChangeThreshForAttitudeFlip">
        <Units:meter />
        <Value>2.0</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionVerticalAscent">
        <Units:percent />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionVerticalDescent">
        <Units:percent />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlPeakThresh">
        <Units:microgram_per_liter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="ChlThreshTriggerActive">
        <False />
    </DefineArg>
    <DefineArg Name="ChlLowerThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlUpperThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesThresh">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreLMavgROIPeakThresh">
        <Units:count_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreHMavgROIPeakThresh">
        <Units:count_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreDiatomsPeakThresh">
        <Units:count_per_milliliter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreDinoflagellatesPeakThresh">
        <Units:count_per_milliliter />
        <Value>0</Value>
    </DefineArg>
    <DefineOutput Name="GoDown">
        <True />
    </DefineOutput>
    <DefineOutput Name="PeakChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3">
        <Units:micromole_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Depth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOil">
        <Units:kilogram_per_cubic_meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOM">
        <Units:part_per_billion />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatoms">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatoms">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOil">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="TriggeredOnChl">
        <False />
    </DefineOutput>
    <DefineOutput Name="ChlTriggering">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledAanderaaO2" />
        </While>
        <Universal:mass_concentration_of_oxygen_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
        </While>
        <Universal:sea_water_temperature />
        <Universal:sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledSeabird" />
        </While>
        <Science:CTD_Seabird.sea_water_temperature />
        <Science:CTD_Seabird.sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
            <And>
                <Arg Name="UpwardDerivativeOfTemperatureActive" />
            </And>
        </While>
        <Universal:upward_derivative_of_sea_water_temperature />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsBB2FL" />
            <Or>
                <Arg Name="EnabledRBRTridente" />
            </Or>
            <Or>
                <Arg Name="PeakDetectChlActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_chlorophyll_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsUBAT" />
        </While>
        <Science:WetLabsUBAT.average_bioluminescence />
    </ReadData>
    <ReadData Id="Read_Oil" Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsSeaOWL_UV_A" />
            <Or>
                <Arg Name="PeakDetectOilActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
    </ReadData>
    <Aggregate Id="OceanCurrent">
        <Sequence />
        <Estimation:CurrentEstimator>
            <Parallel />
        </Estimation:CurrentEstimator>
    </Aggregate>
    <Aggregate Id="PeakDetectChl">
        <While>
            <Arg Name="PeakDetectChlActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakChl">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectChl">
        <While>
            <Arg Name="EdgeDetectChlActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="ChlPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakChl">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgeChl">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgeChlDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgeChlTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgeChlLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgeChlLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, ChlPeakThresh, PeakChl, PeakChlDepth, EdgeChl, EdgeChlDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="ChlPeakThresh" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChlDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgeChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="EdgeChlDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
            <Arg Name="EdgeChl" />
            <Arg Name="EdgeChlDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestChlPeakReport">
        <While>
            <Arg Name="HighestChlPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakChlDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakChlLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakChlLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchChl">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchChlDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchChlLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchChlLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchChlDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectNO3">
        <While>
            <Arg Name="PeakDetectNO3Active" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mole_concentration_of_nitrate_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakNO3">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakNO3Depth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakNO3Latitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakNO3Longitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakNO3" />
            <Arg Name="PeakNO3Depth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectOil">
        <While>
            <Arg Name="PeakDetectOilActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakOil">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakOilDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakOilLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakOilLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakOil" />
            <Arg Name="PeakOilDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestOilPeakReport">
        <While>
            <Arg Name="HighestOilPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakOil" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakOilDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakOilLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakOilLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchOil">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchOilDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchOilLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchOilLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchOilDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectFDOM">
        <While>
            <Arg Name="PeakDetectFDOMActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:concentration_of_colored_dissolved_organic_matter_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakFDOM">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakFDOMDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakFDOMTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakFDOMLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakFDOMLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakFDOM" />
            <Arg Name="PeakFDOMDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectSalinity">
        <While>
            <Arg Name="PeakDetectSalinityActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:sea_water_salinity />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakSalt">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakSaltDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakSaltTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakSaltLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakSaltLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakSalt" />
            <Arg Name="PeakSaltDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestSaltPeakReport">
        <While>
            <Arg Name="HighestSaltPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakSalt" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakSaltDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakSaltLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakSaltLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchSalt">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchSaltDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchSaltLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchSaltLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchSaltDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="EdgeDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreLMavgROIPeakThresh, PeakPlanktivoreLMavgROI, PeakPlanktivoreLMavgROIDepth, EdgePlanktivoreLMavgROI, EdgePlanktivoreLMavgROIDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreHMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_HM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="EdgeDetectPlanktivoreHMavgROIActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_HM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreHMavgROIPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROI">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreHMavgROIPeakThresh, PeakPlanktivoreHMavgROI, PeakPlanktivoreHMavgROIDepth, EdgePlanktivoreHMavgROI, EdgePlanktivoreHMavgROIDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreHMavgROIPeakThresh" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreHMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="EdgePlanktivoreHMavgROIDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
            <Arg Name="EdgePlanktivoreHMavgROI" />
            <Arg Name="EdgePlanktivoreHMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="PeakDetectPlanktivoreDiatomsActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_diatoms</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="EdgeDetectPlanktivoreDiatomsActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_diatoms</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreDiatomsPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatoms">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreDiatomsPeakThresh, PeakPlanktivoreDiatoms, PeakPlanktivoreDiatomsDepth, EdgePlanktivoreDiatoms, EdgePlanktivoreDiatomsDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreDiatomsPeakThresh" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreDiatoms" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="EdgePlanktivoreDiatomsDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
            <Arg Name="EdgePlanktivoreDiatoms" />
            <Arg Name="EdgePlanktivoreDiatomsDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="PeakDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDinoflagellates">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="EdgeDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreDinoflagellatesPeakThresh" />
            </Setting>
            <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>

2025-06-05T15:09:12.797Z,1749136152.797 [MissionManager](INFO): DefineArg sink:Science.PeakDetectChlActive = 0 bool
2025-06-05T15:09:12.800Z,1749136152.800 [MissionManager](INFO): DefineArg sink:Science.EdgeDetectChlActive = 0 bool
2025-06-05T15:09:12.803Z,1749136152.803 [MissionManager](INFO): DefineArg sink:Science.TimeWindowPeakReport = nan min
2025-06-05T15:09:12.806Z,1749136152.806 [MissionManager](INFO): DefineArg sink:Science.HighestChlPeakReportActive = 0 bool
2025-06-05T15:09:12.809Z,1749136152.809 [MissionManager](INFO): DefineArg sink:Science.HighestSaltPeakReportActive = 0 bool
2025-06-05T15:09:12.812Z,1749136152.812 [MissionManager](INFO): DefineArg sink:Science.HighestOilPeakReportActive = 0 bool
2025-06-05T15:09:12.814Z,1749136152.814 [MissionManager](INFO): DefineArg sink:Science.PatchTracking = 0 bool
2025-06-05T15:09:12.817Z,1749136152.817 [MissionManager](INFO): DefineArg sink:Science.FilterWidthHorizontal = 3.000000 count
2025-06-05T15:09:12.841Z,1749136152.841 [MissionManager](INFO): DefineArg sink:Science.NumProfilesSlidingwindow = 100.000000 count
2025-06-05T15:09:12.845Z,1749136152.845 [MissionManager](INFO): DefineArg sink:Science.OffPeakFractionHorizontal = 80.000000 %
2025-06-05T15:09:12.855Z,1749136152.855 [MissionManager](INFO): DefineArg sink:Science.PeakDetectNO3Active = 0 bool
2025-06-05T15:09:12.863Z,1749136152.863 [MissionManager](INFO): DefineArg sink:Science.PeakDetectOilActive = 0 bool
2025-06-05T15:09:12.865Z,1749136152.865 [MissionManager](INFO): DefineArg sink:Science.PeakDetectFDOMActive = 0 bool
2025-06-05T15:09:12.873Z,1749136152.873 [MissionManager](INFO): DefineArg sink:Science.PeakDetectSalinityActive = 0 bool
2025-06-05T15:09:12.880Z,1749136152.880 [MissionManager](INFO): DefineArg sink:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-06-05T15:09:12.884Z,1749136152.884 [MissionManager](INFO): DefineArg sink:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-06-05T15:09:12.899Z,1749136152.899 [MissionManager](INFO): DefineArg sink:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-06-05T15:09:12.902Z,1749136152.902 [MissionManager](INFO): DefineArg sink:Science.EdgeDetectPlanktivoreHMavgROIActive = 0 bool
2025-06-05T15:09:12.905Z,1749136152.905 [MissionManager](INFO): DefineArg sink:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-06-05T15:09:12.912Z,1749136152.912 [MissionManager](INFO): DefineArg sink:Science.EdgeDetectPlanktivoreDiatomsActive = 0 bool
2025-06-05T15:09:12.924Z,1749136152.924 [MissionManager](INFO): DefineArg sink:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-06-05T15:09:12.943Z,1749136152.943 [MissionManager](INFO): DefineArg sink:Science.EdgeDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-06-05T15:09:12.946Z,1749136152.946 [MissionManager](INFO): DefineArg sink:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-06-05T15:09:12.959Z,1749136152.959 [MissionManager](INFO): DefineArg sink:Science.EnabledAanderaaO2 = 0 bool
2025-06-05T15:09:12.975Z,1749136152.975 [MissionManager](INFO): DefineArg sink:Science.EnabledNeilBrown = 0 bool
2025-06-05T15:09:12.996Z,1749136152.996 [MissionManager](INFO): DefineArg sink:Science.EnabledRBRTridente = 0 bool
2025-06-05T15:09:13.011Z,1749136153.011 [MissionManager](INFO): DefineArg sink:Science.EnabledSeabird = 1 bool
2025-06-05T15:09:13.017Z,1749136153.017 [MissionManager](INFO): DefineArg sink:Science.EnabledWetLabsBB2FL = 1 bool
2025-06-05T15:09:13.037Z,1749136153.037 [MissionManager](INFO): DefineArg sink:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-06-05T15:09:13.053Z,1749136153.053 [MissionManager](INFO): DefineArg sink:Science.EnabledWetLabsUBAT = 0 bool
2025-06-05T15:09:13.100Z,1749136153.100 [MissionManager](INFO): DefineArg sink:Science.LowPassWindowLength = 20.000000 count
2025-06-05T15:09:13.108Z,1749136153.108 [MissionManager](INFO): DefineArg sink:Science.MedianFilterLen = 5.000000 count
2025-06-05T15:09:13.124Z,1749136153.124 [MissionManager](INFO): DefineArg sink:Science.ShallowBound = nan m
2025-06-05T15:09:13.135Z,1749136153.135 [MissionManager](INFO): DefineArg sink:Science.DeepBound = nan m
2025-06-05T15:09:13.138Z,1749136153.138 [MissionManager](INFO): DefineArg sink:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-06-05T15:09:13.153Z,1749136153.153 [MissionManager](INFO): DefineArg sink:Science.OffPeakFractionVerticalAscent = nan %
2025-06-05T15:09:13.168Z,1749136153.168 [MissionManager](INFO): DefineArg sink:Science.OffPeakFractionVerticalDescent = nan %
2025-06-05T15:09:13.177Z,1749136153.177 [MissionManager](INFO): DefineArg sink:Science.ChlPeakThresh = 0.000000 ug/l
2025-06-05T15:09:13.191Z,1749136153.191 [MissionManager](INFO): DefineArg sink:Science.ChlThreshTriggerActive = 0 bool
2025-06-05T15:09:13.199Z,1749136153.199 [MissionManager](INFO): DefineArg sink:Science.ChlLowerThresh = nan ug/l
2025-06-05T15:09:13.206Z,1749136153.206 [MissionManager](INFO): DefineArg sink:Science.ChlUpperThresh = nan ug/l
2025-06-05T15:09:13.209Z,1749136153.209 [MissionManager](INFO): DefineArg sink:Science.NumProfilesThresh = 5.000000 count
2025-06-05T15:09:13.224Z,1749136153.224 [MissionManager](INFO): DefineArg sink:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-06-05T15:09:13.228Z,1749136153.228 [MissionManager](INFO): DefineArg sink:Science.PlanktivoreHMavgROIPeakThresh = 0.000000 count/s
2025-06-05T15:09:13.234Z,1749136153.234 [MissionManager](INFO): DefineArg sink:Science.PlanktivoreDiatomsPeakThresh = 0.000000 count/ml
2025-06-05T15:09:13.249Z,1749136153.249 [MissionManager](INFO): DefineArg sink:Science.PlanktivoreDinoflagellatesPeakThresh = 0.000000 count/ml
2025-06-05T15:09:13.253Z,1749136153.253 [MissionManager](INFO): DefineOutput sink:Science.GoDown = 1 bool
2025-06-05T15:09:13.269Z,1749136153.269 [MissionManager](INFO): DefineOutput sink:Science.PeakChl = nan ug/l
2025-06-05T15:09:13.282Z,1749136153.282 [MissionManager](INFO): DefineOutput sink:Science.PeakChlDepth = nan m
2025-06-05T15:09:13.286Z,1749136153.286 [MissionManager](INFO): DefineOutput sink:Science.PeakChlTemperature = nan degC
2025-06-05T15:09:13.293Z,1749136153.293 [MissionManager](INFO): DefineOutput sink:Science.PeakChlLatitude = nan arcdeg
2025-06-05T15:09:13.296Z,1749136153.296 [MissionManager](INFO): DefineOutput sink:Science.PeakChlLongitude = nan arcdeg
2025-06-05T15:09:13.308Z,1749136153.308 [MissionManager](INFO): DefineOutput sink:Science.EdgeChl = nan ug/l
2025-06-05T15:09:13.315Z,1749136153.315 [MissionManager](INFO): DefineOutput sink:Science.EdgeChlDepth = nan m
2025-06-05T15:09:13.326Z,1749136153.326 [MissionManager](INFO): DefineOutput sink:Science.EdgeChlTemperature = nan degC
2025-06-05T15:09:13.333Z,1749136153.333 [MissionManager](INFO): DefineOutput sink:Science.EdgeChlLatitude = nan arcdeg
2025-06-05T15:09:13.341Z,1749136153.341 [MissionManager](INFO): DefineOutput sink:Science.EdgeChlLongitude = nan arcdeg
2025-06-05T15:09:13.348Z,1749136153.348 [MissionManager](INFO): DefineOutput sink:Science.PeakNO3 = nan umol/l
2025-06-05T15:09:13.352Z,1749136153.352 [MissionManager](INFO): DefineOutput sink:Science.PeakNO3Depth = nan m
2025-06-05T15:09:13.367Z,1749136153.367 [MissionManager](INFO): DefineOutput sink:Science.PeakNO3Latitude = nan arcdeg
2025-06-05T15:09:13.375Z,1749136153.375 [MissionManager](INFO): DefineOutput sink:Science.PeakNO3Longitude = nan arcdeg
2025-06-05T15:09:13.378Z,1749136153.378 [MissionManager](INFO): DefineOutput sink:Science.PeakOil = nan kg/m3
2025-06-05T15:09:13.385Z,1749136153.385 [MissionManager](INFO): DefineOutput sink:Science.PeakOilDepth = nan m
2025-06-05T15:09:13.390Z,1749136153.390 [MissionManager](INFO): DefineOutput sink:Science.PeakOilLatitude = nan arcdeg
2025-06-05T15:09:13.419Z,1749136153.419 [MissionManager](INFO): DefineOutput sink:Science.PeakOilLongitude = nan arcdeg
2025-06-05T15:09:13.426Z,1749136153.426 [MissionManager](INFO): DefineOutput sink:Science.PeakFDOM = nan ppb
2025-06-05T15:09:13.429Z,1749136153.429 [MissionManager](INFO): DefineOutput sink:Science.PeakFDOMDepth = nan m
2025-06-05T15:09:13.437Z,1749136153.437 [MissionManager](INFO): DefineOutput sink:Science.PeakFDOMTemperature = nan degC
2025-06-05T15:09:13.440Z,1749136153.440 [MissionManager](INFO): DefineOutput sink:Science.PeakFDOMLatitude = nan arcdeg
2025-06-05T15:09:13.455Z,1749136153.455 [MissionManager](INFO): DefineOutput sink:Science.PeakFDOMLongitude = nan arcdeg
2025-06-05T15:09:13.491Z,1749136153.491 [MissionManager](INFO): DefineOutput sink:Science.PeakSalt = nan psu
2025-06-05T15:09:13.502Z,1749136153.502 [MissionManager](INFO): DefineOutput sink:Science.PeakSaltDepth = nan m
2025-06-05T15:09:13.505Z,1749136153.505 [MissionManager](INFO): DefineOutput sink:Science.PeakSaltTemperature = nan degC
2025-06-05T15:09:13.517Z,1749136153.517 [MissionManager](INFO): DefineOutput sink:Science.PeakSaltLatitude = nan arcdeg
2025-06-05T15:09:13.530Z,1749136153.530 [MissionManager](INFO): DefineOutput sink:Science.PeakSaltLongitude = nan arcdeg
2025-06-05T15:09:13.546Z,1749136153.546 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-06-05T15:09:13.550Z,1749136153.550 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-06-05T15:09:13.557Z,1749136153.557 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-06-05T15:09:13.560Z,1749136153.560 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-06-05T15:09:13.580Z,1749136153.580 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-06-05T15:09:13.584Z,1749136153.584 [MissionManager](INFO): DefineOutput sink:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-06-05T15:09:13.603Z,1749136153.603 [MissionManager](INFO): DefineOutput sink:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-06-05T15:09:13.608Z,1749136153.608 [MissionManager](INFO): DefineOutput sink:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-06-05T15:09:13.611Z,1749136153.611 [MissionManager](INFO): DefineOutput sink:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-06-05T15:09:13.619Z,1749136153.619 [MissionManager](INFO): DefineOutput sink:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-06-05T15:09:13.630Z,1749136153.630 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-06-05T15:09:13.633Z,1749136153.633 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-06-05T15:09:13.642Z,1749136153.642 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-06-05T15:09:13.649Z,1749136153.649 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-06-05T15:09:13.652Z,1749136153.652 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-06-05T15:09:13.664Z,1749136153.664 [MissionManager](INFO): DefineOutput sink:Science.EdgePlanktivoreHMavgROI = nan count/s
2025-06-05T15:09:13.671Z,1749136153.671 [MissionManager](INFO): DefineOutput sink:Science.EdgePlanktivoreHMavgROIDepth = nan m
2025-06-05T15:09:13.679Z,1749136153.679 [MissionManager](INFO): DefineOutput sink:Science.EdgePlanktivoreHMavgROITemperature = nan degC
2025-06-05T15:09:13.690Z,1749136153.690 [MissionManager](INFO): DefineOutput sink:Science.EdgePlanktivoreHMavgROILatitude = nan arcdeg
2025-06-05T15:09:13.694Z,1749136153.694 [MissionManager](INFO): DefineOutput sink:Science.EdgePlanktivoreHMavgROILongitude = nan arcdeg
2025-06-05T15:09:13.701Z,1749136153.701 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-06-05T15:09:13.708Z,1749136153.708 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-06-05T15:09:13.716Z,1749136153.716 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-06-05T15:09:13.723Z,1749136153.723 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-06-05T15:09:13.731Z,1749136153.731 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-06-05T15:09:13.737Z,1749136153.737 [MissionManager](INFO): DefineOutput sink:Science.EdgePlanktivoreDiatoms = nan count/ml
2025-06-05T15:09:13.740Z,1749136153.740 [MissionManager](INFO): DefineOutput sink:Science.EdgePlanktivoreDiatomsDepth = nan m
2025-06-05T15:09:13.744Z,1749136153.744 [MissionManager](INFO): DefineOutput sink:Science.EdgePlanktivoreDiatomsTemperature = nan degC
2025-06-05T15:09:13.756Z,1749136153.756 [MissionManager](INFO): DefineOutput sink:Science.EdgePlanktivoreDiatomsLatitude = nan arcdeg
2025-06-05T15:09:13.759Z,1749136153.759 [MissionManager](INFO): DefineOutput sink:Science.EdgePlanktivoreDiatomsLongitude = nan arcdeg
2025-06-05T15:09:13.775Z,1749136153.775 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-06-05T15:09:13.778Z,1749136153.778 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-06-05T15:09:13.823Z,1749136153.823 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-06-05T15:09:13.846Z,1749136153.846 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-06-05T15:09:13.901Z,1749136153.901 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-06-05T15:09:13.904Z,1749136153.904 [MissionManager](INFO): DefineOutput sink:Science.EdgePlanktivoreDinoflagellates = nan count/ml
2025-06-05T15:09:13.908Z,1749136153.908 [MissionManager](INFO): DefineOutput sink:Science.EdgePlanktivoreDinoflagellatesDepth = nan m
2025-06-05T15:09:13.951Z,1749136153.951 [MissionManager](INFO): DefineOutput sink:Science.EdgePlanktivoreDinoflagellatesTemperature = nan degC
2025-06-05T15:09:13.963Z,1749136153.963 [MissionManager](INFO): DefineOutput sink:Science.EdgePlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-06-05T15:09:13.983Z,1749136153.983 [MissionManager](INFO): DefineOutput sink:Science.EdgePlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-06-05T15:09:13.990Z,1749136153.990 [MissionManager](INFO): DefineOutput sink:Science.PatchChl = nan ug/l
2025-06-05T15:09:13.997Z,1749136153.997 [MissionManager](INFO): DefineOutput sink:Science.PatchChlDepth = nan m
2025-06-05T15:09:14.012Z,1749136154.012 [MissionManager](INFO): DefineOutput sink:Science.PatchChlLatitude = nan arcdeg
2025-06-05T15:09:14.056Z,1749136154.056 [MissionManager](INFO): DefineOutput sink:Science.PatchChlLongitude = nan arcdeg
2025-06-05T15:09:14.094Z,1749136154.094 [MissionManager](INFO): DefineOutput sink:Science.PatchChlDistance = nan m
2025-06-05T15:09:14.113Z,1749136154.113 [MissionManager](INFO): DefineOutput sink:Science.PatchSalt = nan psu
2025-06-05T15:09:14.120Z,1749136154.120 [MissionManager](INFO): DefineOutput sink:Science.PatchSaltDepth = nan m
2025-06-05T15:09:14.134Z,1749136154.134 [MissionManager](INFO): DefineOutput sink:Science.PatchSaltLatitude = nan arcdeg
2025-06-05T15:09:14.137Z,1749136154.137 [MissionManager](INFO): DefineOutput sink:Science.PatchSaltLongitude = nan arcdeg
2025-06-05T15:09:14.141Z,1749136154.141 [MissionManager](INFO): DefineOutput sink:Science.PatchSaltDistance = nan m
2025-06-05T15:09:14.149Z,1749136154.149 [MissionManager](INFO): DefineOutput sink:Science.PatchOil = nan psu
2025-06-05T15:09:14.153Z,1749136154.153 [MissionManager](INFO): DefineOutput sink:Science.PatchOilDepth = nan m
2025-06-05T15:09:14.169Z,1749136154.169 [MissionManager](INFO): DefineOutput sink:Science.PatchOilLatitude = nan arcdeg
2025-06-05T15:09:14.173Z,1749136154.173 [MissionManager](INFO): DefineOutput sink:Science.PatchOilLongitude = nan arcdeg
2025-06-05T15:09:14.193Z,1749136154.193 [MissionManager](INFO): DefineOutput sink:Science.PatchOilDistance = nan m
2025-06-05T15:09:14.197Z,1749136154.197 [MissionManager](INFO): DefineOutput sink:Science.TriggeredOnChl = 0 bool
2025-06-05T15:09:14.217Z,1749136154.217 [MissionManager](INFO): DefineOutput sink:Science.ChlTriggering = nan ug/l
2025-06-05T15:09:14.307Z,1749136154.307 [sink:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-05T15:09:14.345Z,1749136154.345 [sink:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-06-05T15:09:14.398Z,1749136154.398 [sink:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-06-05T15:09:14.435Z,1749136154.435 [sink:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-05T15:09:14.460Z,1749136154.460 [sink:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-05T15:09:14.484Z,1749136154.484 [sink:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-06-05T15:09:14.510Z,1749136154.510 [sink:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-05T15:09:14.537Z,1749136154.537 [sink:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-05T15:09:14.566Z,1749136154.566 [sink:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-06-05T15:09:14.581Z,1749136154.581 [sink:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-05T15:09:14.622Z,1749136154.622 [sink:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-06-05T15:09:14.729Z,1749136154.729 [sink:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-05T15:09:14.768Z,1749136154.768 [sink:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-06-05T15:09:14.821Z,1749136154.821 [sink:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-05T15:09:14.852Z,1749136154.852 [sink:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-06-05T15:09:14.912Z,1749136154.912 [sink:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-05T15:09:14.973Z,1749136154.973 [sink:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-06-05T15:09:15.061Z,1749136155.061 [sink:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-06-05T15:09:15.077Z,1749136155.077 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-06-05T15:09:15.078Z,1749136155.078 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-06-05T15:09:15.127Z,1749136155.127 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-06-05T15:09:15.624Z,1749136155.624 [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>

2025-06-05T15:09:15.638Z,1749136155.638 [MissionManager](INFO): DefineArg sink:NeedComms.DiveInterval = 1.000000 h
2025-06-05T15:09:15.641Z,1749136155.641 [MissionManager](INFO): DefineArg sink:NeedComms.WaitForPitchUp = 10.000000 min
2025-06-05T15:09:15.649Z,1749136155.649 [MissionManager](INFO): DefineArg sink:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-06-05T15:09:15.657Z,1749136155.657 [MissionManager](INFO): DefineArg sink:NeedComms.SurfaceDepthRate = nan m/s
2025-06-05T15:09:15.661Z,1749136155.661 [MissionManager](INFO): DefineArg sink:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-06-05T15:09:15.672Z,1749136155.672 [MissionManager](INFO): DefineArg sink:NeedComms.SurfacingTimeout = 1000.000000 s
2025-06-05T15:09:15.676Z,1749136155.676 [MissionManager](INFO): DefineArg sink:NeedComms.GPSTimeout = 7.000000 min
2025-06-05T15:09:15.687Z,1749136155.687 [MissionManager](INFO): DefineArg sink:NeedComms.CommsTimeout = 30.000000 min
2025-06-05T15:09:15.699Z,1749136155.699 [sink:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-06-05T15:09:15.744Z,1749136155.744 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-06-05T15:09:15.745Z,1749136155.745 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-06-05T15:09:15.746Z,1749136155.746 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-06-05T15:09:15.877Z,1749136155.877 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>1.5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-06-05T15:09:15.886Z,1749136155.886 [MissionManager](INFO): DefineArg sink:StandardEnvelopes.MinAltitude = 5.000000 m
2025-06-05T15:09:15.921Z,1749136155.921 [MissionManager](INFO): DefineArg sink:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2025-06-05T15:09:15.929Z,1749136155.929 [MissionManager](INFO): DefineArg sink:StandardEnvelopes.MaxDepth = 200.000000 m
2025-06-05T15:09:15.944Z,1749136155.944 [MissionManager](INFO): DefineArg sink:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-06-05T15:09:15.945Z,1749136155.945 [sink:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-06-05T15:09:15.974Z,1749136155.974 [sink:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-06-05T15:09:15.992Z,1749136155.992 [sink:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-06-05T15:09:16.013Z,1749136156.013 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-06-05T15:09:16.013Z,1749136156.013 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-06-05T15:09:16.023Z,1749136156.023 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-06-05T15:09:16.063Z,1749136156.063 [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>

2025-06-05T15:09:16.068Z,1749136156.068 [MissionManager](INFO): DefineArg sink:BackseatDriver.EnableBackseat = 0 bool
2025-06-05T15:09:16.078Z,1749136156.078 [sink:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-06-05T15:09:16.081Z,1749136156.081 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-06-05T15:09:16.081Z,1749136156.081 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-06-05T15:09:16.087Z,1749136156.087 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-06-05T15:09:16.321Z,1749136156.321 [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>

2025-06-05T15:09:16.334Z,1749136156.334 [MissionManager](INFO): DefineArg sink:PowerOnly.SampleAll = 0 bool
2025-06-05T15:09:16.345Z,1749136156.345 [MissionManager](INFO): DefineArg sink:PowerOnly.SampleLoad1 = 0 bool
2025-06-05T15:09:16.352Z,1749136156.352 [MissionManager](INFO): DefineArg sink:PowerOnly.SampleLoad2 = 0 bool
2025-06-05T15:09:16.367Z,1749136156.367 [MissionManager](INFO): DefineArg sink:PowerOnly.SampleLoad3 = 0 bool
2025-06-05T15:09:16.374Z,1749136156.374 [MissionManager](INFO): DefineArg sink:PowerOnly.EnabledPowerOnly = 1 bool
2025-06-05T15:09:16.386Z,1749136156.386 [sink:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-06-05T15:09:16.394Z,1749136156.394 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BallastAndTrim.tl
2025-06-05T15:09:16.398Z,1749136156.398 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BallastAndTrim.tl
2025-06-05T15:09:16.400Z,1749136156.400 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BallastAndTrim.tl
2025-06-05T15:09:17.396Z,1749136157.396 [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>

2025-06-05T15:09:17.417Z,1749136157.417 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertDepth = 25.000000 m
2025-06-05T15:09:17.428Z,1749136157.428 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertApproachSpeed = 0.000000 m/s
2025-06-05T15:09:17.435Z,1749136157.435 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertApproachDepthRate = 0.400000 m/s
2025-06-05T15:09:17.443Z,1749136157.443 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertApproachPitchLimit = 20.000000 arcdeg
2025-06-05T15:09:17.446Z,1749136157.446 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertApproachSettleTimePreDive = 0.000000 min
2025-06-05T15:09:17.457Z,1749136157.457 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertApproachDepthTimeout = 20.000000 min
2025-06-05T15:09:17.460Z,1749136157.460 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertSettleTime = 10.000000 min
2025-06-05T15:09:17.472Z,1749136157.472 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.EstTimeout = 45.000000 min
2025-06-05T15:09:17.479Z,1749136157.479 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.MinEstTime = 10.000000 min
2025-06-05T15:09:17.487Z,1749136157.487 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.MassEstErrorBound = 0.250000 mm
2025-06-05T15:09:17.490Z,1749136157.490 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.BuoyEstErrorBound = 15.000000 cc
2025-06-05T15:09:17.497Z,1749136157.497 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.EstConfidence = 99.900002 %
2025-06-05T15:09:17.544Z,1749136157.544 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertDepthDeadband = 1.000000 m
2025-06-05T15:09:17.552Z,1749136157.552 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertMassDeadband = 0.250000 mm
2025-06-05T15:09:17.602Z,1749136157.602 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point](DEBUG): Construct.
2025-06-05T15:09:17.629Z,1749136157.629 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy](DEBUG): Construct Buoyancy.
2025-06-05T15:09:17.633Z,1749136157.633 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch](DEBUG): Construct.
2025-06-05T15:09:17.659Z,1749136157.659 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait](DEBUG): Construct Wait.
2025-06-05T15:09:17.663Z,1749136157.663 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed](DEBUG): Construct.
2025-06-05T15:09:17.667Z,1749136157.667 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch](DEBUG): Construct.
2025-06-05T15:09:17.685Z,1749136157.685 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2025-06-05T15:09:17.697Z,1749136157.697 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed](DEBUG): Construct.
2025-06-05T15:09:17.700Z,1749136157.700 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch](DEBUG): Construct.
2025-06-05T15:09:17.717Z,1749136157.717 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait](DEBUG): Construct Wait.
2025-06-05T15:09:17.727Z,1749136157.727 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:E.Execute](DEBUG): Construct Execute.
2025-06-05T15:09:17.746Z,1749136157.746 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](DEBUG): Construct BallastAndTrim.
2025-06-05T15:09:17.818Z,1749136157.818 [MissionManager](INFO): RedefineArg sink:RunSink:BallastAndTrim.InsertDepthDeadband = reader:sink.DepthDeadband
2025-06-05T15:09:17.828Z,1749136157.828 [MissionManager](INFO): RedefineArg sink:RunSink:BallastAndTrim.InsertApproachDepthTimeout = reader:sink.TargetDepthTimeout
2025-06-05T15:09:17.830Z,1749136157.830 [MissionManager](INFO): RedefineArg sink:RunSink:BallastAndTrim.InsertSettleTime = reader:sink.BTSettleTime
2025-06-05T15:09:17.840Z,1749136157.840 [MissionManager](INFO): RedefineArg sink:RunSink:BallastAndTrim.EstTimeout = reader:sink.EstimationTimeout
2025-06-05T15:09:17.842Z,1749136157.842 [MissionManager](INFO): RedefineArg sink:RunSink:BallastAndTrim.MinEstTime = reader:sink.MinEstimationTime
2025-06-05T15:09:17.852Z,1749136157.852 [MissionManager](INFO): RedefineArg sink:RunSink:BallastAndTrim.MassEstErrorBound = reader:sink.MassEstimationErrorBound
2025-06-05T15:09:17.854Z,1749136157.854 [MissionManager](INFO): RedefineArg sink:RunSink:BallastAndTrim.BuoyEstErrorBound = reader:sink.BuoyEstimationErrorBound
2025-06-05T15:09:17.864Z,1749136157.864 [MissionManager](INFO): RedefineArg sink:RunSink:BallastAndTrim.EstConfidence = reader:sink.EstimationConfidence
2025-06-05T15:09:17.891Z,1749136157.891 [sink:FloatUp:A.Buoyancy](DEBUG): Construct Buoyancy.
2025-06-05T15:09:17.899Z,1749136157.899 [sink:FloatUp:B.Wait](DEBUG): Construct Wait.
2025-06-05T15:09:18.056Z,1749136158.056 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

  output {
    MissionTimeout = SinkDuration
  }

  timeout duration=MissionTimeout

  assign in sequence MissionTimeout = SinkDuration + WaitToFloat

  insert Insert/Science.tl

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

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

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

  aggregate startComms {
    run in sequence

    break if ( SkipComms )

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

  aggregate RunSink {
    run in sequence

    timeout duration=SinkDuration

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

    aggregate RunBallastAndTrim {
      run in sequence

      break if (
        isNaN ( Depth )
        or not DoBallastAndTrim
      )

      assign in sequence BallastAndTrim:InsertDepth = Depth

      call priorityHere=false refId="BallastAndTrim"
    }

    aggregate JustSink {
      run in sequence

      break if (
        isNaN ( Depth )
        or DoBallastAndTrim
      )

      assign in sequence BallastAndTrim:InsertDepth = Depth

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

      call priorityHere=false refId="BallastAndTrim"
    }
  }

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

    run in sequence

    break if ( Universal:depth < SurfaceThreshold )

    behavior Guidance:Buoyancy {
      run in parallel

      set position = Control:VerticalControl.buoyancyDefault
    }

    behavior Guidance:Wait {
      run in sequence

      set duration = WaitToFloat
    }
  }

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


2025-06-05T15:09:18.057Z,1749136158.057 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/sink.tl id=sink
2025-06-05T15:09:22.861Z,1749136162.861 [CommandExec](IMPORTANT): got command set sink.SinkDuration 15 hour
2025-06-05T15:09:22.861Z,1749136162.861 [CommandExec](IMPORTANT): got command run
2025-06-05T15:09:22.869Z,1749136162.869 [CommandExec](IMPORTANT): Running 
2025-06-05T15:09:23.221Z,1749136163.221 [Default] Stopped
2025-06-05T15:09:23.222Z,1749136163.222 [Default](DEBUG): Aggregate::uninitialize Default
2025-06-05T15:09:23.222Z,1749136163.222 [Default:B.GoToSurface] Stopped
2025-06-05T15:09:23.222Z,1749136163.222 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-06-05T15:09:23.222Z,1749136163.222 [Default:CheckIn] Stopped
2025-06-05T15:09:23.222Z,1749136163.222 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-06-05T15:09:23.222Z,1749136163.222 [Default:CheckIn:C.Wait] Stopped
2025-06-05T15:09:23.222Z,1749136163.222 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-06-05T15:09:23.223Z,1749136163.223 [MissionManager](IMPORTANT): Started mission sink
2025-06-05T15:09:23.223Z,1749136163.223 [sink] Running Loop=1
2025-06-05T15:09:23.223Z,1749136163.223 [sink](DEBUG): Aggregate::initialize sink
2025-06-05T15:09:23.223Z,1749136163.223 [sink:Science] Running Loop=1
2025-06-05T15:09:23.223Z,1749136163.223 [sink:Science](DEBUG): Aggregate::initialize sink:Science
2025-06-05T15:09:23.223Z,1749136163.223 [sink:Science:A] Running Loop=1
2025-06-05T15:09:23.223Z,1749136163.223 [sink:Science:B] Running Loop=1
2025-06-05T15:09:23.223Z,1749136163.223 [sink:Science:C] Running Loop=1
2025-06-05T15:09:23.223Z,1749136163.223 [sink:Science:D] Running Loop=1
2025-06-05T15:09:23.223Z,1749136163.223 [sink:Science:E] Running Loop=1
2025-06-05T15:09:23.224Z,1749136163.224 [sink:Science:F] Running Loop=1
2025-06-05T15:09:23.224Z,1749136163.224 [sink:Science:Read_Oil] Running Loop=1
2025-06-05T15:09:23.224Z,1749136163.224 [sink:Science:PeakDetectChl] Running Loop=1
2025-06-05T15:09:23.224Z,1749136163.224 [sink:Science:PeakDetectChl](DEBUG): Aggregate::initialize sink:Science:PeakDetectChl
2025-06-05T15:09:23.224Z,1749136163.224 [sink:Science:PeakDetectChl:A] Running Loop=1
2025-06-05T15:09:23.224Z,1749136163.224 [sink:Science:EdgeDetectChl] Running Loop=1
2025-06-05T15:09:23.224Z,1749136163.224 [sink:Science:EdgeDetectChl](DEBUG): Aggregate::initialize sink:Science:EdgeDetectChl
2025-06-05T15:09:23.224Z,1749136163.224 [sink:Science:EdgeDetectChl:A] Running Loop=1
2025-06-05T15:09:23.224Z,1749136163.224 [sink:Science:HighestChlPeakReport] Running Loop=1
2025-06-05T15:09:23.224Z,1749136163.224 [sink:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize sink:Science:HighestChlPeakReport
2025-06-05T15:09:23.225Z,1749136163.225 [sink:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-06-05T15:09:23.225Z,1749136163.225 [sink:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-06-05T15:09:23.225Z,1749136163.225 [sink:Science:PeakDetectNO3] Running Loop=1
2025-06-05T15:09:23.225Z,1749136163.225 [sink:Science:PeakDetectNO3](DEBUG): Aggregate::initialize sink:Science:PeakDetectNO3
2025-06-05T15:09:23.225Z,1749136163.225 [sink:Science:PeakDetectNO3:A] Running Loop=1
2025-06-05T15:09:23.225Z,1749136163.225 [sink:Science:PeakDetectOil] Running Loop=1
2025-06-05T15:09:23.225Z,1749136163.225 [sink:Science:PeakDetectOil](DEBUG): Aggregate::initialize sink:Science:PeakDetectOil
2025-06-05T15:09:23.226Z,1749136163.226 [sink:Science:PeakDetectOil:A] Running Loop=1
2025-06-05T15:09:23.226Z,1749136163.226 [sink:Science:HighestOilPeakReport] Running Loop=1
2025-06-05T15:09:23.226Z,1749136163.226 [sink:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize sink:Science:HighestOilPeakReport
2025-06-05T15:09:23.230Z,1749136163.230 [sink:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-06-05T15:09:23.230Z,1749136163.230 [sink:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-06-05T15:09:23.231Z,1749136163.231 [sink:Science:PeakDetectFDOM] Running Loop=1
2025-06-05T15:09:23.231Z,1749136163.231 [sink:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize sink:Science:PeakDetectFDOM
2025-06-05T15:09:23.231Z,1749136163.231 [sink:Science:PeakDetectFDOM:A] Running Loop=1
2025-06-05T15:09:23.231Z,1749136163.231 [sink:Science:PeakDetectSalinity] Running Loop=1
2025-06-05T15:09:23.231Z,1749136163.231 [sink:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize sink:Science:PeakDetectSalinity
2025-06-05T15:09:23.231Z,1749136163.231 [sink:Science:PeakDetectSalinity:A] Running Loop=1
2025-06-05T15:09:23.231Z,1749136163.231 [sink:Science:HighestSaltPeakReport] Running Loop=1
2025-06-05T15:09:23.231Z,1749136163.231 [sink:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize sink:Science:HighestSaltPeakReport
2025-06-05T15:09:23.232Z,1749136163.232 [sink:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-06-05T15:09:23.232Z,1749136163.232 [sink:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-06-05T15:09:23.233Z,1749136163.233 [sink:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-06-05T15:09:23.233Z,1749136163.233 [sink:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize sink:Science:PeakDetectPlanktivoreLMavgROI
2025-06-05T15:09:23.233Z,1749136163.233 [sink:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-06-05T15:09:23.233Z,1749136163.233 [sink:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2025-06-05T15:09:23.233Z,1749136163.233 [sink:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize sink:Science:EdgeDetectPlanktivoreLMavgROI
2025-06-05T15:09:23.233Z,1749136163.233 [sink:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-06-05T15:09:23.233Z,1749136163.233 [sink:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-06-05T15:09:23.233Z,1749136163.233 [sink:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize sink:Science:PeakDetectPlanktivoreHMavgROI
2025-06-05T15:09:23.233Z,1749136163.233 [sink:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-06-05T15:09:23.234Z,1749136163.234 [sink:Science:EdgeDetectPlanktivoreHMavgROI] Running Loop=1
2025-06-05T15:09:23.234Z,1749136163.234 [sink:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize sink:Science:EdgeDetectPlanktivoreHMavgROI
2025-06-05T15:09:23.234Z,1749136163.234 [sink:Science:EdgeDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-06-05T15:09:23.238Z,1749136163.238 [sink:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-06-05T15:09:23.238Z,1749136163.238 [sink:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize sink:Science:PeakDetectPlanktivoreDiatoms
2025-06-05T15:09:23.238Z,1749136163.238 [sink:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2025-06-05T15:09:23.238Z,1749136163.238 [sink:Science:EdgeDetectPlanktivoreDiatoms] Running Loop=1
2025-06-05T15:09:23.239Z,1749136163.239 [sink:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize sink:Science:EdgeDetectPlanktivoreDiatoms
2025-06-05T15:09:23.239Z,1749136163.239 [sink:Science:EdgeDetectPlanktivoreDiatoms:A] Running Loop=1
2025-06-05T15:09:23.239Z,1749136163.239 [sink:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-06-05T15:09:23.239Z,1749136163.239 [sink:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize sink:Science:PeakDetectPlanktivoreDinoflagellates
2025-06-05T15:09:23.239Z,1749136163.239 [sink:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-06-05T15:09:23.239Z,1749136163.239 [sink:Science:EdgeDetectPlanktivoreDinoflagellates] Running Loop=1
2025-06-05T15:09:23.239Z,1749136163.239 [sink:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize sink:Science:EdgeDetectPlanktivoreDinoflagellates
2025-06-05T15:09:23.239Z,1749136163.239 [sink:Science:EdgeDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-06-05T15:09:23.239Z,1749136163.239 [sink:Science:ChlThreshTrigger] Running Loop=1
2025-06-05T15:09:23.239Z,1749136163.239 [sink:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize sink:Science:ChlThreshTrigger
2025-06-05T15:09:23.240Z,1749136163.240 [sink:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-06-05T15:09:23.240Z,1749136163.240 [sink:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-06-05T15:09:23.240Z,1749136163.240 [sink:Science:OceanCurrent] Running Loop=1
2025-06-05T15:09:23.240Z,1749136163.240 [sink:Science:OceanCurrent](DEBUG): Aggregate::initialize sink:Science:OceanCurrent
2025-06-05T15:09:23.240Z,1749136163.240 [sink:Science:OceanCurrent:A.] Running Loop=1
2025-06-05T15:09:23.240Z,1749136163.240 [sink:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-06-05T15:09:23.240Z,1749136163.240 [sink:StandardEnvelopes] Running Loop=1
2025-06-05T15:09:23.241Z,1749136163.241 [sink:StandardEnvelopes](DEBUG): Aggregate::initialize sink:StandardEnvelopes
2025-06-05T15:09:23.241Z,1749136163.241 [sink:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-06-05T15:09:23.241Z,1749136163.241 [sink:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-06-05T15:09:23.241Z,1749136163.241 [sink:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-06-05T15:09:23.241Z,1749136163.241 [sink:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-06-05T15:09:23.241Z,1749136163.241 [sink:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-06-05T15:09:23.241Z,1749136163.241 [sink:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-06-05T15:09:23.241Z,1749136163.241 [sink:BackseatDriver] Running Loop=1
2025-06-05T15:09:23.241Z,1749136163.241 [sink:BackseatDriver](DEBUG): Aggregate::initialize sink:BackseatDriver
2025-06-05T15:09:23.242Z,1749136163.242 [sink:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-06-05T15:09:23.242Z,1749136163.242 [sink:PowerOnly] Running Loop=1
2025-06-05T15:09:23.242Z,1749136163.242 [sink:PowerOnly](DEBUG): Aggregate::initialize sink:PowerOnly
2025-06-05T15:09:23.242Z,1749136163.242 [sink:PowerOnly:A] Running Loop=1
2025-06-05T15:09:23.246Z,1749136163.246 [sink:PowerOnly:B] Running Loop=1
2025-06-05T15:09:23.246Z,1749136163.246 [sink:PowerOnly:C] Running Loop=1
2025-06-05T15:09:23.246Z,1749136163.246 [sink:PowerOnly:D] Running Loop=1
2025-06-05T15:09:23.246Z,1749136163.246 [sink:PowerOnly:E.Wait] Running Loop=1
2025-06-05T15:09:23.246Z,1749136163.246 [sink:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-06-05T15:09:23.247Z,1749136163.247 [sink:A] Running Loop=1
2025-06-05T15:09:23.247Z,1749136163.247 [sink:PowerOnly] Running Loop=1
2025-06-05T15:09:23.248Z,1749136163.248 [sink:PowerOnly:D] Stopped
2025-06-05T15:09:23.248Z,1749136163.248 [sink:PowerOnly:C] Stopped
2025-06-05T15:09:23.248Z,1749136163.248 [sink:PowerOnly:B] Stopped
2025-06-05T15:09:23.248Z,1749136163.248 [sink:PowerOnly:A] Stopped
2025-06-05T15:09:23.248Z,1749136163.248 [sink:BackseatDriver] Running Loop=1
2025-06-05T15:09:23.248Z,1749136163.248 [sink:StandardEnvelopes] Running Loop=1
2025-06-05T15:09:23.248Z,1749136163.248 [sink:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-06-05T15:09:23.248Z,1749136163.248 [sink:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-06-05T15:09:23.249Z,1749136163.249 [sink:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-06-05T15:09:23.249Z,1749136163.249 [sink:Science] Running Loop=1
2025-06-05T15:09:23.255Z,1749136163.255 [sink:Science:ChlThreshTrigger] Stopped
2025-06-05T15:09:23.255Z,1749136163.255 [sink:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize sink:Science:ChlThreshTrigger
2025-06-05T15:09:23.255Z,1749136163.255 [sink:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-06-05T15:09:23.255Z,1749136163.255 [sink:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-06-05T15:09:23.255Z,1749136163.255 [sink:Science:EdgeDetectPlanktivoreDinoflagellates] Stopped
2025-06-05T15:09:23.255Z,1749136163.255 [sink:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize sink:Science:EdgeDetectPlanktivoreDinoflagellates
2025-06-05T15:09:23.255Z,1749136163.255 [sink:Science:EdgeDetectPlanktivoreDinoflagellates:A] Stopped
2025-06-05T15:09:23.255Z,1749136163.255 [sink:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-06-05T15:09:23.256Z,1749136163.256 [sink:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize sink:Science:PeakDetectPlanktivoreDinoflagellates
2025-06-05T15:09:23.256Z,1749136163.256 [sink:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2025-06-05T15:09:23.256Z,1749136163.256 [sink:Science:EdgeDetectPlanktivoreDiatoms] Stopped
2025-06-05T15:09:23.256Z,1749136163.256 [sink:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize sink:Science:EdgeDetectPlanktivoreDiatoms
2025-06-05T15:09:23.256Z,1749136163.256 [sink:Science:EdgeDetectPlanktivoreDiatoms:A] Stopped
2025-06-05T15:09:23.256Z,1749136163.256 [sink:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-06-05T15:09:23.256Z,1749136163.256 [sink:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize sink:Science:PeakDetectPlanktivoreDiatoms
2025-06-05T15:09:23.256Z,1749136163.256 [sink:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2025-06-05T15:09:23.256Z,1749136163.256 [sink:Science:EdgeDetectPlanktivoreHMavgROI] Stopped
2025-06-05T15:09:23.256Z,1749136163.256 [sink:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize sink:Science:EdgeDetectPlanktivoreHMavgROI
2025-06-05T15:09:23.256Z,1749136163.256 [sink:Science:EdgeDetectPlanktivoreHMavgROI:A] Stopped
2025-06-05T15:09:23.256Z,1749136163.256 [sink:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-06-05T15:09:23.256Z,1749136163.256 [sink:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize sink:Science:PeakDetectPlanktivoreHMavgROI
2025-06-05T15:09:23.257Z,1749136163.257 [sink:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2025-06-05T15:09:23.257Z,1749136163.257 [sink:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2025-06-05T15:09:23.257Z,1749136163.257 [sink:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize sink:Science:EdgeDetectPlanktivoreLMavgROI
2025-06-05T15:09:23.257Z,1749136163.257 [sink:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2025-06-05T15:09:23.257Z,1749136163.257 [sink:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-06-05T15:09:23.257Z,1749136163.257 [sink:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize sink:Science:PeakDetectPlanktivoreLMavgROI
2025-06-05T15:09:23.257Z,1749136163.257 [sink:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2025-06-05T15:09:23.257Z,1749136163.257 [sink:Science:HighestSaltPeakReport] Stopped
2025-06-05T15:09:23.257Z,1749136163.257 [sink:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize sink:Science:HighestSaltPeakReport
2025-06-05T15:09:23.257Z,1749136163.257 [sink:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-06-05T15:09:23.257Z,1749136163.257 [sink:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-06-05T15:09:23.257Z,1749136163.257 [sink:Science:PeakDetectSalinity] Stopped
2025-06-05T15:09:23.257Z,1749136163.257 [sink:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize sink:Science:PeakDetectSalinity
2025-06-05T15:09:23.257Z,1749136163.257 [sink:Science:PeakDetectSalinity:A] Stopped
2025-06-05T15:09:23.258Z,1749136163.258 [sink:Science:PeakDetectFDOM] Stopped
2025-06-05T15:09:23.258Z,1749136163.258 [sink:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize sink:Science:PeakDetectFDOM
2025-06-05T15:09:23.258Z,1749136163.258 [sink:Science:PeakDetectFDOM:A] Stopped
2025-06-05T15:09:23.258Z,1749136163.258 [sink:Science:HighestOilPeakReport] Stopped
2025-06-05T15:09:23.262Z,1749136163.262 [sink:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize sink:Science:HighestOilPeakReport
2025-06-05T15:09:23.262Z,1749136163.262 [sink:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-06-05T15:09:23.262Z,1749136163.262 [sink:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-06-05T15:09:23.262Z,1749136163.262 [sink:Science:PeakDetectOil] Stopped
2025-06-05T15:09:23.262Z,1749136163.262 [sink:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize sink:Science:PeakDetectOil
2025-06-05T15:09:23.263Z,1749136163.263 [sink:Science:PeakDetectOil:A] Stopped
2025-06-05T15:09:23.263Z,1749136163.263 [sink:Science:PeakDetectNO3] Stopped
2025-06-05T15:09:23.263Z,1749136163.263 [sink:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize sink:Science:PeakDetectNO3
2025-06-05T15:09:23.263Z,1749136163.263 [sink:Science:PeakDetectNO3:A] Stopped
2025-06-05T15:09:23.263Z,1749136163.263 [sink:Science:HighestChlPeakReport] Stopped
2025-06-05T15:09:23.263Z,1749136163.263 [sink:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize sink:Science:HighestChlPeakReport
2025-06-05T15:09:23.263Z,1749136163.263 [sink:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-06-05T15:09:23.263Z,1749136163.263 [sink:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-06-05T15:09:23.263Z,1749136163.263 [sink:Science:EdgeDetectChl] Stopped
2025-06-05T15:09:23.263Z,1749136163.263 [sink:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize sink:Science:EdgeDetectChl
2025-06-05T15:09:23.263Z,1749136163.263 [sink:Science:EdgeDetectChl:A] Stopped
2025-06-05T15:09:23.263Z,1749136163.263 [sink:Science:PeakDetectChl] Stopped
2025-06-05T15:09:23.264Z,1749136163.264 [sink:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize sink:Science:PeakDetectChl
2025-06-05T15:09:23.264Z,1749136163.264 [sink:Science:PeakDetectChl:A] Stopped
2025-06-05T15:09:23.264Z,1749136163.264 [sink:Science:OceanCurrent:A.] Running Loop=1
2025-06-05T15:09:23.264Z,1749136163.264 [sink:Science:Read_Oil] Stopped
2025-06-05T15:09:23.264Z,1749136163.264 [sink:Science:F] Stopped
2025-06-05T15:09:23.264Z,1749136163.264 [sink:Science:E] Running Loop=1
2025-06-05T15:09:23.265Z,1749136163.265 [sink:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2025-06-05T15:09:23.265Z,1749136163.265 [sink:Science:D] Stopped
2025-06-05T15:09:23.265Z,1749136163.265 [sink:Science:C] Running Loop=1
2025-06-05T15:09:23.266Z,1749136163.266 [sink:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2025-06-05T15:09:23.268Z,1749136163.268 [sink:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2025-06-05T15:09:23.268Z,1749136163.268 [sink:Science:B] Running Loop=1
2025-06-05T15:09:23.269Z,1749136163.269 [sink:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2025-06-05T15:09:23.269Z,1749136163.269 [sink:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2025-06-05T15:09:23.269Z,1749136163.269 [sink:Science:A] Stopped
2025-06-05T15:09:23.278Z,1749136163.278 [sink:A] Stopped
2025-06-05T15:09:23.278Z,1749136163.278 [sink:D] Running Loop=1
2025-06-05T15:09:23.468Z,1749136163.468 [WetLabsBB2FL](INFO): Powering up
2025-06-05T15:09:23.604Z,1749136163.604 [sink:D] Stopped
2025-06-05T15:09:23.605Z,1749136163.605 [sink:F] Running Loop=1
2025-06-05T15:09:23.997Z,1749136163.997 [sink:F] Stopped
2025-06-05T15:09:23.997Z,1749136163.997 [sink:G] Running Loop=1
2025-06-05T15:09:24.405Z,1749136164.405 [sink:G] Stopped
2025-06-05T15:09:24.405Z,1749136164.405 [sink:H] Running Loop=1
2025-06-05T15:09:24.810Z,1749136164.810 [sink:H] Stopped
2025-06-05T15:09:24.811Z,1749136164.811 [sink:startComms] Running Loop=1
2025-06-05T15:09:24.811Z,1749136164.811 [sink:startComms](DEBUG): Aggregate::initialize sink:startComms
2025-06-05T15:09:24.811Z,1749136164.811 [sink:startComms:StartingMission] Running Loop=1
2025-06-05T15:09:24.811Z,1749136164.811 [sink:startComms:StartingMission](DEBUG): Aggregate::initialize sink:startComms:StartingMission
2025-06-05T15:09:25.231Z,1749136165.231 [sink:NeedComms] Running Loop=1
2025-06-05T15:09:25.231Z,1749136165.231 [sink:NeedComms](DEBUG): Aggregate::initialize sink:NeedComms
2025-06-05T15:09:25.232Z,1749136165.232 [sink:NeedComms:B.GoToSurface] Running Loop=1
2025-06-05T15:09:25.232Z,1749136165.232 [sink:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-06-05T15:09:25.232Z,1749136165.232 [sink:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-06-05T15:09:25.232Z,1749136165.232 [sink:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-06-05T15:09:25.233Z,1749136165.233 [sink:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-06-05T15:09:25.233Z,1749136165.233 [sink:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-06-05T15:09:25.233Z,1749136165.233 [sink:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-06-05T15:09:25.234Z,1749136165.234 [sink:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-06-05T15:09:25.235Z,1749136165.235 [sink:NeedComms:A] Running Loop=1
2025-06-05T15:09:25.236Z,1749136165.236 [sink:NeedComms:A](INFO): last time_fix was:  1749136069.000000 second since 1970/01/01T00:00:00Z 
2025-06-05T15:09:25.236Z,1749136165.236 [sink:NeedComms:A] Stopped
2025-06-05T15:09:25.635Z,1749136165.635 [sink:NeedComms:C] Running Loop=1
2025-06-05T15:09:26.022Z,1749136166.022 [sink:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-06-05T15:09:27.283Z,1749136167.283 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2025-06-05T15:09:27.629Z,1749136167.629 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,150926.00,A,3646.91974,N,12159.83817,W,0.428,124.80,050625,,,D*7B
2025-06-05T15:09:27.631Z,1749136167.631 [NAL9602](INFO): GPS fix at 20250605T150926: (36.781996, -121.997303)
2025-06-05T15:09:27.645Z,1749136167.645 [sink:NeedComms:C] Stopped
2025-06-05T15:09:27.645Z,1749136167.645 [sink:NeedComms:D] Running Loop=1
2025-06-05T15:09:28.055Z,1749136168.055 [sink:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-06-05T15:09:36.786Z,1749136176.786 [DataOverHttps](INFO): Sending 76 bytes from file Logs/20250605T121700/Courier0045.lzma
2025-06-05T15:09:36.929Z,1749136176.929 [NAL9602](INFO): SBD MO Status=0, MOMSN=21078, MT Status=0, MTMSN=0
2025-06-05T15:09:36.929Z,1749136176.929 [NAL9602](INFO): No messages in MT queue
2025-06-05T15:09:37.784Z,1749136177.784 [DataOverHttps](INFO): Moved sent file to Logs/20250605T121700/Courier0045.lzma.bak
2025-06-05T15:09:37.784Z,1749136177.784 [DataOverHttps](INFO): SBD MOMSN=25101283
2025-06-05T15:09:54.579Z,1749136194.579 [DataOverHttps](INFO): Sending 293 bytes from file Logs/20250605T121700/Express0046.lzma
2025-06-05T15:09:55.588Z,1749136195.588 [DataOverHttps](INFO): Moved sent file to Logs/20250605T121700/Express0046.lzma.bak
2025-06-05T15:09:55.588Z,1749136195.588 [DataOverHttps](INFO): SBD MOMSN=25101286
2025-06-05T15:10:07.640Z,1749136207.640 [NAL9602](INFO): Not Powering down - fast GPS
2025-06-05T15:10:12.466Z,1749136212.466 [DataOverHttps](INFO): Sending 62 bytes from file Logs/20250605T121700/Express0049.lzma
2025-06-05T15:10:13.468Z,1749136213.468 [DataOverHttps](INFO): Moved sent file to Logs/20250605T121700/Express0049.lzma.bak
2025-06-05T15:10:13.468Z,1749136213.468 [DataOverHttps](INFO): SBD MOMSN=25101295
2025-06-05T15:10:14.942Z,1749136214.942 [sink:NeedComms:D] Stopped
2025-06-05T15:10:14.942Z,1749136214.942 [sink:NeedComms:E] Running Loop=1
2025-06-05T15:10:15.353Z,1749136215.353 [sink:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-06-05T15:10:16.951Z,1749136216.951 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,151016.00,A,3646.91317,N,12159.82401,W,1.166,120.66,050625,,,A*72
2025-06-05T15:10:16.953Z,1749136216.953 [NAL9602](INFO): GPS fix at 20250605T151016: (36.781886, -121.997067)
2025-06-05T15:10:17.033Z,1749136217.033 [sink:NeedComms:E] Stopped
2025-06-05T15:10:17.038Z,1749136217.038 [sink:NeedComms](INFO): Completed sink:NeedComms
2025-06-05T15:10:17.038Z,1749136217.038 [sink:NeedComms] Stopped
2025-06-05T15:10:17.039Z,1749136217.039 [sink:NeedComms](DEBUG): Aggregate::uninitialize sink:NeedComms
2025-06-05T15:10:17.039Z,1749136217.039 [sink:NeedComms:B.GoToSurface] Stopped
2025-06-05T15:10:17.039Z,1749136217.039 [sink:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-06-05T15:10:17.379Z,1749136217.379 [sink:startComms:StartingMission](INFO): Completed sink:startComms:StartingMission
2025-06-05T15:10:17.379Z,1749136217.379 [sink:startComms:StartingMission] Stopped
2025-06-05T15:10:17.379Z,1749136217.379 [sink:startComms:StartingMission](DEBUG): Aggregate::uninitialize sink:startComms:StartingMission
2025-06-05T15:10:17.379Z,1749136217.379 [sink:startComms](INFO): Completed sink:startComms
2025-06-05T15:10:17.379Z,1749136217.379 [sink:startComms] Stopped
2025-06-05T15:10:17.379Z,1749136217.379 [sink:startComms](DEBUG): Aggregate::uninitialize sink:startComms
2025-06-05T15:10:17.380Z,1749136217.380 [sink:RunSink] Running Loop=1
2025-06-05T15:10:17.380Z,1749136217.380 [sink:RunSink](DEBUG): Aggregate::initialize sink:RunSink
2025-06-05T15:10:17.380Z,1749136217.380 [sink:RunSink:RunBallastAndTrim] Running Loop=1
2025-06-05T15:10:17.380Z,1749136217.380 [sink:RunSink:RunBallastAndTrim](DEBUG): Aggregate::initialize sink:RunSink:RunBallastAndTrim
2025-06-05T15:10:17.380Z,1749136217.380 [sink:RunSink:RunBallastAndTrim:A] Running Loop=1
2025-06-05T15:10:17.769Z,1749136217.769 [sink:RunSink:RunBallastAndTrim] Stopped
2025-06-05T15:10:17.770Z,1749136217.770 [sink:RunSink:RunBallastAndTrim](DEBUG): Aggregate::uninitialize sink:RunSink:RunBallastAndTrim
2025-06-05T15:10:17.770Z,1749136217.770 [sink:RunSink:RunBallastAndTrim:A] Stopped
2025-06-05T15:10:17.770Z,1749136217.770 [sink:RunSink:JustSink] Running Loop=1
2025-06-05T15:10:17.774Z,1749136217.774 [sink:RunSink:JustSink](DEBUG): Aggregate::initialize sink:RunSink:JustSink
2025-06-05T15:10:17.774Z,1749136217.774 [sink:RunSink:JustSink:A] Running Loop=1
2025-06-05T15:10:18.164Z,1749136218.164 [sink:RunSink:JustSink:A] Stopped
2025-06-05T15:10:18.164Z,1749136218.164 [sink:RunSink:JustSink:B] Running Loop=1
2025-06-05T15:10:18.612Z,1749136218.612 [sink:RunSink:JustSink:B] Stopped
2025-06-05T15:10:18.612Z,1749136218.612 [sink:RunSink:JustSink:C] Running Loop=1
2025-06-05T15:10:18.612Z,1749136218.612 [sink:RunSink:JustSink:C](DEBUG): Aggregate::initialize sink:RunSink:JustSink:C
2025-06-05T15:10:19.037Z,1749136219.037 [sink:RunSink:BallastAndTrim] Running Loop=1
2025-06-05T15:10:19.037Z,1749136219.037 [sink:RunSink:BallastAndTrim](DEBUG): Aggregate::initialize sink:RunSink:BallastAndTrim
2025-06-05T15:10:19.038Z,1749136219.038 [sink:RunSink:BallastAndTrim:A] Running Loop=1
2025-06-05T15:10:19.038Z,1749136219.038 [sink:RunSink:BallastAndTrim:B] Running Loop=1
2025-06-05T15:10:19.038Z,1749136219.038 [sink:RunSink:BallastAndTrim:C] Running Loop=1
2025-06-05T15:10:19.038Z,1749136219.038 [sink:RunSink:BallastAndTrim:D] Running Loop=1
2025-06-05T15:10:19.038Z,1749136219.038 [sink:RunSink:BallastAndTrim:E] Running Loop=1
2025-06-05T15:10:19.042Z,1749136219.042 [sink:RunSink:BallastAndTrim:F] Running Loop=1
2025-06-05T15:10:19.044Z,1749136219.044 [sink:RunSink:BallastAndTrim:F](INFO): Going to target depth. Speed set to  0.000000 m/s 
2025-06-05T15:10:19.044Z,1749136219.044 [sink:RunSink:BallastAndTrim:F] Stopped
2025-06-05T15:10:19.044Z,1749136219.044 [sink:RunSink:BallastAndTrim:GoToTargetDepth] Running Loop=1
2025-06-05T15:10:19.045Z,1749136219.045 [sink:RunSink:BallastAndTrim:GoToTargetDepth](DEBUG): Aggregate::initialize sink:RunSink:BallastAndTrim:GoToTargetDepth
2025-06-05T15:10:19.045Z,1749136219.045 [sink:RunSink:BallastAndTrim:GoToTargetDepth:A] Running Loop=1
2025-06-05T15:10:19.045Z,1749136219.045 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold] Running Loop=1
2025-06-05T15:10:19.045Z,1749136219.045 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold](DEBUG): Aggregate::initialize sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold
2025-06-05T15:10:19.045Z,1749136219.045 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point] Running Loop=1
2025-06-05T15:10:19.045Z,1749136219.045 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point](DEBUG): Initialize.
2025-06-05T15:10:19.045Z,1749136219.045 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy] Running Loop=1
2025-06-05T15:10:19.045Z,1749136219.045 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-06-05T15:10:19.045Z,1749136219.045 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch] Running Loop=1
2025-06-05T15:10:19.045Z,1749136219.045 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch](DEBUG): Initialize.
2025-06-05T15:10:19.050Z,1749136219.050 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive] Running Loop=1
2025-06-05T15:10:19.050Z,1749136219.050 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive](DEBUG): Aggregate::initialize sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive
2025-06-05T15:10:19.050Z,1749136219.050 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive:A] Running Loop=1
2025-06-05T15:10:19.050Z,1749136219.050 [sink:RunSink:BallastAndTrim:E] Running Loop=1
2025-06-05T15:10:19.051Z,1749136219.051 [sink:RunSink:BallastAndTrim:D] Running Loop=1
2025-06-05T15:10:19.051Z,1749136219.051 [sink:RunSink:BallastAndTrim:C] Running Loop=1
2025-06-05T15:10:19.051Z,1749136219.051 [sink:RunSink:BallastAndTrim:B] Running Loop=1
2025-06-05T15:10:19.051Z,1749136219.051 [sink:RunSink:BallastAndTrim:A] Running Loop=1
2025-06-05T15:10:19.396Z,1749136219.396 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive:A](INFO): Waiting for  0.000000 min while pumping down to neutral.
2025-06-05T15:10:19.397Z,1749136219.397 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive:A] Stopped
2025-06-05T15:10:19.397Z,1749136219.397 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait] Running Loop=1
2025-06-05T15:10:19.397Z,1749136219.397 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait](DEBUG): Initialize Wait Component.
2025-06-05T15:10:19.397Z,1749136219.397 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold] Stopped
2025-06-05T15:10:19.397Z,1749136219.397 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold](DEBUG): Aggregate::uninitialize sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold
2025-06-05T15:10:19.397Z,1749136219.397 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point] Stopped
2025-06-05T15:10:19.397Z,1749136219.397 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy] Stopped
2025-06-05T15:10:19.397Z,1749136219.397 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-06-05T15:10:19.397Z,1749136219.397 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch] Stopped
2025-06-05T15:10:19.397Z,1749136219.397 [sink:RunSink:BallastAndTrim:GoToTargetDepth:A] Running Loop=1
2025-06-05T15:10:19.807Z,1749136219.807 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait](INFO): Done Waiting.
2025-06-05T15:10:19.807Z,1749136219.807 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait] Stopped
2025-06-05T15:10:19.807Z,1749136219.807 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait](DEBUG): Uninitialize Wait Component.
2025-06-05T15:10:19.808Z,1749136219.808 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive](INFO): Completed sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive
2025-06-05T15:10:19.808Z,1749136219.808 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive] Stopped
2025-06-05T15:10:19.808Z,1749136219.808 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive](DEBUG): Aggregate::uninitialize sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive
2025-06-05T15:10:19.808Z,1749136219.808 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth] Running Loop=1
2025-06-05T15:10:19.808Z,1749136219.808 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth](DEBUG): Aggregate::initialize sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth
2025-06-05T15:10:19.808Z,1749136219.808 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed] Running Loop=1
2025-06-05T15:10:19.808Z,1749136219.808 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed](DEBUG): Initialize.
2025-06-05T15:10:19.808Z,1749136219.808 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:A] Running Loop=1
2025-06-05T15:10:20.192Z,1749136220.192 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed] Running Loop=1
2025-06-05T15:10:20.193Z,1749136220.193 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:A](INFO): Moving to  20.000000 m 
2025-06-05T15:10:20.193Z,1749136220.193 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:A] Stopped
2025-06-05T15:10:20.193Z,1749136220.193 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch] Running Loop=1
2025-06-05T15:10:20.193Z,1749136220.193 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch](DEBUG): Initialize.
2025-06-05T15:10:24.681Z,1749136224.681 [NAL9602](INFO): SBD MO Status=0, MOMSN=21079, MT Status=0, MTMSN=0
2025-06-05T15:10:24.681Z,1749136224.681 [NAL9602](INFO): No messages in MT queue
2025-06-05T15:10:55.377Z,1749136255.377 [NAL9602](INFO): Not Powering down - fast GPS
2025-06-05T15:12:16.810Z,1749136336.810 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T15:12:47.935Z,1749136367.935 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T15:12:51.454Z,1749136371.454 [Radio_Surface](INFO): Powering down
2025-06-05T15:13:19.059Z,1749136399.059 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-05T15:13:20.063Z,1749136400.063 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-06-05T15:13:53.195Z,1749136433.195 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.026901
2025-06-05T15:16:45.685Z,1749136605.685 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch] Stopped
2025-06-05T15:16:45.686Z,1749136605.686 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth](INFO): Completed sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth
2025-06-05T15:16:45.686Z,1749136605.686 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth] Stopped
2025-06-05T15:16:45.686Z,1749136605.686 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth](DEBUG): Aggregate::uninitialize sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth
2025-06-05T15:16:45.686Z,1749136605.686 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed] Stopped
2025-06-05T15:16:45.686Z,1749136605.686 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed](DEBUG): Uninitialize.
2025-06-05T15:16:45.687Z,1749136605.687 [sink:RunSink:BallastAndTrim:GoToTargetDepth](INFO): Completed sink:RunSink:BallastAndTrim:GoToTargetDepth
2025-06-05T15:16:45.687Z,1749136605.687 [sink:RunSink:BallastAndTrim:GoToTargetDepth] Stopped
2025-06-05T15:16:45.687Z,1749136605.687 [sink:RunSink:BallastAndTrim:GoToTargetDepth](DEBUG): Aggregate::uninitialize sink:RunSink:BallastAndTrim:GoToTargetDepth
2025-06-05T15:16:45.687Z,1749136605.687 [sink:RunSink:BallastAndTrim:GoToTargetDepth:A] Stopped
2025-06-05T15:16:45.687Z,1749136605.687 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth] Running Loop=1
2025-06-05T15:16:45.687Z,1749136605.687 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth](DEBUG): Aggregate::initialize sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth
2025-06-05T15:16:45.687Z,1749136605.687 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed] Running Loop=1
2025-06-05T15:16:45.688Z,1749136605.688 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed](DEBUG): Initialize.
2025-06-05T15:16:45.688Z,1749136605.688 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch] Running Loop=1
2025-06-05T15:16:45.688Z,1749136605.688 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch](DEBUG): Initialize.
2025-06-05T15:16:45.688Z,1749136605.688 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:C] Running Loop=1
2025-06-05T15:16:46.084Z,1749136606.084 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:C](INFO): Waiting for the vehicle to settle. Depth =  20.007458 m 
2025-06-05T15:16:46.084Z,1749136606.084 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:C] Stopped
2025-06-05T15:16:46.084Z,1749136606.084 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait] Running Loop=1
2025-06-05T15:16:46.084Z,1749136606.084 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait](DEBUG): Initialize Wait Component.
2025-06-05T15:16:46.084Z,1749136606.084 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch] Running Loop=1
2025-06-05T15:16:46.084Z,1749136606.084 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed] Running Loop=1
2025-06-05T15:17:16.239Z,1749136636.239 [CTD_Seabird](ERROR): Failed to parse device response: .67
2025-06-05T15:17:56.401Z,1749136676.401 [CTD_Seabird](ERROR): Failed to parse device response: 45,3992.41
2025-06-05T15:33:34.456Z,1749137614.456 [Sonardyne_Nano](ERROR): Failed to parse response: >VS:2213,HPR45,EXT,TILT

2025-06-05T15:47:11.663Z,1749138431.663 [CTD_Seabird](ERROR): Failed to parse device response: 99,3804.73
2025-06-05T15:54:14.387Z,1749138854.387 [CTD_Seabird](ERROR): Failed to parse device response: 18,4171.48
2025-06-05T16:13:04.751Z,1749139984.751 [BPC1](ERROR): Battery stick #2 (s/n: 0124) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-06-05T16:13:04.752Z,1749139984.752 [BPC1](INFO): Calculating totals. Valid battery stick count: 54. Valid reserve battery stick count: 6.
2025-06-05T16:13:04.755Z,1749139984.755 [BPC1](INFO): Received data from all battery sticks.
2025-06-05T16:18:23.922Z,1749140303.922 [DVL_micro](ERROR): Failed to parse:
:SA,+01.00,+01.00,123.3
2025-06-05T16:36:17.651Z,1749141377.651 [CTD_Seabird](ERROR): Failed to parse device response: .60
2025-06-05T16:42:52.488Z,1749141772.488 [DVL_micro](ERROR): Failed to parse:
:WI,+00005,+00132,+00029,+00000,A
2025-06-05T16:43:36.525Z,1749141816.525 [Sonardyne_Nano](INFO): Battery at maximum, disabling charging
2025-06-05T16:44:26.213Z,1749141866.213 [DVL_micro](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00000000000000,35.0,+11.8,0000.0,00
2025-06-05T16:44:26.213Z,1749141866.213 [DVL_micro](ERROR): Failed to parse:
:TS,00000000000000,35.0,+11.8,0000.0,00
2025-06-05T17:02:49.558Z,1749142969.558 [DVL_micro](ERROR): Failed to parse:
:SA,+01.71,+01.31,112.1
2025-06-05T17:08:10.754Z,1749143290.754 [DVL_micro](ERROR): Failed to parse:
:SA,+00.92,+01.02,118.5
2025-06-05T17:16:54.808Z,1749143814.808 [CTD_Seabird](ERROR): Failed to parse device response: 2,3.87827,4066.95
2025-06-05T17:17:55.059Z,1749143875.059 [CTD_Seabird](ERROR): Failed to parse device response: 5,3.87813,4062.96
2025-06-05T17:19:51.729Z,1749143991.729 [DVL_micro](ERROR): Failed to parse:
:SA,+01.09,+01.06,143.3
2025-06-05T17:20:39.758Z,1749144039.758 [BPC1](ERROR): Battery stick #2 (s/n: 0124) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-06-05T17:20:39.759Z,1749144039.759 [BPC1](INFO): Calculating totals. Valid battery stick count: 54. Valid reserve battery stick count: 6.
2025-06-05T17:20:39.767Z,1749144039.767 [BPC1](INFO): Received data from all battery sticks.
2025-06-05T17:21:40.015Z,1749144100.015 [CTD_Seabird](ERROR): Failed to parse device response: 21.05,1
2025-06-05T17:33:00.884Z,1749144780.884 [GFScanner](IMPORTANT): Beginning ground fault scan
2025-06-05T17:33:01.812Z,1749144781.812 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-06-05T17:33:01.813Z,1749144781.813 [CTD_Seabird](INFO): some bad data, not updating bins
2025-06-05T17:33:02.816Z,1749144782.816 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-06-05T17:33:02.817Z,1749144782.817 [CTD_Seabird](INFO): some bad data, not updating bins
2025-06-05T17:33:03.820Z,1749144783.820 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-06-05T17:33:03.821Z,1749144783.821 [CTD_Seabird](INFO): some bad data, not updating bins
2025-06-05T17:33:04.824Z,1749144784.824 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-06-05T17:33:04.825Z,1749144784.825 [CTD_Seabird](INFO): some bad data, not updating bins
2025-06-05T17:33:05.215Z,1749144785.215 [GFScanner](IMPORTANT): Ground fault detected
mA:
CHAN A0 (Batt): -0.067523
CHAN A1 (24V): 0.002279
CHAN A2 (12V): -0.007441
CHAN A3 (5V): -0.058090
CHAN B0 (3.3V): 0.001109
CHAN B1 (3.15aV): -0.002040
CHAN B2 (3.15bV): -0.001755
CHAN B3 (GND): -0.003611
OPEN: 0.012088
Full Scale: +/- 1 mA
2025-06-05T17:34:43.232Z,1749144883.232 [CTD_Seabird](ERROR): Failed to parse device response: 13,3886.10
2025-06-05T17:39:35.431Z,1749145175.431 [DVL_micro](ERROR): Failed to parse:
:BI,-00094,+00157,+00008,+00000,I
2025-06-05T17:44:47.711Z,1749145487.711 [CTD_Seabird](ERROR): Failed to parse device response: 4,3.89434,4142.83
2025-06-05T18:02:52.507Z,1749146572.507 [DVL_micro](ERROR): Failed to parse:
:SA,+00.87,+01.03,176.1
2025-06-05T18:28:17.200Z,1749148097.200 [BPC1](ERROR): Battery stick #2 (s/n: 0124) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-06-05T18:28:17.201Z,1749148097.201 [BPC1](INFO): Calculating totals. Valid battery stick count: 54. Valid reserve battery stick count: 6.
2025-06-05T18:28:17.204Z,1749148097.204 [BPC1](INFO): Received data from all battery sticks.
2025-06-05T18:42:01.426Z,1749148921.426 [DVL_micro](ERROR): Failed to parse:
:SA,+02.51,+01.13,164.3
2025-06-05T18:59:00.303Z,1749149940.303 [CTD_Seabird](ERROR): Failed to parse device response: 0,3.85732,3973.76
2025-06-05T19:05:39.967Z,1749150339.967 [CTD_Seabird](ERROR): Failed to parse device response: 8,3.83704,3873.15
2025-06-05T19:16:09.555Z,1749150969.555 [CTD_Seabird](ERROR): Failed to parse device response: .84
2025-06-05T19:30:18.591Z,1749151818.591 [DVL_micro](ERROR): only read 3 of 4 data items for beam range. Device response is::RD,+9999.99,+99991.68,+9999.99
2025-06-05T19:30:18.591Z,1749151818.591 [DVL_micro](ERROR): Failed to parse:
:RD,+9999.99,+99991.68,+9999.99
2025-06-05T19:32:41.957Z,1749151961.957 [DVL_micro](ERROR): Failed to parse:
:9.99,000.00
2025-06-05T19:35:54.660Z,1749152154.660 [BPC1](ERROR): Battery stick #2 (s/n: 0124) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-06-05T19:35:54.661Z,1749152154.661 [BPC1](INFO): Calculating totals. Valid battery stick count: 54. Valid reserve battery stick count: 6.
2025-06-05T19:35:54.680Z,1749152154.680 [BPC1](INFO): Received data from all battery sticks.
2025-06-05T19:44:27.652Z,1749152667.652 [CTD_Seabird](ERROR): Failed to parse device response: 20.04,11.9759,3.842002
2025-06-05T19:48:10.369Z,1749152890.369 [DVL_micro](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,0000000000000003,+00000,I
2025-06-05T19:48:10.370Z,1749152890.371 [DVL_micro](ERROR): Failed to parse:
:TS,0000000000000003,+00000,I
2025-06-05T19:52:58.397Z,1749153178.397 [DVL_micro](ERROR): Failed to parse:
:RD,+0000.30,+0004.14,+9999.99,+0002.78
2025-06-05T19:53:04.474Z,1749153184.474 [sink:StandardEnvelopes:A.AltitudeEnvelope](IMPORTANT): Altitude envelope ACTIVE. Altitude:3.830000m. At depth:21.508875m.
2025-06-05T19:57:24.655Z,1749153444.655 [DVL_micro](ERROR): Failed to parse:
:SA,+01.65,+01.03,158.6
2025-06-05T20:01:09.679Z,1749153669.679 [DVL_micro](ERROR): Failed to parse:
:RD,+9999.99,+9999.99,+0115.99,+9999.99
2025-06-05T20:04:33.631Z,1749153873.631 [CTD_Seabird](ERROR): Failed to parse device response: .78
2025-06-05T20:13:13.795Z,1749154393.795 [CTD_Seabird](ERROR): Failed to parse device response: ,11.5826,3.80382,3687.24
2025-06-05T20:43:32.548Z,1749156212.548 [BPC1](ERROR): Battery stick #2 (s/n: 0124) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-06-05T20:43:32.549Z,1749156212.549 [BPC1](INFO): Calculating totals. Valid battery stick count: 54. Valid reserve battery stick count: 6.
2025-06-05T20:43:32.553Z,1749156212.553 [BPC1](INFO): Received data from all battery sticks.
2025-06-05T20:48:03.231Z,1749156483.231 [DVL_micro](ERROR): Failed to parse:
:SA,+01.09,+01.03,176.6
2025-06-05T21:17:58.855Z,1749158278.855 [CTD_Seabird](ERROR): Failed to parse device response: 68,3567.40
2025-06-05T21:19:27.926Z,1749158367.926 [DVL_micro](ERROR): Failed to parse:
:RD,+9999.99,+9999.99,+0190.93,+9999.99
2025-06-05T21:22:04.876Z,1749158524.876 [CTD_Seabird](ERROR): Failed to parse device response: .00
2025-06-05T21:30:51.177Z,1749159051.177 [sink:StandardEnvelopes:A.AltitudeEnvelope](IMPORTANT): Altitude envelope ACTIVE. Altitude:2.640000m. At depth:20.261435m.
2025-06-05T21:44:54.261Z,1749159894.261 [DVL_micro](ERROR): Failed to parse:
:SA,+00.28,+00.81,196.2
2025-06-05T21:51:10.379Z,1749160270.379 [BPC1](ERROR): Battery stick #2 (s/n: 0124) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-06-05T21:51:10.380Z,1749160270.380 [BPC1](INFO): Calculating totals. Valid battery stick count: 54. Valid reserve battery stick count: 6.
2025-06-05T21:51:10.384Z,1749160270.384 [BPC1](INFO): Received data from all battery sticks.
2025-06-05T22:02:30.323Z,1749160950.323 [DVL_micro](ERROR): Failed to parse:
:SA,+01.83,+01.00,207.9
2025-06-05T22:10:34.718Z,1749161434.718 [DVL_micro](ERROR): DVL BIT error. See manual. Result code: -33
Device respsone is::TS,00000000000000,35.0,+11.0,00000026,-00034,-00033,+00000,I
2025-06-05T22:10:34.720Z,1749161434.720 [DVL_micro](ERROR): Failed to parse:
:RD,+9999.99,+9999.99,+0151.93,+9999.99
2025-06-05T22:12:04.413Z,1749161524.413 [DVL_micro](ERROR): Failed to parse:
:BD,+00000000.00,+00000000.00,+00000000.00,9999.99,000.00
2025-06-05T22:16:38.371Z,1749161798.371 [CTD_Seabird](ERROR): Failed to parse device response: 21.93,11.2664,0
2025-06-05T22:28:56.041Z,1749162536.041 [DVL_micro](ERROR): Failed to parse:
:RD,+9999.99,+9999.99,+0119.87,+9999.99
2025-06-05T22:58:48.632Z,1749164328.632 [BPC1](ERROR): Battery stick #2 (s/n: 0124) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-06-05T22:58:48.633Z,1749164328.633 [BPC1](INFO): Calculating totals. Valid battery stick count: 54. Valid reserve battery stick count: 6.
2025-06-05T22:58:48.636Z,1749164328.636 [BPC1](INFO): Received data from all battery sticks.
2025-06-05T23:13:59.692Z,1749165239.692 [CTD_Seabird](ERROR): Failed to parse device response: ,10.6856,3.71431,3083.34
2025-06-05T23:19:44.123Z,1749165584.123 [CTD_Seabird](ERROR): Failed to parse device response: 21.12,10.6580,3.715.60
2025-06-05T23:33:01.184Z,1749166381.184 [GFScanner](IMPORTANT): Beginning ground fault scan
2025-06-05T23:33:01.452Z,1749166381.452 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-06-05T23:33:01.453Z,1749166381.453 [CTD_Seabird](INFO): some bad data, not updating bins
2025-06-05T23:33:02.456Z,1749166382.456 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-06-05T23:33:02.457Z,1749166382.457 [CTD_Seabird](INFO): some bad data, not updating bins
2025-06-05T23:33:03.460Z,1749166383.460 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-06-05T23:33:03.461Z,1749166383.461 [CTD_Seabird](INFO): some bad data, not updating bins
2025-06-05T23:33:04.464Z,1749166384.464 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-06-05T23:33:04.465Z,1749166384.465 [CTD_Seabird](INFO): some bad data, not updating bins
2025-06-05T23:33:05.468Z,1749166385.468 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-06-05T23:33:05.469Z,1749166385.469 [CTD_Seabird](INFO): some bad data, not updating bins
2025-06-05T23:33:05.571Z,1749166385.571 [GFScanner](IMPORTANT): Ground fault detected
mA:
CHAN A0 (Batt): -0.003619
CHAN A1 (24V): 0.004621
CHAN A2 (12V): -0.026278
CHAN A3 (5V): -0.013078
CHAN B0 (3.3V): -0.002791
CHAN B1 (3.15aV): -0.000367
CHAN B2 (3.15bV): -0.001428
CHAN B3 (GND): -0.001572
OPEN: 0.012063
Full Scale: +/- 1 mA
2025-06-05T23:34:30.815Z,1749166470.815 [CTD_Seabird](ERROR): Failed to parse device response: 21.49,10.6517,3.086.46
2025-06-05T23:41:25.250Z,1749166885.250 [DVL_micro](ERROR): only read 0 of 4 data items for beam range. Device response is::RD9.99
2025-06-05T23:41:25.250Z,1749166885.250 [DVL_micro](ERROR): Failed to parse:
:RD9.99
2025-06-05T23:49:11.469Z,1749167351.469 [DVL_micro](ERROR): Failed to parse:
:SA,-00.52,+00.94,025.2
2025-06-06T00:06:24.174Z,1749168384.174 [BPC1](ERROR): Battery stick #2 (s/n: 0124) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-06-06T00:06:24.175Z,1749168384.175 [BPC1](INFO): Calculating totals. Valid battery stick count: 54. Valid reserve battery stick count: 6.
2025-06-06T00:06:24.180Z,1749168384.180 [BPC1](INFO): Received data from all battery sticks.
2025-06-06T00:47:12.450Z,1749170832.450 [DVL_micro](ERROR): Failed to parse:
:RD,+9999.99,+9999.99,+9999.99,+9999.99
2025-06-06T01:02:24.699Z,1749171744.699 [CTD_Seabird](ERROR): Failed to parse device response: 21.38,10.358.89
2025-06-06T01:07:05.939Z,1749172025.939 [CTD_Seabird](ERROR): Failed to parse device response: 21.78,10.3476,
2025-06-06T01:13:59.187Z,1749172439.187 [BPC1](ERROR): Battery stick #2 (s/n: 0124) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-06-06T01:13:59.188Z,1749172439.188 [BPC1](INFO): Calculating totals. Valid battery stick count: 54. Valid reserve battery stick count: 6.
2025-06-06T01:13:59.203Z,1749172439.203 [BPC1](INFO): Received data from all battery sticks.
2025-06-06T01:28:55.351Z,1749173335.351 [CTD_Seabird](ERROR): Failed to parse device response: .24
2025-06-06T01:29:12.419Z,1749173352.419 [CTD_Seabird](ERROR): Failed to parse device response: ,10.5437,3.69713,3039.52
2025-06-06T02:05:22.580Z,1749175522.580 [DVL_micro](ERROR): Failed to parse:
:WI,-00150,+00049,+00072,+00000,A
2025-06-06T02:05:31.069Z,1749175531.069 [DVL_micro](ERROR): Failed to parse:
:RD,+9999.99,+9999.99,+0111.20,+9999.99
2025-06-06T02:21:34.236Z,1749176494.236 [BPC1](ERROR): Battery stick #2 (s/n: 0124) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-06-06T02:21:34.237Z,1749176494.237 [BPC1](INFO): Calculating totals. Valid battery stick count: 53. Valid reserve battery stick count: 6.
2025-06-06T02:21:34.240Z,1749176494.240 [BPC1](INFO): Received data from all battery sticks.
2025-06-06T02:23:56.863Z,1749176636.863 [DVL_micro](ERROR): Failed to parse:
:SA,-00.31,+00.85,108.6
2025-06-06T02:25:46.340Z,1749176746.340 [DVL_micro](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00000000000000,300016,+00000,A
2025-06-06T02:25:46.340Z,1749176746.340 [DVL_micro](ERROR): Failed to parse:
:TS,00000000000000,300016,+00000,A
2025-06-06T02:34:06.127Z,1749177246.127 [DVL_micro](ERROR): Failed to parse:
:TS,00000000000000,35.0,+10.2,0000.0,1489.0,000
2025-06-06T02:40:44.465Z,1749177644.465 [DVL_micro](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,000000000000,A
2025-06-06T02:40:44.465Z,1749177644.465 [DVL_micro](ERROR): Failed to parse:
:TS,000000000000,A
2025-06-06T02:47:39.923Z,1749178059.923 [CTD_Seabird](ERROR): Failed to parse device response: 4,3.70264,2921.97
2025-06-06T03:10:15.535Z,1749179415.535 [CTD_Seabird](ERROR): Failed to parse device response: ,10.6200,3.70731,2939.05
2025-06-06T03:17:00.067Z,1749179820.067 [DVL_micro](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BI,-00099.99,000.00
2025-06-06T03:17:00.068Z,1749179820.068 [DVL_micro](ERROR): Failed to parse:
:BI,-00099.99,000.00
2025-06-06T03:29:11.711Z,1749180551.711 [BPC1](ERROR): Battery stick #2 (s/n: 0124) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-06-06T03:29:11.712Z,1749180551.712 [BPC1](INFO): Calculating totals. Valid battery stick count: 54. Valid reserve battery stick count: 6.
2025-06-06T03:29:11.715Z,1749180551.715 [BPC1](INFO): Received data from all battery sticks.
2025-06-06T03:29:56.420Z,1749180596.420 [CTD_Seabird](ERROR): Failed to parse device response: ,11.4764,3.79405,3547.61
2025-06-06T03:43:59.710Z,1749181439.710 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging
2025-06-06T03:54:14.503Z,1749182054.503 [CTD_Seabird](ERROR): Failed to parse device response: .69
2025-06-06T04:05:00.203Z,1749182700.203 [CTD_Seabird](ERROR): Failed to parse device response: .31
2025-06-06T04:09:18.409Z,1749182958.409 [DVL_micro](ERROR): Failed to parse:
:RD,+9999.99,+9999.99,+9999.99,+9999.99
2025-06-06T04:10:14.160Z,1749183014.160 [DVL_micro](ERROR): DVL BIT error. See manual. Result code: 168
Device respsone is::TS,00000000000000,35.0,+11.1,0000.0,1489.0,00000168,+00000,I
2025-06-06T04:10:14.162Z,1749183014.162 [DVL_micro](ERROR): Failed to parse:
:RD,+9999.99,+9999.99,+0131.55,+9999.99
2025-06-06T04:11:37.780Z,1749183097.780 [DVL_micro](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,0000000000,,+00076,-00668,-00091,+00000,I
2025-06-06T04:11:37.781Z,1749183097.781 [DVL_micro](ERROR): Failed to parse:
:TS,0000000000,,+00076,-00668,-00091,+00000,I
2025-06-06T04:27:45.400Z,1749184065.400 [DVL_micro](ERROR): Failed to parse:
:SA,+00.90,+01.05,348.7
2025-06-06T04:36:47.212Z,1749184607.212 [BPC1](ERROR): Battery stick #2 (s/n: 0124) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-06-06T04:36:47.212Z,1749184607.212 [BPC1](INFO): Calculating totals. Valid battery stick count: 54. Valid reserve battery stick count: 6.
2025-06-06T04:36:47.215Z,1749184607.215 [BPC1](INFO): Received data from all battery sticks.
2025-06-06T04:41:31.339Z,1749184891.339 [CTD_Seabird](ERROR): Failed to parse device response: .69
2025-06-06T04:46:05.591Z,1749185165.591 [DVL_micro](ERROR): Failed to parse:
:SA,+00.75,+00.75,353.8
2025-06-06T05:16:12.286Z,1749186972.286 [DVL_micro](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,000000
2025-06-06T05:16:12.286Z,1749186972.286 [DVL_micro](ERROR): Failed to parse:
:TS,000000
2025-06-06T05:17:26.638Z,1749187046.638 [DVL_micro](ERROR): only read 3 of 4 data items for bottom velocity. Device response is::BI,+00150,-00037,+09
2025-06-06T05:17:26.638Z,1749187046.638 [DVL_micro](ERROR): Failed to parse:
:BI,+00150,-00037,+09
2025-06-06T05:25:32.260Z,1749187532.260 [CTD_Seabird](ERROR): Failed to parse device response: 21.80,11.4819,3.718.40
2025-06-06T05:33:01.557Z,1749187981.557 [GFScanner](IMPORTANT): Beginning ground fault scan
2025-06-06T05:33:02.102Z,1749187982.102 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-06-06T05:33:02.105Z,1749187982.105 [CTD_Seabird](INFO): some bad data, not updating bins
2025-06-06T05:33:03.104Z,1749187983.104 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-06-06T05:33:03.105Z,1749187983.105 [CTD_Seabird](INFO): some bad data, not updating bins
2025-06-06T05:33:04.108Z,1749187984.108 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-06-06T05:33:04.109Z,1749187984.109 [CTD_Seabird](INFO): some bad data, not updating bins
2025-06-06T05:33:05.112Z,1749187985.112 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-06-06T05:33:05.113Z,1749187985.113 [CTD_Seabird](INFO): some bad data, not updating bins
2025-06-06T05:33:06.116Z,1749187986.116 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-06-06T05:33:06.117Z,1749187986.117 [CTD_Seabird](INFO): some bad data, not updating bins
2025-06-06T05:33:06.135Z,1749187986.135 [GFScanner](IMPORTANT): Ground fault detected
mA:
CHAN A0 (Batt): 0.003099
CHAN A1 (24V): 0.002540
CHAN A2 (12V): -0.008513
CHAN A3 (5V): -0.016386
CHAN B0 (3.3V): -0.002525
CHAN B1 (3.15aV): -0.002136
CHAN B2 (3.15bV): -0.001876
CHAN B3 (GND): -0.018863
OPEN: 0.012210
Full Scale: +/- 1 mA
2025-06-06T05:40:13.896Z,1749188413.896 [DVL_micro](ERROR): Failed to parse:
:BD,+00000000.00,+00000000.00,+00000000.00,9999.99,000.00
2025-06-06T05:44:26.307Z,1749188666.307 [BPC1](ERROR): Battery stick #2 (s/n: 0124) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-06-06T05:44:26.308Z,1749188666.308 [BPC1](INFO): Calculating totals. Valid battery stick count: 54. Valid reserve battery stick count: 6.
2025-06-06T05:44:26.311Z,1749188666.311 [BPC1](INFO): Received data from all battery sticks.
2025-06-06T05:49:29.740Z,1749188969.740 [DVL_micro](ERROR): Failed to parse:
:SA,+00.57,+00.91,030.5
2025-06-06T05:56:44.943Z,1749189404.943 [CTD_Seabird](ERROR): Failed to parse device response: 21.76,11.0960,
2025-06-06T06:10:17.726Z,1749190217.726 [sink:RunSink](INFO): Timed out from 2025-06-05T15:10:17.4Z
2025-06-06T06:10:17.726Z,1749190217.726 [sink:RunSink] Stopped
2025-06-06T06:10:17.727Z,1749190217.727 [sink:RunSink](DEBUG): Aggregate::uninitialize sink:RunSink
2025-06-06T06:10:17.727Z,1749190217.727 [sink:RunSink:BallastAndTrim] Stopped
2025-06-06T06:10:17.727Z,1749190217.727 [sink:RunSink:BallastAndTrim](DEBUG): Aggregate::uninitialize sink:RunSink:BallastAndTrim
2025-06-06T06:10:17.727Z,1749190217.727 [sink:RunSink:BallastAndTrim:A] Stopped
2025-06-06T06:10:17.727Z,1749190217.727 [sink:RunSink:BallastAndTrim:B] Stopped
2025-06-06T06:10:17.727Z,1749190217.727 [sink:RunSink:BallastAndTrim:C] Stopped
2025-06-06T06:10:17.727Z,1749190217.727 [sink:RunSink:BallastAndTrim:D] Stopped
2025-06-06T06:10:17.727Z,1749190217.727 [sink:RunSink:BallastAndTrim:E] Stopped
2025-06-06T06:10:17.727Z,1749190217.727 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth] Stopped
2025-06-06T06:10:17.727Z,1749190217.727 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth](DEBUG): Aggregate::uninitialize sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth
2025-06-06T06:10:17.727Z,1749190217.727 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed] Stopped
2025-06-06T06:10:17.727Z,1749190217.727 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed](DEBUG): Uninitialize.
2025-06-06T06:10:17.727Z,1749190217.727 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch] Stopped
2025-06-06T06:10:17.727Z,1749190217.727 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait] Stopped
2025-06-06T06:10:17.728Z,1749190217.728 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait](DEBUG): Uninitialize Wait Component.
2025-06-06T06:10:17.728Z,1749190217.728 [sink:RunSink:JustSink] Stopped
2025-06-06T06:10:17.728Z,1749190217.728 [sink:RunSink:JustSink](DEBUG): Aggregate::uninitialize sink:RunSink:JustSink
2025-06-06T06:10:17.728Z,1749190217.728 [sink:RunSink:JustSink:C] Stopped
2025-06-06T06:10:17.728Z,1749190217.728 [sink:RunSink:JustSink:C](DEBUG): Aggregate::uninitialize sink:RunSink:JustSink:C
2025-06-06T06:10:17.728Z,1749190217.728 [sink:FloatUp] Running Loop=1
2025-06-06T06:10:17.728Z,1749190217.728 [sink:FloatUp](DEBUG): Aggregate::initialize sink:FloatUp
2025-06-06T06:10:17.728Z,1749190217.728 [sink:FloatUp:A.Buoyancy] Running Loop=1
2025-06-06T06:10:17.729Z,1749190217.729 [sink:FloatUp:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-06-06T06:10:17.729Z,1749190217.729 [sink:FloatUp:B.Wait] Running Loop=1
2025-06-06T06:10:17.729Z,1749190217.729 [sink:FloatUp:B.Wait](DEBUG): Initialize Wait Component.
2025-06-06T06:10:18.118Z,1749190218.118 [sink:FloatUp:A.Buoyancy] Running Loop=1
2025-06-06T06:13:08.047Z,1749190388.047 [CTD_Seabird](ERROR): Failed to parse device response: 66,3691.74
2025-06-06T06:13:09.812Z,1749190389.812 [DVL_micro](ERROR): Failed to parse:
:TS,00000000000000,35.0,+11.2,0000.0,1489.0,000
2025-06-06T06:13:46.984Z,1749190426.984 [sink:FloatUp] Stopped
2025-06-06T06:13:46.984Z,1749190426.984 [sink:FloatUp](DEBUG): Aggregate::uninitialize sink:FloatUp
2025-06-06T06:13:46.984Z,1749190426.984 [sink:FloatUp:A.Buoyancy] Stopped
2025-06-06T06:13:46.984Z,1749190426.984 [sink:FloatUp:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-06-06T06:13:46.985Z,1749190426.985 [sink:FloatUp:B.Wait] Stopped
2025-06-06T06:13:46.985Z,1749190426.985 [sink:FloatUp:B.Wait](DEBUG): Uninitialize Wait Component.
2025-06-06T06:13:46.985Z,1749190426.985 [sink:EndingMission] Running Loop=1
2025-06-06T06:13:46.985Z,1749190426.985 [sink:EndingMission](DEBUG): Aggregate::initialize sink:EndingMission
2025-06-06T06:13:47.400Z,1749190427.400 [sink:NeedComms] Running Loop=1
2025-06-06T06:13:47.400Z,1749190427.400 [sink:NeedComms](DEBUG): Aggregate::initialize sink:NeedComms
2025-06-06T06:13:47.400Z,1749190427.400 [sink:NeedComms:B.GoToSurface] Running Loop=1
2025-06-06T06:13:47.400Z,1749190427.400 [sink:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-06-06T06:13:47.401Z,1749190427.401 [sink:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-06-06T06:13:47.401Z,1749190427.401 [sink:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-06-06T06:13:47.401Z,1749190427.401 [sink:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-06-06T06:13:47.402Z,1749190427.402 [sink:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-06-06T06:13:47.402Z,1749190427.402 [sink:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-06-06T06:13:47.403Z,1749190427.403 [sink:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-06-06T06:13:47.403Z,1749190427.403 [sink:NeedComms:A] Running Loop=1
2025-06-06T06:13:47.404Z,1749190427.404 [sink:NeedComms:A](INFO): last time_fix was:  1749136216.000000 second since 1970/01/01T00:00:00Z 
2025-06-06T06:13:47.405Z,1749190427.405 [sink:NeedComms:A] Stopped
2025-06-06T06:14:01.133Z,1749190441.133 [sink:NeedComms:C] Running Loop=1
2025-06-06T06:14:01.831Z,1749190441.831 [Radio_Surface](INFO): Powering up
2025-06-06T06:14:07.919Z,1749190447.919 [DataOverHttps](INFO): Radio surface powered ON.
2025-06-06T06:15:11.816Z,1749190511.816 [NAL9602](INFO): SBD MO Status=2, MOMSN=21080, MT Status=2, MTMSN=0
2025-06-06T06:15:11.817Z,1749190511.817 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-06-06T06:15:28.814Z,1749190528.814 [NAL9602](INFO): SBD MO Status=2, MOMSN=21080, MT Status=2, MTMSN=0
2025-06-06T06:15:28.814Z,1749190528.814 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-06-06T06:15:47.779Z,1749190547.779 [NAL9602](INFO): SBD MO Status=0, MOMSN=21080, MT Status=0, MTMSN=0
2025-06-06T06:15:47.779Z,1749190547.779 [NAL9602](INFO): No messages in MT queue
2025-06-06T06:15:48.985Z,1749190548.985 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,061548.00,A,3645.97521,N,12155.08852,W,0.447,167.90,060625,,,D*77
2025-06-06T06:15:48.988Z,1749190548.988 [NAL9602](INFO): GPS fix at 20250606T061548: (36.766253, -121.918142)
2025-06-06T06:15:49.001Z,1749190549.001 [UniversalFixResidualReporter](INFO): Fix residual: 1271.2 %DT, over the last 559.7 m. Residual distance 7115.3 m at bearing -79.3 degrees. Fix at (36.7663, -121.9181) with 7241.4 m made good.
2025-06-06T06:15:49.003Z,1749190549.003 [sink:NeedComms:C] Stopped
2025-06-06T06:15:49.003Z,1749190549.003 [sink:NeedComms:D] Running Loop=1
2025-06-06T06:15:49.014Z,1749190549.014 [CBIT](CRITICAL): Navigation error has exceeded threshold. navErrorCriticalReporting is enabled.
2025-06-06T06:15:49.462Z,1749190549.462 [CommandExec](FAULT): Scheduling is paused for 1 commands
2025-06-06T06:15:49.462Z,1749190549.462 [CBIT](INFO): Critical error at 20250606T061549
2025-06-06T06:15:49.463Z,1749190549.463 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2025-06-06T06:15:49.820Z,1749190549.820 [MissionManager](INFO): MissionManager is completed.
2025-06-06T06:15:49.820Z,1749190549.820 [MissionManager](INFO): Uninitializing Mission sink
2025-06-06T06:15:49.820Z,1749190549.820 [sink] Stopped
2025-06-06T06:15:49.821Z,1749190549.821 [sink](DEBUG): Aggregate::uninitialize sink
2025-06-06T06:15:49.821Z,1749190549.821 [sink:Science] Stopped
2025-06-06T06:15:49.822Z,1749190549.822 [sink:Science](DEBUG): Aggregate::uninitialize sink:Science
2025-06-06T06:15:49.822Z,1749190549.822 [sink:Science:B] Stopped
2025-06-06T06:15:49.823Z,1749190549.823 [sink:Science:C] Stopped
2025-06-06T06:15:49.823Z,1749190549.823 [sink:Science:E] Stopped
2025-06-06T06:15:49.823Z,1749190549.823 [sink:Science:OceanCurrent] Stopped
2025-06-06T06:15:49.824Z,1749190549.824 [sink:Science:OceanCurrent](DEBUG): Aggregate::uninitialize sink:Science:OceanCurrent
2025-06-06T06:15:49.824Z,1749190549.824 [sink:Science:OceanCurrent:A.] Stopped
2025-06-06T06:15:49.825Z,1749190549.825 [sink:NeedComms] Stopped
2025-06-06T06:15:49.825Z,1749190549.825 [sink:NeedComms](DEBUG): Aggregate::uninitialize sink:NeedComms
2025-06-06T06:15:49.826Z,1749190549.826 [sink:NeedComms:B.GoToSurface] Stopped
2025-06-06T06:15:49.827Z,1749190549.827 [sink:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-06-06T06:15:49.827Z,1749190549.827 [sink:NeedComms:D] Stopped
2025-06-06T06:15:49.827Z,1749190549.827 [sink:StandardEnvelopes] Stopped
2025-06-06T06:15:49.827Z,1749190549.827 [sink:StandardEnvelopes](DEBUG): Aggregate::uninitialize sink:StandardEnvelopes
2025-06-06T06:15:49.827Z,1749190549.827 [sink:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-06-06T06:15:49.827Z,1749190549.827 [sink:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-06-06T06:15:49.827Z,1749190549.827 [sink:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-06-06T06:15:49.827Z,1749190549.827 [sink:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-06-06T06:15:49.827Z,1749190549.827 [sink:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-06-06T06:15:49.827Z,1749190549.827 [sink:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-06-06T06:15:49.828Z,1749190549.828 [sink:BackseatDriver] Stopped
2025-06-06T06:15:49.828Z,1749190549.828 [sink:BackseatDriver](DEBUG): Aggregate::uninitialize sink:BackseatDriver
2025-06-06T06:15:49.828Z,1749190549.828 [sink:BackseatDriver:A.BackseatDriver] Stopped
2025-06-06T06:15:49.828Z,1749190549.828 [sink:PowerOnly] Stopped
2025-06-06T06:15:49.828Z,1749190549.828 [sink:PowerOnly](DEBUG): Aggregate::uninitialize sink:PowerOnly
2025-06-06T06:15:49.828Z,1749190549.828 [sink:PowerOnly:E.Wait] Stopped
2025-06-06T06:15:49.828Z,1749190549.828 [sink:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-06-06T06:15:49.828Z,1749190549.828 [sink:EndingMission] Stopped
2025-06-06T06:15:49.828Z,1749190549.828 [sink:EndingMission](DEBUG): Aggregate::uninitialize sink:EndingMission
2025-06-06T06:15:49.950Z,1749190549.950 [WetLabsBB2FL](INFO): Powering down
2025-06-06T06:15:50.232Z,1749190550.232 [MissionManager](IMPORTANT): Started mission Default
2025-06-06T06:15:50.232Z,1749190550.232 [Default] Running Loop=1
2025-06-06T06:15:50.233Z,1749190550.233 [Default](DEBUG): Aggregate::initialize Default
2025-06-06T06:15:50.233Z,1749190550.233 [Default:B.GoToSurface] Running Loop=1
2025-06-06T06:15:50.233Z,1749190550.233 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-06-06T06:15:50.233Z,1749190550.233 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-06-06T06:15:50.233Z,1749190550.233 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-06-06T06:15:50.234Z,1749190550.234 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-06-06T06:15:50.238Z,1749190550.238 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-06-06T06:15:50.239Z,1749190550.239 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-06-06T06:15:50.239Z,1749190550.239 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-06-06T06:15:50.239Z,1749190550.239 [Default:A.Wait] Running Loop=1
2025-06-06T06:15:50.239Z,1749190550.239 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-06-06T06:16:02.043Z,1749190562.043 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003584
2025-06-06T06:16:03.546Z,1749190563.546 [Default:A.Wait](INFO): Done Waiting.
2025-06-06T06:16:03.546Z,1749190563.546 [Default:A.Wait] Stopped
2025-06-06T06:16:03.546Z,1749190563.546 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-06-06T06:16:04.025Z,1749190564.025 [Default:CheckIn] Running Loop=1
2025-06-06T06:16:04.025Z,1749190564.025 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-06-06T06:16:04.025Z,1749190564.026 [Default:CheckIn:Read_GPS] Running Loop=1
2025-06-06T06:16:05.965Z,1749190565.965 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,061605.00,A,3645.97455,N,12155.08634,W,0.253,114.58,060625,,,D*72
2025-06-06T06:16:05.968Z,1749190565.968 [NAL9602](INFO): GPS fix at 20250606T061605: (36.766242, -121.918106)
2025-06-06T06:16:06.003Z,1749190566.003 [Default:CheckIn:Read_GPS] Stopped
2025-06-06T06:16:06.003Z,1749190566.003 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-06-06T06:16:13.823Z,1749190573.823 [DataOverHttps](INFO): Sending 176 bytes from file Logs/20250605T121700/Courier0051.lzma
2025-06-06T06:16:14.824Z,1749190574.824 [DataOverHttps](INFO): Moved sent file to Logs/20250605T121700/Courier0051.lzma.bak
2025-06-06T06:16:14.824Z,1749190574.824 [DataOverHttps](INFO): SBD MOMSN=25110672
2025-06-06T06:16:31.206Z,1749190591.206 [DataOverHttps](INFO): Sending 76 bytes from file Logs/20250605T121700/Courier0054.lzma
2025-06-06T06:16:32.208Z,1749190592.208 [DataOverHttps](INFO): Moved sent file to Logs/20250605T121700/Courier0054.lzma.bak
2025-06-06T06:16:32.209Z,1749190592.209 [DataOverHttps](INFO): SBD MOMSN=25110676
2025-06-06T06:16:38.756Z,1749190598.756 [NAL9602](INFO): Not Powering down - fast GPS
2025-06-06T06:16:49.491Z,1749190609.491 [DataOverHttps](INFO): Sending 3647 bytes from file Logs/20250605T121700/Express0052.lzma
2025-06-06T06:16:50.484Z,1749190610.484 [DataOverHttps](INFO): Moved sent file to Logs/20250605T121700/Express0052.lzma.bak
2025-06-06T06:16:50.484Z,1749190610.484 [DataOverHttps](INFO): SBD MOMSN=25110679
2025-06-06T06:17:06.854Z,1749190626.854 [DataOverHttps](INFO): Sending 132 bytes from file Logs/20250605T121700/Express0055.lzma
2025-06-06T06:17:07.856Z,1749190627.856 [DataOverHttps](INFO): Moved sent file to Logs/20250605T121700/Express0055.lzma.bak
2025-06-06T06:17:07.856Z,1749190627.856 [DataOverHttps](INFO): SBD MOMSN=25110692
2025-06-06T06:17:09.469Z,1749190629.469 [Default:CheckIn:Read_Iridium] Stopped
2025-06-06T06:17:09.470Z,1749190629.470 [Default:CheckIn:C.Wait] Running Loop=1
2025-06-06T06:17:09.470Z,1749190629.470 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-06-06T06:22:10.066Z,1749190930.066 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2025-06-06T06:22:10.066Z,1749190930.066 [Default:CheckIn:C.Wait] Stopped
2025-06-06T06:22:10.066Z,1749190930.066 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-06-06T06:22:10.067Z,1749190930.067 [Default:CheckIn:D] Running Loop=1
2025-06-06T06:22:10.453Z,1749190930.453 [Default:CheckIn:D] Stopped
2025-06-06T06:22:10.453Z,1749190930.453 [Default:CheckIn:E] Running Loop=1
2025-06-06T06:22:10.878Z,1749190930.878 [Default:CheckIn:E](IMPORTANT): Default mission has been running for  6.337004 min 
2025-06-06T06:22:10.878Z,1749190930.878 [Default:CheckIn:E] Stopped
2025-06-06T06:22:10.878Z,1749190930.878 [Default:CheckIn](INFO): Completed Default:CheckIn
2025-06-06T06:22:10.878Z,1749190930.878 [Default:CheckIn] Stopped
2025-06-06T06:22:10.879Z,1749190930.879 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-06-06T06:22:10.879Z,1749190930.879 [Default:CheckIn](INFO): Running loop #2
2025-06-06T06:22:10.879Z,1749190930.879 [Default:CheckIn] Running Loop=2
2025-06-06T06:22:10.879Z,1749190930.879 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-06-06T06:22:10.879Z,1749190930.879 [Default:CheckIn:Read_GPS] Running Loop=1
2025-06-06T06:22:12.871Z,1749190932.871 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,062212.00,A,3645.95497,N,12155.04765,W,0.253,132.30,060625,,,D*7C
2025-06-06T06:22:12.873Z,1749190932.873 [NAL9602](INFO): GPS fix at 20250606T062212: (36.765916, -121.917461)
2025-06-06T06:22:12.884Z,1749190932.884 [Default:CheckIn:Read_GPS] Stopped
2025-06-06T06:22:12.885Z,1749190932.885 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-06-06T06:22:20.238Z,1749190940.238 [DataOverHttps](INFO): Sending 75 bytes from file Logs/20250605T121700/Courier0057.lzma
2025-06-06T06:22:21.241Z,1749190941.241 [DataOverHttps](INFO): Moved sent file to Logs/20250605T121700/Courier0057.lzma.bak
2025-06-06T06:22:21.241Z,1749190941.241 [DataOverHttps](INFO): SBD MOMSN=25110701
2025-06-06T06:22:39.854Z,1749190959.854 [DataOverHttps](INFO): Sending 215 bytes from file Logs/20250605T121700/Express0058.lzma
2025-06-06T06:22:40.857Z,1749190960.857 [DataOverHttps](INFO): Moved sent file to Logs/20250605T121700/Express0058.lzma.bak
2025-06-06T06:22:40.857Z,1749190960.857 [DataOverHttps](INFO): SBD MOMSN=25110704
2025-06-06T06:22:42.379Z,1749190962.379 [Default:CheckIn:Read_Iridium] Stopped
2025-06-06T06:22:42.380Z,1749190962.380 [Default:CheckIn:C.Wait] Running Loop=1
2025-06-06T06:22:42.380Z,1749190962.380 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-06-06T06:23:24.376Z,1749191004.376 [NAL9602](INFO): SBD MO Status=2, MOMSN=21081, MT Status=2, MTMSN=0
2025-06-06T06:23:24.377Z,1749191004.377 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-06-06T06:23:47.435Z,1749191027.435 [NAL9602](INFO): SBD MO Status=2, MOMSN=21081, MT Status=2, MTMSN=0
2025-06-06T06:23:47.435Z,1749191027.435 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-06-06T06:23:51.708Z,1749191031.708 [DataOverHttps](IMPORTANT): SBD MTMSN=20250606T062350
2025-06-06T06:23:59.380Z,1749191039.380 [DataOverHttps](INFO): Received command: load Transport/transit.tl;set transit.MissionTimeout 15 min;set transit.Latitude 36.79815 degree;set transit.Longitude -122.05519 degree;run
2025-06-06T06:23:59.459Z,1749191039.459 [CommandExec](IMPORTANT): got command load ./Missions/Transport/transit.tl
2025-06-06T06:23:59.461Z,1749191039.461 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/transit.tl
2025-06-06T06:23:59.461Z,1749191039.461 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/transit.tl
2025-06-06T06:23:59.465Z,1749191039.465 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/transit.tl
2025-06-06T06:24:00.367Z,1749191040.367 [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>

2025-06-06T06:24:00.376Z,1749191040.376 [MissionManager](INFO): DefineArg transit.MissionTimeout = 60.000000 min
2025-06-06T06:24:00.424Z,1749191040.424 [MissionManager](INFO): DefineArg transit.NeedCommsTime = 30.000000 min
2025-06-06T06:24:00.426Z,1749191040.426 [MissionManager](INFO): DefineArg transit.Latitude = nan arcdeg
2025-06-06T06:24:00.440Z,1749191040.440 [MissionManager](INFO): DefineArg transit.Longitude = nan arcdeg
2025-06-06T06:24:00.446Z,1749191040.446 [MissionManager](INFO): DefineArg transit.Northings = 0.000000 m
2025-06-06T06:24:00.449Z,1749191040.449 [MissionManager](INFO): DefineArg transit.Eastings = 0.000000 m
2025-06-06T06:24:00.491Z,1749191040.491 [MissionManager](INFO): DefineArg transit.Depth = 10.000000 m
2025-06-06T06:24:00.493Z,1749191040.493 [MissionManager](INFO): DefineArg transit.Speed = 1.000000 m/s
2025-06-06T06:24:00.520Z,1749191040.520 [MissionManager](INFO): DefineArg transit.MaxDepth = 20.000000 m
2025-06-06T06:24:00.539Z,1749191040.539 [MissionManager](INFO): DefineArg transit.MinOffshore = 1.000000 km
2025-06-06T06:24:00.541Z,1749191040.541 [MissionManager](INFO): DefineArg transit.MinAltitude = 7.000000 m
2025-06-06T06:24:00.555Z,1749191040.555 [MissionManager](INFO): DefineArg transit.MassHold = 1 bool
2025-06-06T06:24:00.557Z,1749191040.557 [MissionManager](INFO): DefineArg transit.BuoyancyHold = 1 bool
2025-06-06T06:24:00.557Z,1749191040.557 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-06-06T06:24:00.558Z,1749191040.558 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-06-06T06:24:00.564Z,1749191040.564 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-06-06T06:24:01.220Z,1749191041.220 [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>

2025-06-06T06:24:01.249Z,1749191041.249 [MissionManager](INFO): DefineArg transit:NeedComms.DiveInterval = 1.000000 h
2025-06-06T06:24:01.255Z,1749191041.255 [MissionManager](INFO): DefineArg transit:NeedComms.WaitForPitchUp = 10.000000 min
2025-06-06T06:24:01.257Z,1749191041.257 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-06-06T06:24:01.264Z,1749191041.264 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceDepthRate = nan m/s
2025-06-06T06:24:01.270Z,1749191041.270 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-06-06T06:24:01.272Z,1749191041.272 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacingTimeout = 1000.000000 s
2025-06-06T06:24:01.295Z,1749191041.295 [MissionManager](INFO): DefineArg transit:NeedComms.GPSTimeout = 7.000000 min
2025-06-06T06:24:01.297Z,1749191041.297 [MissionManager](INFO): DefineArg transit:NeedComms.CommsTimeout = 30.000000 min
2025-06-06T06:24:01.349Z,1749191041.349 [transit:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-06-06T06:24:01.461Z,1749191041.461 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-06-06T06:24:01.461Z,1749191041.461 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-06-06T06:24:01.471Z,1749191041.471 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-06-06T06:24:01.736Z,1749191041.736 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>1.5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-06-06T06:24:01.744Z,1749191041.744 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinAltitude = 5.000000 m
2025-06-06T06:24:01.751Z,1749191041.751 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2025-06-06T06:24:01.753Z,1749191041.753 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepth = 200.000000 m
2025-06-06T06:24:01.760Z,1749191041.760 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-06-06T06:24:01.761Z,1749191041.761 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-06-06T06:24:01.801Z,1749191041.801 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-06-06T06:24:01.823Z,1749191041.823 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-06-06T06:24:01.840Z,1749191041.840 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-06-06T06:24:01.840Z,1749191041.840 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-06-06T06:24:01.841Z,1749191041.841 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-06-06T06:24:01.889Z,1749191041.889 [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>

2025-06-06T06:24:01.896Z,1749191041.896 [MissionManager](INFO): DefineArg transit:BackseatDriver.EnableBackseat = 0 bool
2025-06-06T06:24:01.903Z,1749191041.903 [transit:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-06-06T06:24:01.905Z,1749191041.905 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-06-06T06:24:01.905Z,1749191041.905 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-06-06T06:24:01.911Z,1749191041.911 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-06-06T06:24:02.228Z,1749191042.228 [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>

2025-06-06T06:24:02.236Z,1749191042.236 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleAll = 0 bool
2025-06-06T06:24:02.237Z,1749191042.237 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad1 = 0 bool
2025-06-06T06:24:02.244Z,1749191042.244 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad2 = 0 bool
2025-06-06T06:24:02.246Z,1749191042.246 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad3 = 0 bool
2025-06-06T06:24:02.252Z,1749191042.252 [MissionManager](INFO): DefineArg transit:PowerOnly.EnabledPowerOnly = 1 bool
2025-06-06T06:24:02.258Z,1749191042.258 [transit:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-06-06T06:24:02.260Z,1749191042.260 [transit:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-06-06T06:24:02.263Z,1749191042.263 [transit:MassHold.Pitch](DEBUG): Construct.
2025-06-06T06:24:02.269Z,1749191042.269 [transit:Transit:A.Pitch](DEBUG): Construct.
2025-06-06T06:24:02.273Z,1749191042.273 [transit:Transit:B.SetSpeed](DEBUG): Construct.
2025-06-06T06:24:02.276Z,1749191042.276 [transit:Transit:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-06-06T06:24:02.330Z,1749191042.330 [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"
  }
}


2025-06-06T06:24:02.331Z,1749191042.331 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/transit.tl id=transit
2025-06-06T06:24:03.991Z,1749191043.991 [NAL9602](INFO): SBD MO Status=2, MOMSN=21081, MT Status=2, MTMSN=0
2025-06-06T06:24:03.992Z,1749191043.992 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-06-06T06:24:16.582Z,1749191056.582 [CommandExec](IMPORTANT): got command set transit.MissionTimeout 15 minute
2025-06-06T06:24:16.583Z,1749191056.583 [CommandExec](IMPORTANT): got command set transit.Latitude 36.79815 degree
2025-06-06T06:24:16.584Z,1749191056.584 [CommandExec](IMPORTANT): got command set transit.Longitude -122.05519 degree
2025-06-06T06:24:16.584Z,1749191056.584 [CommandExec](IMPORTANT): got command run
2025-06-06T06:24:16.586Z,1749191056.586 [CommandExec](IMPORTANT): Running 
2025-06-06T06:24:16.918Z,1749191056.918 [Default] Stopped
2025-06-06T06:24:16.918Z,1749191056.918 [Default](DEBUG): Aggregate::uninitialize Default
2025-06-06T06:24:16.918Z,1749191056.918 [Default:B.GoToSurface] Stopped
2025-06-06T06:24:16.918Z,1749191056.918 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-06-06T06:24:16.918Z,1749191056.918 [Default:CheckIn] Stopped
2025-06-06T06:24:16.918Z,1749191056.918 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-06-06T06:24:16.918Z,1749191056.918 [Default:CheckIn:C.Wait] Stopped
2025-06-06T06:24:16.918Z,1749191056.918 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-06-06T06:24:16.919Z,1749191056.919 [MissionManager](IMPORTANT): Started mission transit
2025-06-06T06:24:16.919Z,1749191056.919 [transit] Running Loop=1
2025-06-06T06:24:16.919Z,1749191056.919 [transit](DEBUG): Aggregate::initialize transit
2025-06-06T06:24:16.919Z,1749191056.919 [transit:StandardEnvelopes] Running Loop=1
2025-06-06T06:24:16.919Z,1749191056.919 [transit:StandardEnvelopes](DEBUG): Aggregate::initialize transit:StandardEnvelopes
2025-06-06T06:24:16.919Z,1749191056.919 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-06-06T06:24:16.919Z,1749191056.919 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-06-06T06:24:16.920Z,1749191056.920 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-06-06T06:24:16.920Z,1749191056.920 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-06-06T06:24:16.920Z,1749191056.920 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-06-06T06:24:16.920Z,1749191056.920 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-06-06T06:24:16.920Z,1749191056.920 [transit:BackseatDriver] Running Loop=1
2025-06-06T06:24:16.920Z,1749191056.920 [transit:BackseatDriver](DEBUG): Aggregate::initialize transit:BackseatDriver
2025-06-06T06:24:16.920Z,1749191056.920 [transit:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-06-06T06:24:16.920Z,1749191056.920 [transit:PowerOnly] Running Loop=1
2025-06-06T06:24:16.920Z,1749191056.920 [transit:PowerOnly](DEBUG): Aggregate::initialize transit:PowerOnly
2025-06-06T06:24:16.920Z,1749191056.920 [transit:PowerOnly:A] Running Loop=1
2025-06-06T06:24:16.920Z,1749191056.920 [transit:PowerOnly:B] Running Loop=1
2025-06-06T06:24:16.921Z,1749191056.921 [transit:PowerOnly:C] Running Loop=1
2025-06-06T06:24:16.921Z,1749191056.921 [transit:PowerOnly:D] Running Loop=1
2025-06-06T06:24:16.921Z,1749191056.921 [transit:PowerOnly:E.Wait] Running Loop=1
2025-06-06T06:24:16.921Z,1749191056.921 [transit:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-06-06T06:24:16.921Z,1749191056.921 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-06-06T06:24:16.921Z,1749191056.921 [transit:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-06-06T06:24:16.921Z,1749191056.921 [transit:MassHold.Pitch] Running Loop=1
2025-06-06T06:24:16.921Z,1749191056.921 [transit:MassHold.Pitch](DEBUG): Initialize.
2025-06-06T06:24:16.921Z,1749191056.921 [transit:B] Running Loop=1
2025-06-06T06:24:16.922Z,1749191056.922 [transit:MassHold.Pitch] Running Loop=1
2025-06-06T06:24:16.923Z,1749191056.923 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-06-06T06:24:16.923Z,1749191056.923 [transit:PowerOnly] Running Loop=1
2025-06-06T06:24:16.923Z,1749191056.923 [transit:PowerOnly:D] Stopped
2025-06-06T06:24:16.923Z,1749191056.923 [transit:PowerOnly:C] Stopped
2025-06-06T06:24:16.923Z,1749191056.923 [transit:PowerOnly:B] Stopped
2025-06-06T06:24:16.923Z,1749191056.923 [transit:PowerOnly:A] Stopped
2025-06-06T06:24:16.923Z,1749191056.923 [transit:BackseatDriver] Running Loop=1
2025-06-06T06:24:16.924Z,1749191056.924 [transit:StandardEnvelopes] Running Loop=1
2025-06-06T06:24:16.924Z,1749191056.924 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-06-06T06:24:16.924Z,1749191056.924 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-06-06T06:24:16.924Z,1749191056.924 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-06-06T06:24:16.925Z,1749191056.925 [transit:B] Stopped
2025-06-06T06:24:16.925Z,1749191056.925 [transit:C] Running Loop=1
2025-06-06T06:24:17.339Z,1749191057.339 [transit:C] Stopped
2025-06-06T06:24:17.339Z,1749191057.339 [transit:E] Running Loop=1
2025-06-06T06:24:17.738Z,1749191057.738 [transit:E] Stopped
2025-06-06T06:24:17.738Z,1749191057.738 [transit:F] Running Loop=1
2025-06-06T06:24:18.147Z,1749191058.147 [transit:F] Stopped
2025-06-06T06:24:18.147Z,1749191058.147 [transit:G] Running Loop=1
2025-06-06T06:24:18.533Z,1749191058.533 [transit:G] Stopped
2025-06-06T06:24:18.534Z,1749191058.534 [transit:Transit] Running Loop=1
2025-06-06T06:24:18.534Z,1749191058.534 [transit:Transit](DEBUG): Aggregate::initialize transit:Transit
2025-06-06T06:24:18.534Z,1749191058.534 [transit:Transit:A.Pitch] Running Loop=1
2025-06-06T06:24:18.534Z,1749191058.534 [transit:Transit:A.Pitch](DEBUG): Initialize.
2025-06-06T06:24:18.534Z,1749191058.534 [transit:Transit:B.SetSpeed] Running Loop=1
2025-06-06T06:24:18.534Z,1749191058.534 [transit:Transit:B.SetSpeed](DEBUG): Initialize.
2025-06-06T06:24:18.535Z,1749191058.535 [transit:Transit:Wpt1.Waypoint] Running Loop=1
2025-06-06T06:24:18.535Z,1749191058.535 [transit:Transit:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-06-06T06:24:18.536Z,1749191058.536 [transit:Transit:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.798149,-122.055191
2025-06-06T06:24:18.940Z,1749191058.940 [transit:Transit:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.798149,-122.055191
2025-06-06T06:24:18.940Z,1749191058.940 [transit:Transit:B.SetSpeed] Running Loop=1
2025-06-06T06:24:18.940Z,1749191058.940 [transit:Transit:A.Pitch] Running Loop=1
2025-06-06T06:24:32.684Z,1749191072.684 [NAL9602](INFO): SBD MO Status=2, MOMSN=21081, MT Status=2, MTMSN=0
2025-06-06T06:24:32.684Z,1749191072.684 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-06-06T06:24:53.474Z,1749191093.474 [NAL9602](INFO): SBD MO Status=0, MOMSN=21081, MT Status=0, MTMSN=0
2025-06-06T06:24:53.475Z,1749191093.475 [NAL9602](INFO): No messages in MT queue
2025-06-06T06:25:23.959Z,1749191123.959 [NAL9602](INFO): Not Powering down - fast GPS
2025-06-06T06:25:54.510Z,1749191154.510 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-06T06:26:13.938Z,1749191173.938 [Radio_Surface](INFO): Powering down
2025-06-06T06:26:25.643Z,1749191185.643 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-06T06:26:26.647Z,1749191186.647 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-06-06T06:28:03.051Z,1749191283.051 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.747238
2025-06-06T06:39:17.286Z,1749191957.286 [transit](INFO): Timed out from 2025-06-06T06:24:16.9Z
2025-06-06T06:39:17.287Z,1749191957.287 [MissionManager](INFO): transit is completed.
2025-06-06T06:39:17.287Z,1749191957.287 [MissionManager](INFO): Uninitializing Mission transit
2025-06-06T06:39:17.287Z,1749191957.287 [transit] Stopped
2025-06-06T06:39:17.287Z,1749191957.287 [transit](DEBUG): Aggregate::uninitialize transit
2025-06-06T06:39:17.287Z,1749191957.287 [transit:StandardEnvelopes] Stopped
2025-06-06T06:39:17.287Z,1749191957.287 [transit:StandardEnvelopes](DEBUG): Aggregate::uninitialize transit:StandardEnvelopes
2025-06-06T06:39:17.287Z,1749191957.287 [transit:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-06-06T06:39:17.287Z,1749191957.287 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-06-06T06:39:17.287Z,1749191957.287 [transit:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-06-06T06:39:17.287Z,1749191957.287 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-06-06T06:39:17.287Z,1749191957.287 [transit:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-06-06T06:39:17.288Z,1749191957.288 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-06-06T06:39:17.288Z,1749191957.288 [transit:BackseatDriver] Stopped
2025-06-06T06:39:17.288Z,1749191957.288 [transit:BackseatDriver](DEBUG): Aggregate::uninitialize transit:BackseatDriver
2025-06-06T06:39:17.288Z,1749191957.288 [transit:BackseatDriver:A.BackseatDriver] Stopped
2025-06-06T06:39:17.288Z,1749191957.288 [transit:PowerOnly] Stopped
2025-06-06T06:39:17.288Z,1749191957.288 [transit:PowerOnly](DEBUG): Aggregate::uninitialize transit:PowerOnly
2025-06-06T06:39:17.288Z,1749191957.288 [transit:PowerOnly:E.Wait] Stopped
2025-06-06T06:39:17.288Z,1749191957.288 [transit:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-06-06T06:39:17.288Z,1749191957.288 [transit:BuoyancyHold.Buoyancy] Stopped
2025-06-06T06:39:17.288Z,1749191957.288 [transit:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-06-06T06:39:17.288Z,1749191957.288 [transit:MassHold.Pitch] Stopped
2025-06-06T06:39:17.288Z,1749191957.288 [transit:Transit] Stopped
2025-06-06T06:39:17.288Z,1749191957.288 [transit:Transit](DEBUG): Aggregate::uninitialize transit:Transit
2025-06-06T06:39:17.289Z,1749191957.289 [transit:Transit:A.Pitch] Stopped
2025-06-06T06:39:17.289Z,1749191957.289 [transit:Transit:B.SetSpeed] Stopped
2025-06-06T06:39:17.289Z,1749191957.289 [transit:Transit:B.SetSpeed](DEBUG): Uninitialize.
2025-06-06T06:39:17.289Z,1749191957.289 [transit:Transit:Wpt1.Waypoint] Stopped
2025-06-06T06:39:17.289Z,1749191957.289 [transit:Transit:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-06-06T06:39:17.695Z,1749191957.695 [MissionManager](IMPORTANT): Started mission Default
2025-06-06T06:39:17.695Z,1749191957.695 [Default] Running Loop=1
2025-06-06T06:39:17.695Z,1749191957.695 [Default](DEBUG): Aggregate::initialize Default
2025-06-06T06:39:17.696Z,1749191957.696 [Default:B.GoToSurface] Running Loop=1
2025-06-06T06:39:17.696Z,1749191957.696 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-06-06T06:39:17.696Z,1749191957.696 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-06-06T06:39:17.696Z,1749191957.696 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-06-06T06:39:17.696Z,1749191957.696 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-06-06T06:39:17.697Z,1749191957.697 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-06-06T06:39:17.697Z,1749191957.697 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-06-06T06:39:17.697Z,1749191957.697 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-06-06T06:39:17.698Z,1749191957.698 [Default:A.Wait] Running Loop=1
2025-06-06T06:39:17.698Z,1749191957.698 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-06-06T06:39:18.194Z,1749191958.194 [Radio_Surface](INFO): Powering up
2025-06-06T06:39:23.931Z,1749191963.931 [DataOverHttps](INFO): Radio surface powered ON.
2025-06-06T06:39:31.059Z,1749191971.059 [Default:A.Wait](INFO): Done Waiting.
2025-06-06T06:39:31.059Z,1749191971.059 [Default:A.Wait] Stopped
2025-06-06T06:39:31.059Z,1749191971.059 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-06-06T06:39:48.826Z,1749191988.826 [DVL_micro](ERROR): Failed to parse:
:RD,+9999.99,+9999.99,+9999.99,+9999.99
2025-06-06T06:39:54.050Z,1749191994.050 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-06T06:39:54.900Z,1749191994.900 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 0.75 m/s, pitch 20.00 deg, mass-position 31.28 mm.
2025-06-06T06:39:54.901Z,1749191994.901 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -13.00 mm.
2025-06-06T06:39:54.902Z,1749191994.902 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 1.20 m/s, pitch -20.00 deg, mass-position 31.28 mm.
2025-06-06T06:39:54.903Z,1749191994.903 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position 31.28 mm.
2025-06-06T06:39:54.908Z,1749191994.908 [Default:CheckIn] Running Loop=1
2025-06-06T06:39:54.909Z,1749191994.909 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-06-06T06:39:54.909Z,1749191994.909 [Default:CheckIn:Read_GPS] Running Loop=1
2025-06-06T06:40:25.175Z,1749192025.175 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-06T06:40:56.299Z,1749192056.299 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-06T06:41:27.422Z,1749192087.422 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-06T06:41:38.188Z,1749192098.188 [DataOverHttps](IMPORTANT): SBD MTMSN=20250606T064137
2025-06-06T06:41:38.191Z,1749192098.191 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003583
2025-06-06T06:41:45.858Z,1749192105.858 [DataOverHttps](INFO): Received command: schedule clear
2025-06-06T06:41:45.920Z,1749192105.920 [CommandExec](IMPORTANT): got command schedule clear
2025-06-06T06:41:45.920Z,1749192105.920 [CommandExec](IMPORTANT): Cleared 1 scheduled commands.
2025-06-06T06:42:17.600Z,1749192137.600 [DataOverHttps](IMPORTANT): SBD MTMSN=20250606T064216
2025-06-06T06:42:25.482Z,1749192145.482 [DataOverHttps](INFO): Received command: restart logs