2025-08-23T08:44:25.781Z,1755938665.781 [CommandExec](IMPORTANT): got command restart logs
2025-08-23T08:44:34.192Z,1755938674.192 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T08:44:46.066Z,1755938686.066 [NAL9602](IMPORTANT): SBD MO Status=1, MOMSN=22309, MT Status=1, MTMSN=4415
2025-08-23T08:44:46.120Z,1755938686.120 [NAL9602](INFO): Sent 40 bytes from file Logs/20250822T175511/Courier0058.lzma
2025-08-23T08:44:46.120Z,1755938686.120 [NAL9602](INFO): Packets left to send: 0
2025-08-23T08:44:46.576Z,1755938686.576 [NAL9602](INFO): Received command: sched 20250823T13 "restart logs"
2025-08-23T08:44:46.623Z,1755938686.623 [CommandExec](IMPORTANT): got command schedule 20250823T130000 "restart logs"
2025-08-23T08:44:46.624Z,1755938686.624 [CommandExec](IMPORTANT): Scheduled #12: "restart logs", AT TIME: 2025-08-23T13:00:00Z
2025-08-23T08:45:05.324Z,1755938705.324 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T08:45:18.978Z,1755938718.978 [NAL9602](INFO): SBD MO Status=2, MOMSN=22310, MT Status=2, MTMSN=0
2025-08-23T08:45:18.978Z,1755938718.978 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-08-23T08:45:36.464Z,1755938736.464 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T08:45:39.802Z,1755938739.802 [NAL9602](INFO): SBD MO Status=2, MOMSN=22310, MT Status=2, MTMSN=0
2025-08-23T08:45:39.802Z,1755938739.802 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-08-23T08:46:07.588Z,1755938767.588 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T08:46:38.712Z,1755938798.712 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T08:47:09.836Z,1755938829.836 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T08:47:39.199Z,1755938859.199 [NAL9602](INFO): SBD MO Status=2, MOMSN=22310, MT Status=2, MTMSN=0
2025-08-23T08:47:39.200Z,1755938859.200 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-08-23T08:47:40.964Z,1755938860.964 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T08:48:06.885Z,1755938886.885 [NAL9602](INFO): SBD MO Status=2, MOMSN=22310, MT Status=2, MTMSN=0
2025-08-23T08:48:06.885Z,1755938886.885 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-08-23T08:48:12.084Z,1755938892.084 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T08:48:41.872Z,1755938921.872 [NAL9602](INFO): SBD MO Status=2, MOMSN=22310, MT Status=2, MTMSN=0
2025-08-23T08:48:41.873Z,1755938921.873 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-08-23T08:48:43.209Z,1755938923.209 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T08:49:14.336Z,1755938954.336 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T08:49:45.460Z,1755938985.460 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T08:49:46.176Z,1755938986.176 [NAL9602](INFO): SBD MO Status=1, MOMSN=22310, MT Status=0, MTMSN=0
2025-08-23T08:49:46.236Z,1755938986.236 [NAL9602](INFO): Sent 332 bytes from file Logs/20250822T175511/Express0056.lzma
2025-08-23T08:49:46.236Z,1755938986.236 [NAL9602](INFO): Packets left to send: 4
2025-08-23T08:50:04.833Z,1755939004.833 [NAL9602](INFO): SBD MO Status=2, MOMSN=22311, MT Status=2, MTMSN=0
2025-08-23T08:50:04.833Z,1755939004.833 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-08-23T08:50:16.584Z,1755939016.584 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T08:50:31.546Z,1755939031.546 [NAL9602](INFO): SBD MO Status=2, MOMSN=22311, MT Status=2, MTMSN=0
2025-08-23T08:50:31.547Z,1755939031.547 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-08-23T08:50:47.708Z,1755939047.708 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T08:51:05.131Z,1755939065.131 [NAL9602](INFO): SBD MO Status=2, MOMSN=22311, MT Status=2, MTMSN=0
2025-08-23T08:51:05.131Z,1755939065.131 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-08-23T08:51:18.832Z,1755939078.832 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T08:51:43.165Z,1755939103.165 [NAL9602](INFO): SBD MO Status=1, MOMSN=22311, MT Status=0, MTMSN=0
2025-08-23T08:51:43.216Z,1755939103.216 [NAL9602](INFO): Sent 332 bytes from file Logs/20250822T175511/Express0056.lzma
2025-08-23T08:51:43.216Z,1755939103.216 [NAL9602](INFO): Packets left to send: 3
2025-08-23T08:51:49.961Z,1755939109.961 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T08:52:00.708Z,1755939120.708 [RudderServo](ERROR): getPosition uart error serial timeout
2025-08-23T08:52:00.708Z,1755939120.708 [RudderServo](FAULT): Rudder uart error - getPosition..serial timeout
2025-08-23T08:52:00.708Z,1755939120.708 [RudderServo] Communications Fault, FailCount= 1
2025-08-23T08:52:00.708Z,1755939120.708 [RudderServo](ERROR): Communications Fault
2025-08-23T08:52:00.716Z,1755939120.716 [CBIT](ERROR): Communications Fault in component: RudderServo
2025-08-23T08:52:01.015Z,1755939121.015 [NAL9602](INFO): SBD MO Status=2, MOMSN=22312, MT Status=2, MTMSN=0
2025-08-23T08:52:01.015Z,1755939121.015 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-08-23T08:52:01.061Z,1755939121.061 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2025-08-23T08:52:01.061Z,1755939121.061 [RudderServo](INFO): Powering down
2025-08-23T08:52:01.841Z,1755939121.841 [RudderServo](DEBUG): Initializing EZServoServo.
2025-08-23T08:52:01.960Z,1755939121.960 [RudderServo](DEBUG): Initializing RudderServo.
2025-08-23T08:52:01.964Z,1755939121.964 [CBIT](INFO): Clearing failed state for component RudderServo
2025-08-23T08:52:01.964Z,1755939121.964 [RudderServo] No Fault, FailCount= 1
2025-08-23T08:52:21.088Z,1755939141.088 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T08:52:22.235Z,1755939142.235 [NAL9602](INFO): SBD MO Status=1, MOMSN=22312, MT Status=0, MTMSN=0
2025-08-23T08:52:22.296Z,1755939142.296 [NAL9602](INFO): Sent 332 bytes from file Logs/20250822T175511/Express0056.lzma
2025-08-23T08:52:22.296Z,1755939142.296 [NAL9602](INFO): Packets left to send: 2
2025-08-23T08:52:34.397Z,1755939154.397 [NAL9602](INFO): SBD MO Status=2, MOMSN=22313, MT Status=2, MTMSN=0
2025-08-23T08:52:34.397Z,1755939154.397 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-08-23T08:52:52.217Z,1755939172.217 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T08:52:59.913Z,1755939179.913 [NAL9602](INFO): SBD MO Status=1, MOMSN=22313, MT Status=0, MTMSN=0
2025-08-23T08:52:59.961Z,1755939179.961 [NAL9602](INFO): Sent 332 bytes from file Logs/20250822T175511/Express0056.lzma
2025-08-23T08:52:59.961Z,1755939179.961 [NAL9602](INFO): Packets left to send: 1
2025-08-23T08:53:12.072Z,1755939192.072 [NAL9602](INFO): SBD MO Status=1, MOMSN=22314, MT Status=0, MTMSN=0
2025-08-23T08:53:12.128Z,1755939192.128 [NAL9602](INFO): Sent 68 bytes from file Logs/20250822T175511/Express0056.lzma
2025-08-23T08:53:12.128Z,1755939192.128 [NAL9602](INFO): Packets left to send: 0
2025-08-23T08:53:23.344Z,1755939203.344 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T08:53:27.601Z,1755939207.601 [NAL9602](INFO): SBD MO Status=2, MOMSN=22315, MT Status=2, MTMSN=0
2025-08-23T08:53:27.601Z,1755939207.601 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-08-23T08:53:39.132Z,1755939219.132 [NAL9602](INFO): SBD MO Status=1, MOMSN=22315, MT Status=0, MTMSN=0
2025-08-23T08:53:39.181Z,1755939219.181 [NAL9602](INFO): Sent 123 bytes from file Logs/20250822T175511/Express0059.lzma
2025-08-23T08:53:39.181Z,1755939219.181 [NAL9602](INFO): Packets left to send: 0
2025-08-23T08:53:54.468Z,1755939234.468 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T08:53:54.882Z,1755939234.882 [NAL9602](INFO): SBD MO Status=2, MOMSN=22316, MT Status=2, MTMSN=0
2025-08-23T08:53:54.882Z,1755939234.882 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-08-23T08:53:59.877Z,1755939239.877 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2025-08-23T08:54:25.609Z,1755939265.609 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T08:54:28.009Z,1755939268.009 [NAL9602](INFO): SBD MO Status=2, MOMSN=22316, MT Status=2, MTMSN=0
2025-08-23T08:54:28.009Z,1755939268.009 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-08-23T08:54:49.425Z,1755939289.425 [NAL9602](INFO): SBD MO Status=0, MOMSN=22316, MT Status=0, MTMSN=0
2025-08-23T08:54:56.736Z,1755939296.736 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T08:55:10.234Z,1755939310.234 [NAL9602](INFO): SBD MO Status=2, MOMSN=22317, MT Status=2, MTMSN=0
2025-08-23T08:55:10.234Z,1755939310.234 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-08-23T08:55:27.880Z,1755939327.880 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T08:55:59.008Z,1755939359.008 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T08:56:15.461Z,1755939375.461 [NAL9602](INFO): SBD MO Status=1, MOMSN=22317, MT Status=0, MTMSN=0
2025-08-23T08:56:15.508Z,1755939375.508 [NAL9602](INFO): Sent 152 bytes from file Logs/20250823T084425/Courier0000.lzma
2025-08-23T08:56:15.508Z,1755939375.508 [NAL9602](INFO): Packets left to send: 0
2025-08-23T08:56:28.463Z,1755939388.463 [NAL9602](INFO): SBD MO Status=2, MOMSN=22318, MT Status=2, MTMSN=0
2025-08-23T08:56:28.464Z,1755939388.464 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-08-23T08:56:30.136Z,1755939390.136 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T08:56:49.913Z,1755939409.913 [NAL9602](INFO): SBD MO Status=1, MOMSN=22318, MT Status=0, MTMSN=0
2025-08-23T08:56:49.960Z,1755939409.960 [NAL9602](INFO): Sent 332 bytes from file Logs/20250823T084425/Express0001.lzma
2025-08-23T08:56:49.960Z,1755939409.960 [NAL9602](INFO): Packets left to send: 1
2025-08-23T08:56:59.272Z,1755939419.272 [NAL9602](INFO): SBD MO Status=1, MOMSN=22319, MT Status=0, MTMSN=0
2025-08-23T08:56:59.324Z,1755939419.324 [NAL9602](INFO): Sent 159 bytes from file Logs/20250823T084425/Express0001.lzma
2025-08-23T08:56:59.325Z,1755939419.325 [NAL9602](INFO): Packets left to send: 0
2025-08-23T08:57:01.260Z,1755939421.260 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T08:57:08.970Z,1755939428.970 [NAL9602](INFO): SBD MO Status=0, MOMSN=22320, MT Status=0, MTMSN=0
2025-08-23T08:57:09.054Z,1755939429.054 [transit:NeedComms:D] Stopped
2025-08-23T08:57:09.055Z,1755939429.055 [transit:NeedComms:E] Running Loop=1
2025-08-23T08:57:09.389Z,1755939429.389 [transit:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-08-23T08:57:11.390Z,1755939431.390 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,085711.00,A,3651.07999,N,12236.20893,W,1.769,257.80,230825,,,A*72
2025-08-23T08:57:11.393Z,1755939431.393 [NAL9602](INFO): GPS fix at 20250823T085711: (36.851333, -122.603482)
2025-08-23T08:57:11.420Z,1755939431.420 [transit:Transit:Wpt1.Waypoint](INFO): Navigating to waypoint: 37.006939,-122.931519
2025-08-23T08:57:11.431Z,1755939431.431 [transit:NeedComms:E] Stopped
2025-08-23T08:57:11.432Z,1755939431.432 [transit:NeedComms](INFO): Completed transit:NeedComms
2025-08-23T08:57:11.432Z,1755939431.432 [transit:NeedComms] Stopped
2025-08-23T08:57:11.432Z,1755939431.432 [transit:NeedComms](DEBUG): Aggregate::uninitialize transit:NeedComms
2025-08-23T08:57:11.432Z,1755939431.432 [transit:NeedComms:B.GoToSurface] Stopped
2025-08-23T08:57:11.433Z,1755939431.433 [transit:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-08-23T08:57:32.392Z,1755939452.392 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T08:57:43.723Z,1755939463.723 [NAL9602](INFO): Not Powering down - fast GPS
2025-08-23T08:58:03.518Z,1755939483.518 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T08:58:34.660Z,1755939514.660 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T08:59:05.784Z,1755939545.784 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T08:59:11.940Z,1755939551.940 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 0.60 m/s, pitch 20.00 deg, mass-position 30.60 mm (3 active estimators).
2025-08-23T08:59:36.908Z,1755939576.908 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T09:00:08.032Z,1755939608.032 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T09:00:12.376Z,1755939612.376 [Radio_Surface](INFO): Powering down
2025-08-23T09:00:39.180Z,1755939639.180 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T09:00:40.186Z,1755939640.186 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-08-23T09:49:40.645Z,1755942580.645 [BPC1](ERROR): Battery stick #2 (s/n: 0124) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-08-23T09:49:40.646Z,1755942580.646 [BPC1](ERROR): Battery stick #3 (s/n: 0162) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-08-23T09:49:40.647Z,1755942580.647 [BPC1](ERROR): Battery stick #4 (s/n: 017A) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-08-23T09:49:40.652Z,1755942580.652 [BPC1](INFO): Calculating totals. Valid battery stick count: 53. Valid reserve battery stick count: 6.
2025-08-23T09:49:40.654Z,1755942580.654 [BPC1](INFO): Received data from all battery sticks.
2025-08-23T09:57:11.758Z,1755943031.758 [transit:NeedComms] Running Loop=1
2025-08-23T09:57:11.758Z,1755943031.758 [transit:NeedComms](DEBUG): Aggregate::initialize transit:NeedComms
2025-08-23T09:57:11.758Z,1755943031.758 [transit:NeedComms:B.GoToSurface] Running Loop=1
2025-08-23T09:57:11.758Z,1755943031.758 [transit:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-08-23T09:57:11.759Z,1755943031.759 [transit:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-08-23T09:57:11.759Z,1755943031.759 [transit:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-08-23T09:57:11.760Z,1755943031.760 [transit:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-08-23T09:57:11.760Z,1755943031.760 [transit:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-08-23T09:57:11.760Z,1755943031.760 [transit:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-08-23T09:57:11.761Z,1755943031.761 [transit:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-08-23T09:57:11.761Z,1755943031.761 [transit:NeedComms:A] Running Loop=1
2025-08-23T09:57:11.763Z,1755943031.763 [transit:NeedComms:A](INFO): last time_fix was:  1755939431.000000 second since 1970/01/01T00:00:00Z 
2025-08-23T09:57:11.763Z,1755943031.763 [transit:NeedComms:A] Stopped
2025-08-23T10:03:28.217Z,1755943408.217 [transit:NeedComms:C] Running Loop=1
2025-08-23T10:03:28.820Z,1755943408.820 [Radio_Surface](INFO): Powering up
2025-08-23T10:03:34.700Z,1755943414.700 [DataOverHttps](INFO): Radio surface powered ON.
2025-08-23T10:04:04.820Z,1755943444.820 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T10:04:34.091Z,1755943474.091 [NAL9602](INFO): SBD MO Status=2, MOMSN=22321, MT Status=2, MTMSN=0
2025-08-23T10:04:34.091Z,1755943474.091 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-08-23T10:04:35.944Z,1755943475.944 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T10:05:07.076Z,1755943507.076 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T10:05:16.510Z,1755943516.510 [NAL9602](INFO): SBD MO Status=2, MOMSN=22321, MT Status=2, MTMSN=0
2025-08-23T10:05:16.511Z,1755943516.511 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-08-23T10:05:38.200Z,1755943538.200 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T10:06:09.344Z,1755943569.344 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T10:06:40.480Z,1755943600.480 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T10:07:11.604Z,1755943631.604 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T10:07:17.306Z,1755943637.306 [NAL9602](INFO): SBD MO Status=2, MOMSN=22321, MT Status=2, MTMSN=0
2025-08-23T10:07:17.306Z,1755943637.306 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-08-23T10:07:33.058Z,1755943653.058 [NAL9602](INFO): SBD MO Status=2, MOMSN=22321, MT Status=2, MTMSN=0
2025-08-23T10:07:33.058Z,1755943653.058 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-08-23T10:07:42.728Z,1755943662.728 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T10:07:49.221Z,1755943669.221 [NAL9602](INFO): SBD MO Status=0, MOMSN=22321, MT Status=0, MTMSN=0
2025-08-23T10:07:49.221Z,1755943669.221 [NAL9602](INFO): No messages in MT queue
2025-08-23T10:07:50.440Z,1755943670.440 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,100750.00,A,3651.46936,N,12237.55904,W,0.933,208.78,230825,,,A*7A
2025-08-23T10:07:50.442Z,1755943670.442 [NAL9602](INFO): GPS fix at 20250823T100750: (36.857823, -122.625984)
2025-08-23T10:07:50.454Z,1755943670.454 [UniversalFixResidualReporter](INFO): Fix residual: 16.5 %DT, over the last 2394.9 m. Residual distance 395.2 m at bearing -1.8 degrees. Fix at (36.8578, -122.6260) with 2128.1 m made good.
2025-08-23T10:07:50.456Z,1755943670.456 [transit:Transit:Wpt1.Waypoint](INFO): Navigating to waypoint: 37.006939,-122.931519
2025-08-23T10:07:50.459Z,1755943670.459 [transit:NeedComms:C] Stopped
2025-08-23T10:07:50.459Z,1755943670.459 [transit:NeedComms:D] Running Loop=1
2025-08-23T10:08:07.627Z,1755943687.627 [NAL9602](INFO): SBD MO Status=1, MOMSN=22322, MT Status=0, MTMSN=0
2025-08-23T10:08:07.682Z,1755943687.682 [NAL9602](INFO): Sent 332 bytes from file Logs/20250823T084425/Courier0003.lzma
2025-08-23T10:08:07.682Z,1755943687.682 [NAL9602](INFO): Packets left to send: 1
2025-08-23T10:08:13.852Z,1755943693.852 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T10:08:17.093Z,1755943697.093 [NAL9602](INFO): SBD MO Status=1, MOMSN=22323, MT Status=0, MTMSN=0
2025-08-23T10:08:17.157Z,1755943697.157 [NAL9602](INFO): Sent 17 bytes from file Logs/20250823T084425/Courier0003.lzma
2025-08-23T10:08:17.158Z,1755943697.158 [NAL9602](INFO): Packets left to send: 0
2025-08-23T10:08:38.073Z,1755943718.073 [NAL9602](INFO): SBD MO Status=2, MOMSN=22324, MT Status=2, MTMSN=0
2025-08-23T10:08:38.074Z,1755943718.074 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-08-23T10:08:44.976Z,1755943724.976 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T10:09:06.148Z,1755943746.148 [NAL9602](INFO): SBD MO Status=1, MOMSN=22324, MT Status=0, MTMSN=0
2025-08-23T10:09:06.202Z,1755943746.202 [NAL9602](INFO): Sent 332 bytes from file Logs/20250823T084425/Express0004.lzma
2025-08-23T10:09:06.202Z,1755943746.202 [NAL9602](INFO): Packets left to send: 1
2025-08-23T10:09:15.623Z,1755943755.623 [NAL9602](INFO): SBD MO Status=1, MOMSN=22325, MT Status=0, MTMSN=0
2025-08-23T10:09:15.676Z,1755943755.676 [NAL9602](INFO): Sent 319 bytes from file Logs/20250823T084425/Express0004.lzma
2025-08-23T10:09:15.676Z,1755943755.676 [NAL9602](INFO): Packets left to send: 0
2025-08-23T10:09:16.100Z,1755943756.100 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T10:09:26.530Z,1755943766.530 [NAL9602](INFO): SBD MO Status=0, MOMSN=22326, MT Status=0, MTMSN=0
2025-08-23T10:09:26.635Z,1755943766.635 [transit:NeedComms:D] Stopped
2025-08-23T10:09:26.635Z,1755943766.635 [transit:NeedComms:E] Running Loop=1
2025-08-23T10:09:28.949Z,1755943768.949 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,100928.00,A,3651.45957,N,12237.57214,W,1.166,232.94,230825,,,A*75
2025-08-23T10:09:28.951Z,1755943768.951 [NAL9602](INFO): GPS fix at 20250823T100928: (36.857659, -122.626202)
2025-08-23T10:09:28.984Z,1755943768.984 [transit:Transit:Wpt1.Waypoint](INFO): Navigating to waypoint: 37.006939,-122.931519
2025-08-23T10:09:28.988Z,1755943768.988 [transit:NeedComms:E] Stopped
2025-08-23T10:09:28.988Z,1755943768.988 [transit:NeedComms](INFO): Completed transit:NeedComms
2025-08-23T10:09:28.988Z,1755943768.988 [transit:NeedComms] Stopped
2025-08-23T10:09:28.989Z,1755943768.989 [transit:NeedComms](DEBUG): Aggregate::uninitialize transit:NeedComms
2025-08-23T10:09:28.989Z,1755943768.989 [transit:NeedComms:B.GoToSurface] Stopped
2025-08-23T10:09:28.989Z,1755943768.989 [transit:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-08-23T10:09:47.224Z,1755943787.224 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T10:10:01.620Z,1755943801.620 [NAL9602](INFO): Not Powering down - fast GPS
2025-08-23T10:10:18.356Z,1755943818.356 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T10:10:49.480Z,1755943849.480 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T10:11:20.604Z,1755943880.604 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T10:11:48.660Z,1755943908.659 [Radio_Surface](INFO): Powering down
2025-08-23T10:11:51.728Z,1755943911.728 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T10:11:52.732Z,1755943912.732 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-08-23T10:52:15.087Z,1755946335.087 [BPC1](ERROR): BPC1A: No match for serial number 1717 in BPC1A's battery stick inventory (sticks 1-31 in onboard configuration file).
2025-08-23T10:57:15.753Z,1755946635.753 [BPC1](ERROR): Battery stick #2 (s/n: 0124) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-08-23T10:57:15.754Z,1755946635.754 [BPC1](ERROR): Battery stick #3 (s/n: 0162) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-08-23T10:57:15.754Z,1755946635.754 [BPC1](ERROR): Battery stick #4 (s/n: 017A) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-08-23T10:57:15.755Z,1755946635.755 [BPC1](INFO): Calculating totals. Valid battery stick count: 53. Valid reserve battery stick count: 6.
2025-08-23T10:57:15.758Z,1755946635.758 [BPC1](INFO): Received data from all battery sticks.
2025-08-23T11:09:30.260Z,1755947370.260 [transit:NeedComms] Running Loop=1
2025-08-23T11:09:30.261Z,1755947370.261 [transit:NeedComms](DEBUG): Aggregate::initialize transit:NeedComms
2025-08-23T11:09:30.261Z,1755947370.261 [transit:NeedComms:B.GoToSurface] Running Loop=1
2025-08-23T11:09:30.261Z,1755947370.261 [transit:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-08-23T11:09:30.261Z,1755947370.261 [transit:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-08-23T11:09:30.262Z,1755947370.262 [transit:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-08-23T11:09:30.262Z,1755947370.262 [transit:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-08-23T11:09:30.262Z,1755947370.262 [transit:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-08-23T11:09:30.263Z,1755947370.263 [transit:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-08-23T11:09:30.263Z,1755947370.263 [transit:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-08-23T11:09:30.264Z,1755947370.264 [transit:NeedComms:A] Running Loop=1
2025-08-23T11:09:30.265Z,1755947370.265 [transit:NeedComms:A](INFO): last time_fix was:  1755943768.000000 second since 1970/01/01T00:00:00Z 
2025-08-23T11:09:30.265Z,1755947370.265 [transit:NeedComms:A] Stopped
2025-08-23T11:15:41.341Z,1755947741.341 [transit:NeedComms:C] Running Loop=1
2025-08-23T11:15:41.732Z,1755947741.732 [Radio_Surface](INFO): Powering up
2025-08-23T11:15:47.476Z,1755947747.476 [DataOverHttps](INFO): Radio surface powered ON.
2025-08-23T11:16:16.521Z,1755947776.521 [NAL9602](INFO): SBD MO Status=2, MOMSN=22327, MT Status=2, MTMSN=0
2025-08-23T11:16:16.521Z,1755947776.521 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-08-23T11:16:17.596Z,1755947777.596 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T11:16:48.720Z,1755947808.720 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T11:17:11.462Z,1755947831.462 [NAL9602](INFO): SBD MO Status=2, MOMSN=22327, MT Status=2, MTMSN=0
2025-08-23T11:17:11.463Z,1755947831.463 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-08-23T11:17:19.844Z,1755947839.844 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T11:17:50.976Z,1755947870.976 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T11:18:08.831Z,1755947888.831 [NAL9602](INFO): SBD MO Status=2, MOMSN=22327, MT Status=2, MTMSN=0
2025-08-23T11:18:08.831Z,1755947888.831 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-08-23T11:18:22.100Z,1755947902.100 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T11:18:53.224Z,1755947933.224 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T11:19:12.663Z,1755947952.663 [NAL9602](INFO): SBD MO Status=2, MOMSN=22327, MT Status=2, MTMSN=0
2025-08-23T11:19:12.664Z,1755947952.664 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-08-23T11:19:21.149Z,1755947961.149 [NAL9602](INFO): SBD MO Status=0, MOMSN=22327, MT Status=0, MTMSN=0
2025-08-23T11:19:21.149Z,1755947961.149 [NAL9602](INFO): No messages in MT queue
2025-08-23T11:19:22.359Z,1755947962.359 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,111922.00,A,3651.90442,N,12238.63784,W,0.875,224.91,230825,,,A*72
2025-08-23T11:19:22.361Z,1755947962.361 [NAL9602](INFO): GPS fix at 20250823T111922: (36.865074, -122.643964)
2025-08-23T11:19:22.374Z,1755947962.374 [UniversalFixResidualReporter](INFO): Fix residual: 24.6 %DT, over the last 2398.8 m. Residual distance 590.8 m at bearing -52.6 degrees. Fix at (36.8651, -122.6440) with 1782.3 m made good.
2025-08-23T11:19:22.376Z,1755947962.376 [transit:Transit:Wpt1.Waypoint](INFO): Navigating to waypoint: 37.006939,-122.931519
2025-08-23T11:19:22.379Z,1755947962.379 [transit:NeedComms:C] Stopped
2025-08-23T11:19:22.379Z,1755947962.379 [transit:NeedComms:D] Running Loop=1
2025-08-23T11:19:24.348Z,1755947964.348 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T11:19:46.433Z,1755947986.433 [NAL9602](INFO): SBD MO Status=2, MOMSN=22328, MT Status=2, MTMSN=0
2025-08-23T11:19:46.433Z,1755947986.433 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-08-23T11:19:55.472Z,1755947995.472 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T11:20:07.242Z,1755948007.242 [NAL9602](INFO): SBD MO Status=1, MOMSN=22328, MT Status=0, MTMSN=0
2025-08-23T11:20:07.296Z,1755948007.296 [NAL9602](INFO): Sent 100 bytes from file Logs/20250823T084425/Courier0006.lzma
2025-08-23T11:20:07.297Z,1755948007.297 [NAL9602](INFO): Packets left to send: 0
2025-08-23T11:20:20.791Z,1755948020.791 [NAL9602](INFO): SBD MO Status=2, MOMSN=22329, MT Status=2, MTMSN=0
2025-08-23T11:20:20.791Z,1755948020.791 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-08-23T11:20:26.597Z,1755948026.597 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T11:20:48.621Z,1755948048.621 [NAL9602](INFO): SBD MO Status=1, MOMSN=22329, MT Status=0, MTMSN=0
2025-08-23T11:20:48.680Z,1755948048.680 [NAL9602](INFO): Sent 332 bytes from file Logs/20250823T084425/Express0007.lzma
2025-08-23T11:20:48.680Z,1755948048.680 [NAL9602](INFO): Packets left to send: 1
2025-08-23T11:20:57.720Z,1755948057.720 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T11:20:58.122Z,1755948058.122 [NAL9602](INFO): SBD MO Status=1, MOMSN=22330, MT Status=0, MTMSN=0
2025-08-23T11:20:58.172Z,1755948058.172 [NAL9602](INFO): Sent 155 bytes from file Logs/20250823T084425/Express0007.lzma
2025-08-23T11:20:58.172Z,1755948058.172 [NAL9602](INFO): Packets left to send: 0
2025-08-23T11:21:06.606Z,1755948066.606 [NAL9602](INFO): SBD MO Status=0, MOMSN=22331, MT Status=0, MTMSN=0
2025-08-23T11:21:06.699Z,1755948066.699 [transit:NeedComms:D] Stopped
2025-08-23T11:21:06.699Z,1755948066.699 [transit:NeedComms:E] Running Loop=1
2025-08-23T11:21:09.031Z,1755948069.031 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,112109.00,A,3651.89896,N,12238.65063,W,0.836,210.81,230825,,,A*74
2025-08-23T11:21:09.042Z,1755948069.042 [NAL9602](INFO): GPS fix at 20250823T112109: (36.864983, -122.644177)
2025-08-23T11:21:09.054Z,1755948069.054 [transit:Transit:Wpt1.Waypoint](INFO): Navigating to waypoint: 37.006939,-122.931519
2025-08-23T11:21:09.057Z,1755948069.057 [transit:NeedComms:E] Stopped
2025-08-23T11:21:09.058Z,1755948069.058 [transit:NeedComms](INFO): Completed transit:NeedComms
2025-08-23T11:21:09.058Z,1755948069.058 [transit:NeedComms] Stopped
2025-08-23T11:21:09.058Z,1755948069.058 [transit:NeedComms](DEBUG): Aggregate::uninitialize transit:NeedComms
2025-08-23T11:21:09.058Z,1755948069.058 [transit:NeedComms:B.GoToSurface] Stopped
2025-08-23T11:21:09.058Z,1755948069.058 [transit:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-08-23T11:21:09.843Z,1755948069.843 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -13.00 mm.
2025-08-23T11:21:28.844Z,1755948088.844 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T11:21:41.684Z,1755948101.684 [NAL9602](INFO): Not Powering down - fast GPS
2025-08-23T11:21:59.992Z,1755948119.992 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T11:22:31.116Z,1755948151.116 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T11:23:02.260Z,1755948182.260 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T11:23:33.397Z,1755948213.397 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T11:24:04.528Z,1755948244.528 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T11:24:35.652Z,1755948275.652 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T11:25:06.776Z,1755948306.776 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T11:25:11.120Z,1755948311.120 [Radio_Surface](INFO): Powering down
2025-08-23T11:25:37.900Z,1755948337.900 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T11:25:38.904Z,1755948338.904 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-08-23T11:55:23.915Z,1755950123.915 [GFScanner](IMPORTANT): Beginning ground fault scan
2025-08-23T11:55:28.383Z,1755950128.383 [GFScanner](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.002740
CHAN A1 (24V): 0.004005
CHAN A2 (12V): -0.007985
CHAN A3 (5V): -0.017315
CHAN B0 (3.3V): -0.006473
CHAN B1 (3.15aV): -0.002105
CHAN B2 (3.15bV): -0.001785
CHAN B3 (GND): -0.002788
OPEN: 0.011841
Full Scale: +/- 1 mA
2025-08-23T12:04:51.265Z,1755950691.265 [BPC1](ERROR): Battery stick #2 (s/n: 0124) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-08-23T12:04:51.266Z,1755950691.266 [BPC1](FAULT): Battery stick #3 (s/n: 0162) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-08-23T12:04:51.266Z,1755950691.266 [BPC1](ERROR): Battery stick #4 (s/n: 017A) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-08-23T12:04:51.267Z,1755950691.267 [BPC1](INFO): Calculating totals. Valid battery stick count: 53. Valid reserve battery stick count: 6.
2025-08-23T12:04:51.270Z,1755950691.270 [BPC1](INFO): Received data from all battery sticks.
2025-08-23T12:21:10.454Z,1755951670.454 [transit:NeedComms] Running Loop=1
2025-08-23T12:21:10.454Z,1755951670.454 [transit:NeedComms](DEBUG): Aggregate::initialize transit:NeedComms
2025-08-23T12:21:10.454Z,1755951670.454 [transit:NeedComms:B.GoToSurface] Running Loop=1
2025-08-23T12:21:10.454Z,1755951670.454 [transit:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-08-23T12:21:10.455Z,1755951670.455 [transit:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-08-23T12:21:10.455Z,1755951670.455 [transit:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-08-23T12:21:10.456Z,1755951670.456 [transit:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-08-23T12:21:10.456Z,1755951670.456 [transit:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-08-23T12:21:10.456Z,1755951670.456 [transit:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-08-23T12:21:10.457Z,1755951670.457 [transit:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-08-23T12:21:10.457Z,1755951670.457 [transit:NeedComms:A] Running Loop=1
2025-08-23T12:21:10.459Z,1755951670.459 [transit:NeedComms:A](INFO): last time_fix was:  1755948069.000000 second since 1970/01/01T00:00:00Z 
2025-08-23T12:21:10.459Z,1755951670.459 [transit:NeedComms:A] Stopped
2025-08-23T12:27:06.590Z,1755952026.590 [transit:NeedComms:C] Running Loop=1
2025-08-23T12:27:07.024Z,1755952027.024 [Radio_Surface](INFO): Powering up
2025-08-23T12:27:13.205Z,1755952033.205 [DataOverHttps](INFO): Radio surface powered ON.
2025-08-23T12:27:43.328Z,1755952063.328 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T12:28:14.452Z,1755952094.452 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T12:28:27.493Z,1755952107.493 [NAL9602](INFO): SBD MO Status=0, MOMSN=22332, MT Status=0, MTMSN=0
2025-08-23T12:28:27.493Z,1755952107.493 [NAL9602](INFO): No messages in MT queue
2025-08-23T12:28:28.712Z,1755952108.712 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,122828.00,A,3652.30816,N,12239.58157,W,0.797,276.20,230825,,,A*72
2025-08-23T12:28:28.714Z,1755952108.714 [NAL9602](INFO): GPS fix at 20250823T122828: (36.871803, -122.659693)
2025-08-23T12:28:28.726Z,1755952108.726 [UniversalFixResidualReporter](INFO): Fix residual: 32.8 %DT, over the last 2389.5 m. Residual distance 782.8 m at bearing -56.2 degrees. Fix at (36.8718, -122.6597) with 1574.8 m made good.
2025-08-23T12:28:28.728Z,1755952108.728 [transit:Transit:Wpt1.Waypoint](INFO): Navigating to waypoint: 37.006939,-122.931519
2025-08-23T12:28:28.732Z,1755952108.732 [transit:NeedComms:C] Stopped
2025-08-23T12:28:28.732Z,1755952108.732 [transit:NeedComms:D] Running Loop=1
2025-08-23T12:28:41.423Z,1755952121.423 [NAL9602](INFO): SBD MO Status=1, MOMSN=22333, MT Status=0, MTMSN=0
2025-08-23T12:28:41.480Z,1755952121.480 [NAL9602](INFO): Sent 99 bytes from file Logs/20250823T084425/Courier0009.lzma
2025-08-23T12:28:41.480Z,1755952121.480 [NAL9602](INFO): Packets left to send: 0
2025-08-23T12:28:45.584Z,1755952125.584 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T12:28:54.172Z,1755952134.172 [NAL9602](INFO): SBD MO Status=2, MOMSN=22334, MT Status=2, MTMSN=0
2025-08-23T12:28:54.172Z,1755952134.172 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-08-23T12:29:09.317Z,1755952149.317 [NAL9602](INFO): SBD MO Status=2, MOMSN=22334, MT Status=2, MTMSN=0
2025-08-23T12:29:09.317Z,1755952149.317 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-08-23T12:29:16.728Z,1755952156.728 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T12:29:33.361Z,1755952173.361 [NAL9602](INFO): SBD MO Status=2, MOMSN=22334, MT Status=2, MTMSN=0
2025-08-23T12:29:33.361Z,1755952173.361 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-08-23T12:29:47.854Z,1755952187.854 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T12:29:49.323Z,1755952189.323 [NAL9602](INFO): SBD MO Status=1, MOMSN=22334, MT Status=0, MTMSN=0
2025-08-23T12:29:49.372Z,1755952189.372 [NAL9602](INFO): Sent 332 bytes from file Logs/20250823T084425/Express0010.lzma
2025-08-23T12:29:49.373Z,1755952189.373 [NAL9602](INFO): Packets left to send: 2
2025-08-23T12:29:59.648Z,1755952199.648 [NAL9602](INFO): SBD MO Status=1, MOMSN=22335, MT Status=0, MTMSN=0
2025-08-23T12:29:59.700Z,1755952199.700 [NAL9602](INFO): Sent 332 bytes from file Logs/20250823T084425/Express0010.lzma
2025-08-23T12:29:59.700Z,1755952199.700 [NAL9602](INFO): Packets left to send: 1
2025-08-23T12:30:18.422Z,1755952218.422 [NAL9602](INFO): SBD MO Status=1, MOMSN=22336, MT Status=0, MTMSN=0
2025-08-23T12:30:18.484Z,1755952218.484 [NAL9602](INFO): Sent 165 bytes from file Logs/20250823T084425/Express0010.lzma
2025-08-23T12:30:18.484Z,1755952218.484 [NAL9602](INFO): Packets left to send: 0
2025-08-23T12:30:18.976Z,1755952218.976 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T12:30:30.139Z,1755952230.139 [NAL9602](INFO): SBD MO Status=0, MOMSN=22337, MT Status=0, MTMSN=0
2025-08-23T12:30:30.222Z,1755952230.222 [transit:NeedComms:D] Stopped
2025-08-23T12:30:30.223Z,1755952230.223 [transit:NeedComms:E] Running Loop=1
2025-08-23T12:30:32.561Z,1755952232.561 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,123032.00,A,3652.30650,N,12239.60088,W,0.816,322.84,230825,,,D*79
2025-08-23T12:30:32.564Z,1755952232.564 [NAL9602](INFO): GPS fix at 20250823T123032: (36.871775, -122.660015)
2025-08-23T12:30:32.575Z,1755952232.575 [transit:Transit:Wpt1.Waypoint](INFO): Navigating to waypoint: 37.006939,-122.931519
2025-08-23T12:30:32.598Z,1755952232.598 [transit:NeedComms:E] Stopped
2025-08-23T12:30:32.599Z,1755952232.599 [transit:NeedComms](INFO): Completed transit:NeedComms
2025-08-23T12:30:32.599Z,1755952232.599 [transit:NeedComms] Stopped
2025-08-23T12:30:32.599Z,1755952232.599 [transit:NeedComms](DEBUG): Aggregate::uninitialize transit:NeedComms
2025-08-23T12:30:32.603Z,1755952232.603 [transit:NeedComms:B.GoToSurface] Stopped
2025-08-23T12:30:32.603Z,1755952232.603 [transit:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-08-23T12:30:33.376Z,1755952233.376 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 0.60 m/s, pitch 30.00 deg, mass-position 30.60 mm.
2025-08-23T12:30:50.104Z,1755952250.104 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T12:31:04.959Z,1755952264.959 [NAL9602](INFO): Not Powering down - fast GPS
2025-08-23T12:31:21.232Z,1755952281.232 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T12:31:52.360Z,1755952312.360 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T12:32:23.484Z,1755952343.484 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T12:32:54.608Z,1755952374.608 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T12:33:25.740Z,1755952405.740 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T12:33:56.880Z,1755952436.880 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T12:34:18.932Z,1755952458.932 [Radio_Surface](INFO): Powering down
2025-08-23T12:34:28.012Z,1755952468.012 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T12:34:29.016Z,1755952469.016 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-08-23T12:35:15.839Z,1755952515.839 [RudderServo](ERROR): getPosition uart error serial timeout
2025-08-23T12:35:15.840Z,1755952515.840 [RudderServo](FAULT): Rudder uart error - getPosition..serial timeout
2025-08-23T12:35:15.840Z,1755952515.840 [RudderServo] Communications Fault, FailCount= 1
2025-08-23T12:35:15.840Z,1755952515.840 [RudderServo](ERROR): Communications Fault
2025-08-23T12:35:15.906Z,1755952515.906 [CBIT](ERROR): Communications Fault in component: RudderServo
2025-08-23T12:35:16.158Z,1755952516.158 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2025-08-23T12:35:16.158Z,1755952516.158 [RudderServo](INFO): Powering down
2025-08-23T12:35:16.960Z,1755952516.960 [RudderServo](DEBUG): Initializing EZServoServo.
2025-08-23T12:35:17.080Z,1755952517.080 [RudderServo](DEBUG): Initializing RudderServo.
2025-08-23T12:35:17.098Z,1755952517.098 [CBIT](INFO): Clearing failed state for component RudderServo
2025-08-23T12:35:17.099Z,1755952517.099 [RudderServo] No Fault, FailCount= 1
2025-08-23T13:00:00.092Z,1755954000.092 [CommandExec](IMPORTANT): got command load ./Missions/Science/sci2_vtyoyo.tl
2025-08-23T13:00:00.092Z,1755954000.092 [MissionManager](INFO): Uninitializing Mission transit
2025-08-23T13:00:00.092Z,1755954000.092 [transit] Stopped
2025-08-23T13:00:00.092Z,1755954000.092 [transit](DEBUG): Aggregate::uninitialize transit
2025-08-23T13:00:00.092Z,1755954000.092 [transit:StandardEnvelopes] Stopped
2025-08-23T13:00:00.093Z,1755954000.093 [transit:StandardEnvelopes](DEBUG): Aggregate::uninitialize transit:StandardEnvelopes
2025-08-23T13:00:00.093Z,1755954000.093 [transit:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-08-23T13:00:00.093Z,1755954000.093 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-08-23T13:00:00.093Z,1755954000.093 [transit:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-08-23T13:00:00.093Z,1755954000.093 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-08-23T13:00:00.093Z,1755954000.093 [transit:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-08-23T13:00:00.093Z,1755954000.093 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-08-23T13:00:00.093Z,1755954000.093 [transit:BackseatDriver] Stopped
2025-08-23T13:00:00.093Z,1755954000.093 [transit:BackseatDriver](DEBUG): Aggregate::uninitialize transit:BackseatDriver
2025-08-23T13:00:00.093Z,1755954000.093 [transit:BackseatDriver:A.BackseatDriver] Stopped
2025-08-23T13:00:00.093Z,1755954000.093 [transit:PowerOnly] Stopped
2025-08-23T13:00:00.093Z,1755954000.093 [transit:PowerOnly](DEBUG): Aggregate::uninitialize transit:PowerOnly
2025-08-23T13:00:00.094Z,1755954000.094 [transit:PowerOnly:E.Wait] Stopped
2025-08-23T13:00:00.094Z,1755954000.094 [transit:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-08-23T13:00:00.094Z,1755954000.094 [transit:BuoyancyHold.Buoyancy] Stopped
2025-08-23T13:00:00.094Z,1755954000.094 [transit:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-08-23T13:00:00.094Z,1755954000.094 [transit:MassHold.Pitch] Stopped
2025-08-23T13:00:00.094Z,1755954000.094 [transit:Transit] Stopped
2025-08-23T13:00:00.094Z,1755954000.094 [transit:Transit](DEBUG): Aggregate::uninitialize transit:Transit
2025-08-23T13:00:00.094Z,1755954000.094 [transit:Transit:A.Pitch] Stopped
2025-08-23T13:00:00.094Z,1755954000.094 [transit:Transit:B.SetSpeed] Stopped
2025-08-23T13:00:00.094Z,1755954000.094 [transit:Transit:B.SetSpeed](DEBUG): Uninitialize.
2025-08-23T13:00:00.094Z,1755954000.094 [transit:Transit:Wpt1.Waypoint] Stopped
2025-08-23T13:00:00.094Z,1755954000.094 [transit:Transit:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-08-23T13:00:00.135Z,1755954000.135 [MissionManager](INFO): Loading Mission from file: ./Missions/Science/sci2_vtyoyo.tl
2025-08-23T13:00:00.136Z,1755954000.136 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Science/sci2_vtyoyo.tl
2025-08-23T13:00:00.160Z,1755954000.160 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Science/sci2_vtyoyo.tl
2025-08-23T13:00:05.116Z,1755954005.116 [MissionManager](DEBUG): TethyslAPI: ./Missions/Science/sci2_vtyoyo.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="sci2_vtyoyo">
    <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>250</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="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>405</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="SinkOffSurface">
        <False />
    </DefineArg>
    <DefineArg Name="SinkDepth">
        <Units:meter />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="SinkDepthTimeout">
        <Units:minute />
        <Value>10</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>
                <Guidance:SetSpeed>
                    <Parallel />
                    <Setting>
                        <Guidance:SetSpeed.speed />
                        <Arg Name="Speed" />
                    </Setting>
                </Guidance:SetSpeed>
                <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:YoYoPARLicor>
                    <Parallel />
                    <Setting>
                        <Guidance:YoYoPARLicor.lightTerminationThreshold />
                        <Arg Name="YoYoLightTerminateThreshold" />
                    </Setting>
                </Guidance:YoYoPARLicor>
                <Guidance:YoYo>
                    <Parallel />
                    <Setting>
                        <Guidance:YoYo.downPitch />
                        <Arg Name="YoYoDownPitch" />
                    </Setting>
                    <Setting>
                        <Guidance:YoYo.upPitch />
                        <Arg Name="YoYoUpPitch" />
                    </Setting>
                </Guidance:YoYo>
                <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" />
        </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>

2025-08-23T13:00:05.126Z,1755954005.126 [MissionManager](INFO): DefineArg sci2_vtyoyo.MissionTimeout = 2.000000 h
2025-08-23T13:00:05.128Z,1755954005.128 [MissionManager](INFO): DefineArg sci2_vtyoyo.NeedCommsTime = 60.000000 min
2025-08-23T13:00:05.130Z,1755954005.130 [MissionManager](INFO): DefineArg sci2_vtyoyo.Repeat = 1.000000 count
2025-08-23T13:00:05.133Z,1755954005.133 [MissionManager](INFO): DefineArg sci2_vtyoyo.Lat1 = nan arcdeg
2025-08-23T13:00:05.135Z,1755954005.135 [MissionManager](INFO): DefineArg sci2_vtyoyo.Lat2 = nan arcdeg
2025-08-23T13:00:05.137Z,1755954005.137 [MissionManager](INFO): DefineArg sci2_vtyoyo.Lat3 = nan arcdeg
2025-08-23T13:00:05.139Z,1755954005.139 [MissionManager](INFO): DefineArg sci2_vtyoyo.Lat4 = nan arcdeg
2025-08-23T13:00:05.141Z,1755954005.141 [MissionManager](INFO): DefineArg sci2_vtyoyo.Lat5 = nan arcdeg
2025-08-23T13:00:05.144Z,1755954005.144 [MissionManager](INFO): DefineArg sci2_vtyoyo.Lat6 = nan arcdeg
2025-08-23T13:00:05.146Z,1755954005.146 [MissionManager](INFO): DefineArg sci2_vtyoyo.Lat7 = nan arcdeg
2025-08-23T13:00:05.150Z,1755954005.150 [MissionManager](INFO): DefineArg sci2_vtyoyo.Lon1 = nan arcdeg
2025-08-23T13:00:05.153Z,1755954005.153 [MissionManager](INFO): DefineArg sci2_vtyoyo.Lon2 = nan arcdeg
2025-08-23T13:00:05.155Z,1755954005.155 [MissionManager](INFO): DefineArg sci2_vtyoyo.Lon3 = nan arcdeg
2025-08-23T13:00:05.179Z,1755954005.179 [MissionManager](INFO): DefineArg sci2_vtyoyo.Lon4 = nan arcdeg
2025-08-23T13:00:05.183Z,1755954005.183 [MissionManager](INFO): DefineArg sci2_vtyoyo.Lon5 = nan arcdeg
2025-08-23T13:00:05.189Z,1755954005.189 [MissionManager](INFO): DefineArg sci2_vtyoyo.Lon6 = nan arcdeg
2025-08-23T13:00:05.196Z,1755954005.196 [MissionManager](INFO): DefineArg sci2_vtyoyo.Lon7 = nan arcdeg
2025-08-23T13:00:05.198Z,1755954005.198 [MissionManager](INFO): DefineArg sci2_vtyoyo.Speed = 1.000000 m/s
2025-08-23T13:00:05.241Z,1755954005.241 [MissionManager](INFO): DefineArg sci2_vtyoyo.CaptureRadius = nan m
2025-08-23T13:00:05.243Z,1755954005.243 [MissionManager](INFO): DefineArg sci2_vtyoyo.YoYoMinDepth = 2.000000 m
2025-08-23T13:00:05.253Z,1755954005.253 [MissionManager](INFO): DefineArg sci2_vtyoyo.YoYoMaxDepth = 250.000000 m
2025-08-23T13:00:05.264Z,1755954005.264 [MissionManager](INFO): DefineArg sci2_vtyoyo.YoYoMinAltitude = 9.000000 m
2025-08-23T13:00:05.266Z,1755954005.266 [MissionManager](INFO): DefineArg sci2_vtyoyo.YoYoUpPitch = 20.000000 arcdeg
2025-08-23T13:00:05.280Z,1755954005.280 [MissionManager](INFO): DefineArg sci2_vtyoyo.YoYoDownPitch = -20.000000 arcdeg
2025-08-23T13:00:05.283Z,1755954005.283 [MissionManager](INFO): DefineArg sci2_vtyoyo.YoYoLightTerminateThreshold = 0.100000 umol/s/m2
2025-08-23T13:00:05.301Z,1755954005.301 [MissionManager](INFO): DefineArg sci2_vtyoyo.PeakDetectChl = 0 bool
2025-08-23T13:00:05.307Z,1755954005.307 [MissionManager](INFO): DefineArg sci2_vtyoyo.ShallowBoundChl = nan m
2025-08-23T13:00:05.310Z,1755954005.310 [MissionManager](INFO): DefineArg sci2_vtyoyo.DeepBoundChl = nan m
2025-08-23T13:00:05.320Z,1755954005.320 [MissionManager](INFO): DefineArg sci2_vtyoyo.ChlThreshTrigger = 0 bool
2025-08-23T13:00:05.323Z,1755954005.323 [MissionManager](INFO): DefineArg sci2_vtyoyo.ChlLowerThreshold = nan ug/l
2025-08-23T13:00:05.329Z,1755954005.329 [MissionManager](INFO): DefineArg sci2_vtyoyo.ChlUpperThreshold = nan ug/l
2025-08-23T13:00:05.336Z,1755954005.336 [MissionManager](INFO): DefineArg sci2_vtyoyo.NumProfilesThreshold = 5.000000 count
2025-08-23T13:00:05.339Z,1755954005.339 [MissionManager](INFO): DefineArg sci2_vtyoyo.BuoyancyNeutral = 302.770630 cc
2025-08-23T13:00:05.346Z,1755954005.346 [MissionManager](INFO): DefineArg sci2_vtyoyo.MassDefault = 3.059986 cm
2025-08-23T13:00:05.349Z,1755954005.349 [MissionManager](INFO): DefineArg sci2_vtyoyo.MinAltitude = 5.000000 m
2025-08-23T13:00:05.372Z,1755954005.372 [MissionManager](INFO): DefineArg sci2_vtyoyo.MaxDepth = 405.000000 m
2025-08-23T13:00:05.374Z,1755954005.374 [MissionManager](INFO): DefineArg sci2_vtyoyo.MinOffshore = 2.000000 km
2025-08-23T13:00:05.380Z,1755954005.380 [MissionManager](INFO): DefineArg sci2_vtyoyo.SinkOffSurface = 0 bool
2025-08-23T13:00:05.383Z,1755954005.383 [MissionManager](INFO): DefineArg sci2_vtyoyo.SinkDepth = 10.000000 m
2025-08-23T13:00:05.394Z,1755954005.394 [MissionManager](INFO): DefineArg sci2_vtyoyo.SinkDepthTimeout = 10.000000 min
2025-08-23T13:00:05.400Z,1755954005.400 [MissionManager](INFO): DefineOutput sci2_vtyoyo.DiveMode = 0.000000 count
2025-08-23T13:00:05.402Z,1755954005.402 [MissionManager](INFO): DefineOutput sci2_vtyoyo.DoingComms = 0.000000 count
2025-08-23T13:00:05.409Z,1755954005.409 [MissionManager](INFO): DefineOutput sci2_vtyoyo.SurfaceSink = 1.000000 count
2025-08-23T13:00:05.412Z,1755954005.412 [MissionManager](INFO): DefineOutput sci2_vtyoyo.YoYo = 2.000000 count
2025-08-23T13:00:05.412Z,1755954005.412 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-08-23T13:00:05.413Z,1755954005.413 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-08-23T13:00:05.422Z,1755954005.422 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-08-23T13:00:09.172Z,1755954009.172 [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="NumberOfLayers">
        <Units:count />
        <Value>1</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>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </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>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </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>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </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>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </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>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </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>

2025-08-23T13:00:09.213Z,1755954009.213 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.PeakDetectChlActive = 0 bool
2025-08-23T13:00:09.215Z,1755954009.215 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.EdgeDetectChlActive = 0 bool
2025-08-23T13:00:09.217Z,1755954009.217 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.TimeWindowPeakReport = nan min
2025-08-23T13:00:09.220Z,1755954009.220 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.HighestChlPeakReportActive = 0 bool
2025-08-23T13:00:09.221Z,1755954009.221 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.HighestSaltPeakReportActive = 0 bool
2025-08-23T13:00:09.224Z,1755954009.224 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.HighestOilPeakReportActive = 0 bool
2025-08-23T13:00:09.226Z,1755954009.226 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.PatchTracking = 0 bool
2025-08-23T13:00:09.228Z,1755954009.228 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.FilterWidthHorizontal = 3.000000 count
2025-08-23T13:00:09.230Z,1755954009.230 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.NumProfilesSlidingwindow = 100.000000 count
2025-08-23T13:00:09.293Z,1755954009.293 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.OffPeakFractionHorizontal = 80.000000 %
2025-08-23T13:00:09.295Z,1755954009.295 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.PeakDetectNO3Active = 0 bool
2025-08-23T13:00:09.301Z,1755954009.301 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.PeakDetectOilActive = 0 bool
2025-08-23T13:00:09.303Z,1755954009.303 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.PeakDetectFDOMActive = 0 bool
2025-08-23T13:00:09.313Z,1755954009.313 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.PeakDetectSalinityActive = 0 bool
2025-08-23T13:00:09.315Z,1755954009.315 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-08-23T13:00:09.341Z,1755954009.341 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-08-23T13:00:09.343Z,1755954009.343 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-08-23T13:00:09.353Z,1755954009.353 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.EdgeDetectPlanktivoreHMavgROIActive = 0 bool
2025-08-23T13:00:09.355Z,1755954009.355 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-08-23T13:00:09.371Z,1755954009.371 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.EdgeDetectPlanktivoreDiatomsActive = 0 bool
2025-08-23T13:00:09.387Z,1755954009.387 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-08-23T13:00:09.389Z,1755954009.389 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.EdgeDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-08-23T13:00:09.391Z,1755954009.391 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-08-23T13:00:09.394Z,1755954009.394 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.EnabledAanderaaO2 = 0 bool
2025-08-23T13:00:09.409Z,1755954009.409 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.EnabledNeilBrown = 0 bool
2025-08-23T13:00:09.416Z,1755954009.416 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.EnabledRBRTridente = 0 bool
2025-08-23T13:00:09.419Z,1755954009.419 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.EnabledSeabird = 1 bool
2025-08-23T13:00:09.430Z,1755954009.430 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.EnabledWetLabsBB2FL = 1 bool
2025-08-23T13:00:09.433Z,1755954009.433 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-08-23T13:00:09.443Z,1755954009.443 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.EnabledWetLabsUBAT = 0 bool
2025-08-23T13:00:09.446Z,1755954009.446 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.LowPassWindowLength = 20.000000 count
2025-08-23T13:00:09.452Z,1755954009.452 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.MedianFilterLen = 5.000000 count
2025-08-23T13:00:09.454Z,1755954009.454 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.ShallowBound = nan m
2025-08-23T13:00:09.457Z,1755954009.457 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.DeepBound = nan m
2025-08-23T13:00:09.467Z,1755954009.467 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-08-23T13:00:09.473Z,1755954009.473 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.OffPeakFractionVerticalAscent = nan %
2025-08-23T13:00:09.475Z,1755954009.475 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.OffPeakFractionVerticalDescent = nan %
2025-08-23T13:00:09.477Z,1755954009.477 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.ChlPeakThresh = 0.000000 ug/l
2025-08-23T13:00:09.484Z,1755954009.484 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.NumberOfLayers = 1.000000 count
2025-08-23T13:00:09.486Z,1755954009.486 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.ChlThreshTriggerActive = 0 bool
2025-08-23T13:00:09.489Z,1755954009.489 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.ChlLowerThresh = nan ug/l
2025-08-23T13:00:09.491Z,1755954009.491 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.ChlUpperThresh = nan ug/l
2025-08-23T13:00:09.521Z,1755954009.521 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.NumProfilesThresh = 5.000000 count
2025-08-23T13:00:09.528Z,1755954009.528 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-08-23T13:00:09.531Z,1755954009.531 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.PlanktivoreHMavgROIPeakThresh = 0.000000 count/s
2025-08-23T13:00:09.545Z,1755954009.545 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.PlanktivoreDiatomsPeakThresh = 0.000000 count/ml
2025-08-23T13:00:09.552Z,1755954009.552 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.PlanktivoreDinoflagellatesPeakThresh = 0.000000 count/ml
2025-08-23T13:00:09.555Z,1755954009.555 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.GoDown = 1 bool
2025-08-23T13:00:09.569Z,1755954009.569 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakChl = nan ug/l
2025-08-23T13:00:09.576Z,1755954009.576 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakChlDepth = nan m
2025-08-23T13:00:09.578Z,1755954009.578 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakChlTemperature = nan degC
2025-08-23T13:00:09.583Z,1755954009.583 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakChlLatitude = nan arcdeg
2025-08-23T13:00:09.598Z,1755954009.598 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakChlLongitude = nan arcdeg
2025-08-23T13:00:09.600Z,1755954009.600 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.EdgeChl = nan ug/l
2025-08-23T13:00:09.603Z,1755954009.603 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.EdgeChlDepth = nan m
2025-08-23T13:00:09.609Z,1755954009.609 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.EdgeChlTemperature = nan degC
2025-08-23T13:00:09.620Z,1755954009.620 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.EdgeChlLatitude = nan arcdeg
2025-08-23T13:00:09.622Z,1755954009.622 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.EdgeChlLongitude = nan arcdeg
2025-08-23T13:00:09.629Z,1755954009.629 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakNO3 = nan umol/l
2025-08-23T13:00:09.636Z,1755954009.636 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakNO3Depth = nan m
2025-08-23T13:00:09.638Z,1755954009.638 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakNO3Latitude = nan arcdeg
2025-08-23T13:00:09.681Z,1755954009.681 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakNO3Longitude = nan arcdeg
2025-08-23T13:00:09.696Z,1755954009.696 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakOil = nan kg/m3
2025-08-23T13:00:09.698Z,1755954009.698 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakOilDepth = nan m
2025-08-23T13:00:09.705Z,1755954009.705 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakOilLatitude = nan arcdeg
2025-08-23T13:00:09.707Z,1755954009.707 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakOilLongitude = nan arcdeg
2025-08-23T13:00:09.710Z,1755954009.710 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakFDOM = nan ppb
2025-08-23T13:00:09.728Z,1755954009.728 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakFDOMDepth = nan m
2025-08-23T13:00:09.731Z,1755954009.731 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakFDOMTemperature = nan degC
2025-08-23T13:00:09.733Z,1755954009.733 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakFDOMLatitude = nan arcdeg
2025-08-23T13:00:09.740Z,1755954009.740 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakFDOMLongitude = nan arcdeg
2025-08-23T13:00:09.742Z,1755954009.742 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakSalt = nan psu
2025-08-23T13:00:09.749Z,1755954009.749 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakSaltDepth = nan m
2025-08-23T13:00:09.760Z,1755954009.760 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakSaltTemperature = nan degC
2025-08-23T13:00:09.762Z,1755954009.762 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakSaltLatitude = nan arcdeg
2025-08-23T13:00:09.776Z,1755954009.776 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakSaltLongitude = nan arcdeg
2025-08-23T13:00:09.778Z,1755954009.778 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-08-23T13:00:09.792Z,1755954009.792 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-08-23T13:00:09.795Z,1755954009.795 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-08-23T13:00:09.801Z,1755954009.801 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-08-23T13:00:09.810Z,1755954009.810 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-08-23T13:00:09.818Z,1755954009.818 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-08-23T13:00:09.845Z,1755954009.845 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-08-23T13:00:09.847Z,1755954009.847 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-08-23T13:00:09.857Z,1755954009.857 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-08-23T13:00:09.860Z,1755954009.860 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-08-23T13:00:09.862Z,1755954009.862 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-08-23T13:00:09.869Z,1755954009.869 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-08-23T13:00:09.875Z,1755954009.875 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-08-23T13:00:09.878Z,1755954009.878 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-08-23T13:00:09.885Z,1755954009.885 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-08-23T13:00:09.887Z,1755954009.887 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.EdgePlanktivoreHMavgROI = nan count/s
2025-08-23T13:00:09.898Z,1755954009.898 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.EdgePlanktivoreHMavgROIDepth = nan m
2025-08-23T13:00:09.901Z,1755954009.901 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.EdgePlanktivoreHMavgROITemperature = nan degC
2025-08-23T13:00:09.903Z,1755954009.903 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.EdgePlanktivoreHMavgROILatitude = nan arcdeg
2025-08-23T13:00:09.910Z,1755954009.910 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.EdgePlanktivoreHMavgROILongitude = nan arcdeg
2025-08-23T13:00:09.916Z,1755954009.916 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-08-23T13:00:09.919Z,1755954009.919 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-08-23T13:00:09.936Z,1755954009.936 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-08-23T13:00:09.939Z,1755954009.939 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-08-23T13:00:09.942Z,1755954009.942 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-08-23T13:00:09.948Z,1755954009.948 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.EdgePlanktivoreDiatoms = nan count/ml
2025-08-23T13:00:09.951Z,1755954009.951 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.EdgePlanktivoreDiatomsDepth = nan m
2025-08-23T13:00:09.957Z,1755954009.957 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.EdgePlanktivoreDiatomsTemperature = nan degC
2025-08-23T13:00:09.964Z,1755954009.964 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.EdgePlanktivoreDiatomsLatitude = nan arcdeg
2025-08-23T13:00:09.966Z,1755954009.966 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.EdgePlanktivoreDiatomsLongitude = nan arcdeg
2025-08-23T13:00:09.969Z,1755954009.969 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-08-23T13:00:09.976Z,1755954009.976 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-08-23T13:00:09.979Z,1755954009.979 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-08-23T13:00:09.994Z,1755954009.994 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-08-23T13:00:10.004Z,1755954010.004 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-08-23T13:00:10.007Z,1755954010.007 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.EdgePlanktivoreDinoflagellates = nan count/ml
2025-08-23T13:00:10.013Z,1755954010.013 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.EdgePlanktivoreDinoflagellatesDepth = nan m
2025-08-23T13:00:10.020Z,1755954010.020 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.EdgePlanktivoreDinoflagellatesTemperature = nan degC
2025-08-23T13:00:10.022Z,1755954010.022 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.EdgePlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-08-23T13:00:10.051Z,1755954010.051 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.EdgePlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-08-23T13:00:10.074Z,1755954010.074 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PatchChl = nan ug/l
2025-08-23T13:00:10.080Z,1755954010.080 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PatchChlDepth = nan m
2025-08-23T13:00:10.083Z,1755954010.083 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PatchChlLatitude = nan arcdeg
2025-08-23T13:00:10.101Z,1755954010.101 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PatchChlLongitude = nan arcdeg
2025-08-23T13:00:10.116Z,1755954010.116 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PatchChlDistance = nan m
2025-08-23T13:00:10.118Z,1755954010.118 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PatchSalt = nan psu
2025-08-23T13:00:10.129Z,1755954010.129 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PatchSaltDepth = nan m
2025-08-23T13:00:10.144Z,1755954010.144 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PatchSaltLatitude = nan arcdeg
2025-08-23T13:00:10.146Z,1755954010.146 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PatchSaltLongitude = nan arcdeg
2025-08-23T13:00:10.153Z,1755954010.153 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PatchSaltDistance = nan m
2025-08-23T13:00:10.164Z,1755954010.164 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PatchOil = nan psu
2025-08-23T13:00:10.173Z,1755954010.173 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PatchOilDepth = nan m
2025-08-23T13:00:10.180Z,1755954010.180 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PatchOilLatitude = nan arcdeg
2025-08-23T13:00:10.182Z,1755954010.182 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PatchOilLongitude = nan arcdeg
2025-08-23T13:00:10.189Z,1755954010.189 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PatchOilDistance = nan m
2025-08-23T13:00:10.191Z,1755954010.191 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.TriggeredOnChl = 0 bool
2025-08-23T13:00:10.213Z,1755954010.213 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.ChlTriggering = nan ug/l
2025-08-23T13:00:10.301Z,1755954010.301 [sci2_vtyoyo:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-23T13:00:10.330Z,1755954010.330 [sci2_vtyoyo:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-08-23T13:00:10.391Z,1755954010.391 [sci2_vtyoyo:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-08-23T13:00:10.437Z,1755954010.437 [sci2_vtyoyo:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-23T13:00:10.514Z,1755954010.514 [sci2_vtyoyo:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-23T13:00:10.556Z,1755954010.556 [sci2_vtyoyo:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-08-23T13:00:10.593Z,1755954010.593 [sci2_vtyoyo:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-23T13:00:10.636Z,1755954010.636 [sci2_vtyoyo:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-23T13:00:10.673Z,1755954010.673 [sci2_vtyoyo:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-08-23T13:00:10.703Z,1755954010.703 [sci2_vtyoyo:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-23T13:00:10.741Z,1755954010.741 [sci2_vtyoyo:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-08-23T13:00:10.800Z,1755954010.800 [sci2_vtyoyo:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-23T13:00:10.825Z,1755954010.825 [sci2_vtyoyo:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-08-23T13:00:10.887Z,1755954010.887 [sci2_vtyoyo:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-23T13:00:10.915Z,1755954010.915 [sci2_vtyoyo:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-08-23T13:00:10.959Z,1755954010.959 [sci2_vtyoyo:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-23T13:00:10.980Z,1755954010.980 [sci2_vtyoyo:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-08-23T13:00:11.001Z,1755954011.001 [sci2_vtyoyo:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-08-23T13:00:11.009Z,1755954011.009 [MissionManager](INFO): RedefineArg sci2_vtyoyo:Science.PeakDetectChlActive = reader:sci2_vtyoyo.PeakDetectChl
2025-08-23T13:00:11.011Z,1755954011.011 [MissionManager](INFO): RedefineArg sci2_vtyoyo:Science.ShallowBound = reader:sci2_vtyoyo.ShallowBoundChl
2025-08-23T13:00:11.013Z,1755954011.013 [MissionManager](INFO): RedefineArg sci2_vtyoyo:Science.DeepBound = reader:sci2_vtyoyo.DeepBoundChl
2025-08-23T13:00:11.014Z,1755954011.014 [MissionManager](INFO): RedefineArg sci2_vtyoyo:Science.ChlThreshTriggerActive = reader:sci2_vtyoyo.ChlThreshTrigger
2025-08-23T13:00:11.017Z,1755954011.017 [MissionManager](INFO): RedefineArg sci2_vtyoyo:Science.ChlLowerThresh = reader:sci2_vtyoyo.ChlLowerThreshold
2025-08-23T13:00:11.018Z,1755954011.018 [MissionManager](INFO): RedefineArg sci2_vtyoyo:Science.ChlUpperThresh = reader:sci2_vtyoyo.ChlUpperThreshold
2025-08-23T13:00:11.023Z,1755954011.023 [MissionManager](INFO): RedefineArg sci2_vtyoyo:Science.NumProfilesThresh = reader:sci2_vtyoyo.NumProfilesThreshold
2025-08-23T13:00:11.025Z,1755954011.025 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-08-23T13:00:11.026Z,1755954011.026 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-08-23T13:00:11.028Z,1755954011.028 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-08-23T13:00:11.256Z,1755954011.256 [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>

2025-08-23T13:00:11.262Z,1755954011.262 [MissionManager](INFO): DefineArg sci2_vtyoyo:NeedComms.DiveInterval = 1.000000 h
2025-08-23T13:00:11.284Z,1755954011.284 [MissionManager](INFO): DefineArg sci2_vtyoyo:NeedComms.WaitForPitchUp = 10.000000 min
2025-08-23T13:00:11.286Z,1755954011.286 [MissionManager](INFO): DefineArg sci2_vtyoyo:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-08-23T13:00:11.318Z,1755954011.318 [MissionManager](INFO): DefineArg sci2_vtyoyo:NeedComms.SurfaceDepthRate = nan m/s
2025-08-23T13:00:11.325Z,1755954011.325 [MissionManager](INFO): DefineArg sci2_vtyoyo:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-08-23T13:00:11.327Z,1755954011.327 [MissionManager](INFO): DefineArg sci2_vtyoyo:NeedComms.SurfacingTimeout = 1000.000000 s
2025-08-23T13:00:11.333Z,1755954011.333 [MissionManager](INFO): DefineArg sci2_vtyoyo:NeedComms.GPSTimeout = 7.000000 min
2025-08-23T13:00:11.343Z,1755954011.343 [MissionManager](INFO): DefineArg sci2_vtyoyo:NeedComms.CommsTimeout = 30.000000 min
2025-08-23T13:00:11.378Z,1755954011.378 [sci2_vtyoyo:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-08-23T13:00:11.411Z,1755954011.411 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-08-23T13:00:11.416Z,1755954011.416 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-08-23T13:00:11.417Z,1755954011.417 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-08-23T13:00:11.501Z,1755954011.501 [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>

2025-08-23T13:00:11.510Z,1755954011.510 [MissionManager](INFO): DefineArg sci2_vtyoyo:StandardEnvelopes.MinAltitude = 5.000000 m
2025-08-23T13:00:11.512Z,1755954011.512 [MissionManager](INFO): DefineArg sci2_vtyoyo:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2025-08-23T13:00:11.514Z,1755954011.514 [MissionManager](INFO): DefineArg sci2_vtyoyo:StandardEnvelopes.MaxDepth = 200.000000 m
2025-08-23T13:00:11.516Z,1755954011.516 [MissionManager](INFO): DefineArg sci2_vtyoyo:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-08-23T13:00:11.517Z,1755954011.517 [sci2_vtyoyo:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-08-23T13:00:11.524Z,1755954011.524 [sci2_vtyoyo:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-08-23T13:00:11.531Z,1755954011.531 [sci2_vtyoyo:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-08-23T13:00:11.540Z,1755954011.540 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-08-23T13:00:11.540Z,1755954011.540 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-08-23T13:00:11.541Z,1755954011.541 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-08-23T13:00:11.589Z,1755954011.589 [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>

2025-08-23T13:00:11.592Z,1755954011.592 [MissionManager](INFO): DefineArg sci2_vtyoyo:BackseatDriver.EnableBackseat = 0 bool
2025-08-23T13:00:11.594Z,1755954011.594 [sci2_vtyoyo:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-08-23T13:00:11.597Z,1755954011.597 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-08-23T13:00:11.597Z,1755954011.597 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-08-23T13:00:11.598Z,1755954011.598 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-08-23T13:00:11.782Z,1755954011.782 [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>

2025-08-23T13:00:11.785Z,1755954011.785 [MissionManager](INFO): DefineArg sci2_vtyoyo:PowerOnly.SampleAll = 0 bool
2025-08-23T13:00:11.787Z,1755954011.787 [MissionManager](INFO): DefineArg sci2_vtyoyo:PowerOnly.SampleLoad1 = 0 bool
2025-08-23T13:00:11.789Z,1755954011.789 [MissionManager](INFO): DefineArg sci2_vtyoyo:PowerOnly.SampleLoad2 = 0 bool
2025-08-23T13:00:11.791Z,1755954011.791 [MissionManager](INFO): DefineArg sci2_vtyoyo:PowerOnly.SampleLoad3 = 0 bool
2025-08-23T13:00:11.794Z,1755954011.794 [MissionManager](INFO): DefineArg sci2_vtyoyo:PowerOnly.EnabledPowerOnly = 1 bool
2025-08-23T13:00:11.800Z,1755954011.800 [sci2_vtyoyo:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-08-23T13:00:11.814Z,1755954011.814 [sci2_vtyoyo:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-08-23T13:00:11.852Z,1755954011.852 [sci2_vtyoyo:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Construct.
2025-08-23T13:00:11.856Z,1755954011.856 [sci2_vtyoyo:DiveCmd:SurfaceSink:sink:D.Pitch](DEBUG): Construct.
2025-08-23T13:00:11.881Z,1755954011.881 [sci2_vtyoyo:DiveCmd:YoYoDive:dive:A.Pitch](DEBUG): Construct.
2025-08-23T13:00:11.885Z,1755954011.885 [sci2_vtyoyo:DiveCmd:YoYoDive:dive:B.Buoyancy](DEBUG): Construct Buoyancy.
2025-08-23T13:00:11.888Z,1755954011.888 [sci2_vtyoyo:DiveCmd:YoYoDive:dive:C.SetSpeed](DEBUG): Construct.
2025-08-23T13:00:11.890Z,1755954011.890 [sci2_vtyoyo:DiveCmd:YoYoDive:dive:D.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-08-23T13:00:11.898Z,1755954011.898 [sci2_vtyoyo:DiveCmd:YoYoDive:dive:E.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-08-23T13:00:11.903Z,1755954011.903 [sci2_vtyoyo:DiveCmd:YoYoDive:dive:F.YoYoPARLicor](DEBUG): Construct Value-Terminated YoYo.
2025-08-23T13:00:11.909Z,1755954011.909 [sci2_vtyoyo:DiveCmd:YoYoDive:dive:G.YoYo](DEBUG): Construct YoYo.
2025-08-23T13:00:11.917Z,1755954011.917 [sci2_vtyoyo:DiveCmd:YoYoDive:dive:StopIfTriggered:A.Execute](DEBUG): Construct Execute.
2025-08-23T13:00:11.923Z,1755954011.923 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-08-23T13:00:11.937Z,1755954011.937 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:B.SetSpeed](DEBUG): Construct.
2025-08-23T13:00:11.941Z,1755954011.941 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:D.Pitch](DEBUG): Construct.
2025-08-23T13:00:11.951Z,1755954011.951 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:A.Pitch](DEBUG): Construct.
2025-08-23T13:00:11.955Z,1755954011.955 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:B.Buoyancy](DEBUG): Construct Buoyancy.
2025-08-23T13:00:11.958Z,1755954011.958 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:C.SetSpeed](DEBUG): Construct.
2025-08-23T13:00:11.960Z,1755954011.960 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:D.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-08-23T13:00:11.968Z,1755954011.968 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:E.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-08-23T13:00:11.973Z,1755954011.973 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:F.YoYoPARLicor](DEBUG): Construct Value-Terminated YoYo.
2025-08-23T13:00:11.989Z,1755954011.989 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:G.YoYo](DEBUG): Construct YoYo.
2025-08-23T13:00:11.997Z,1755954011.997 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:StopIfTriggered:A.Execute](DEBUG): Construct Execute.
2025-08-23T13:00:11.999Z,1755954012.000 [sci2_vtyoyo:Lap:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-08-23T13:00:12.006Z,1755954012.006 [sci2_vtyoyo:Lap:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-08-23T13:00:12.012Z,1755954012.012 [sci2_vtyoyo:Lap:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-08-23T13:00:12.021Z,1755954012.021 [sci2_vtyoyo:Lap:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-08-23T13:00:12.037Z,1755954012.037 [sci2_vtyoyo:Lap:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-08-23T13:00:12.043Z,1755954012.043 [sci2_vtyoyo:Lap:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-08-23T13:00:12.049Z,1755954012.049 [sci2_vtyoyo:Lap:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-08-23T13:00:12.182Z,1755954012.182 [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_vtyoyo {
  """
  Vehicle yo-yo's to the specified waypoints, with science turned on. trigger on PAR
  """

  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
      """
      Speed while performing the YoYo behavior.
      """

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

    YoYoMaxDepth = 250 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.
      """

    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 = 405 meter
      """
      Maximum depth for the entire mission.
      """

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

    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
      """
  }

  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
        }

        behavior Guidance:SetSpeed {
          run in parallel

          set speed = Speed
        }

        behavior Guidance:DepthEnvelope {
          run in parallel

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

        behavior Guidance:AltitudeEnvelope {
          run in parallel

          set minAltitude = YoYoMinAltitude
        }

        behavior Guidance:YoYoPARLicor {
          run in parallel

          set lightTerminationThreshold = YoYoLightTerminateThreshold
        }

        behavior Guidance:YoYo {
          run in parallel

          set downPitch = YoYoDownPitch
          set upPitch = YoYoUpPitch
        }

        aggregate StopIfTriggered {
          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 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]
        }
      }
    }
  }
}


2025-08-23T13:00:12.183Z,1755954012.183 [CommandExec](IMPORTANT): Loaded ./Missions/Science/sci2_vtyoyo.tl id=sci2_vtyoyo
2025-08-23T13:00:12.526Z,1755954012.526 [MissionManager](IMPORTANT): Started mission Default
2025-08-23T13:00:12.527Z,1755954012.527 [Default] Running Loop=1
2025-08-23T13:00:12.527Z,1755954012.527 [Default](DEBUG): Aggregate::initialize Default
2025-08-23T13:00:12.527Z,1755954012.527 [Default:B.GoToSurface] Running Loop=1
2025-08-23T13:00:12.527Z,1755954012.527 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-08-23T13:00:12.531Z,1755954012.531 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-08-23T13:00:12.532Z,1755954012.532 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-08-23T13:00:12.532Z,1755954012.532 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-08-23T13:00:12.532Z,1755954012.532 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-08-23T13:00:12.533Z,1755954012.533 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-08-23T13:00:12.533Z,1755954012.533 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-08-23T13:00:12.533Z,1755954012.533 [Default:A.Wait] Running Loop=1
2025-08-23T13:00:12.533Z,1755954012.533 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-08-23T13:00:12.912Z,1755954012.912 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -13.00 mm (2 active estimators).
2025-08-23T13:00:13.280Z,1755954013.280 [Radio_Surface](INFO): Powering up
2025-08-23T13:00:19.400Z,1755954019.400 [DataOverHttps](INFO): Radio surface powered ON.
2025-08-23T13:00:25.696Z,1755954025.696 [Default:A.Wait](INFO): Done Waiting.
2025-08-23T13:00:25.696Z,1755954025.696 [Default:A.Wait] Stopped
2025-08-23T13:00:25.696Z,1755954025.696 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-08-23T13:00:30.638Z,1755954030.638 [CommandExec](IMPORTANT): got command set sci2_vtyoyo.MissionTimeout 6 hour
2025-08-23T13:00:30.639Z,1755954030.639 [CommandExec](IMPORTANT): got command set sci2_vtyoyo.NeedCommsTime 90 minute
2025-08-23T13:00:30.642Z,1755954030.642 [CommandExec](IMPORTANT): got command set sci2_vtyoyo.Lat1 37.00694 degree
2025-08-23T13:00:30.645Z,1755954030.645 [CommandExec](IMPORTANT): got command set sci2_vtyoyo.Lon1 -122.93152 degree
2025-08-23T13:00:30.646Z,1755954030.646 [CommandExec](IMPORTANT): got command set sci2_vtyoyo.Speed .8 meter_per_second
2025-08-23T13:00:49.520Z,1755954049.520 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-23T13:00:58.780Z,1755954058.780 [CommandExec](IMPORTANT): got command set sci2_vtyoyo.YoYoMinDepth 3 meter
2025-08-23T13:00:58.781Z,1755954058.781 [CommandExec](IMPORTANT): got command set sci2_vtyoyo.YoYoMaxDepth 120 meter
2025-08-23T13:00:58.782Z,1755954058.782 [CommandExec](IMPORTANT): got command set sci2_vtyoyo.YoYoMinAltitude 15 meter
2025-08-23T13:00:58.783Z,1755954058.783 [CommandExec](IMPORTANT): got command set sci2_vtyoyo.MaxDepth 140 meter
2025-08-23T13:00:58.786Z,1755954058.786 [CommandExec](IMPORTANT): got command set sci2_vtyoyo.SinkOffSurface 1 bool
2025-08-23T13:00:58.788Z,1755954058.788 [CommandExec](IMPORTANT): got command set sci2_vtyoyo.SinkDepthTimeout 3 minute