2026-01-20T21:26:04.471Z,1768944364.471 [Supervisor](DEBUG): Initializing supervisor.
2026-01-20T21:26:04.476Z,1768944364.476 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2026-01-20T21:26:04.476Z,1768944364.476 [SyncHandler](INFO): Protected caller Thread ID is 1669
2026-01-20T21:26:04.477Z,1768944364.477 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2026-01-20T21:26:04.478Z,1768944364.478 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2026-01-20T21:26:04.478Z,1768944364.478 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 1670
2026-01-20T21:26:04.482Z,1768944364.482 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2026-01-20T21:26:04.501Z,1768944364.501 [ComponentRegistry](DEBUG): Component "CommandExec" handled in its own thread.
2026-01-20T21:26:04.502Z,1768944364.502 [CommandExec ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2026-01-20T21:26:04.502Z,1768944364.502 [CommandExec ThreadHandler](INFO): Protected caller Thread ID is 1671
2026-01-20T21:26:04.507Z,1768944364.507 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2026-01-20T21:26:04.508Z,1768944364.508 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2026-01-20T21:26:04.508Z,1768944364.508 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 1672
2026-01-20T21:26:04.510Z,1768944364.510 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2026-01-20T21:26:04.511Z,1768944364.511 [logger ThreadHandler](DEBUG): Created PCaller Thread at 405114E0
2026-01-20T21:26:04.511Z,1768944364.511 [logger ThreadHandler](INFO): Protected caller Thread ID is 1673
2026-01-20T21:26:04.515Z,1768944364.515 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2026-01-20T21:26:04.515Z,1768944364.515 [Supervisor](INFO): Looking for Config files in directory: Config/
2026-01-20T21:26:04.521Z,1768944364.521 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2026-01-20T21:26:04.716Z,1768944364.716 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2026-01-20T21:26:04.718Z,1768944364.718 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2026-01-20T21:26:04.968Z,1768944364.968 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2026-01-20T21:26:04.968Z,1768944364.968 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2026-01-20T21:26:05.252Z,1768944365.252 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2026-01-20T21:26:05.254Z,1768944365.254 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2026-01-20T21:26:05.373Z,1768944365.373 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2026-01-20T21:26:05.375Z,1768944365.375 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2026-01-20T21:26:06.178Z,1768944366.178 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2026-01-20T21:26:06.179Z,1768944366.179 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2026-01-20T21:26:06.729Z,1768944366.729 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2026-01-20T21:26:06.730Z,1768944366.730 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2026-01-20T21:26:07.298Z,1768944367.298 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2026-01-20T21:26:07.300Z,1768944367.300 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2026-01-20T21:26:07.747Z,1768944367.747 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2026-01-20T21:26:07.749Z,1768944367.749 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2026-01-20T21:26:08.124Z,1768944368.124 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2026-01-20T21:26:08.192Z,1768944368.192 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2026-01-20T21:26:08.935Z,1768944368.935 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2026-01-20T21:26:08.936Z,1768944368.936 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2026-01-20T21:26:09.181Z,1768944369.181 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2026-01-20T21:26:09.182Z,1768944369.182 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2026-01-20T21:26:09.343Z,1768944369.343 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2026-01-20T21:26:09.343Z,1768944369.343 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2026-01-20T21:26:09.448Z,1768944369.448 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Guidance
2026-01-20T21:26:09.449Z,1768944369.449 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2026-01-20T21:26:09.550Z,1768944369.550 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2026-01-20T21:26:09.752Z,1768944369.752 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2026-01-20T21:26:09.753Z,1768944369.753 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2026-01-20T21:26:10.016Z,1768944370.016 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2026-01-20T21:26:10.018Z,1768944370.018 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-makai/
2026-01-20T21:26:10.021Z,1768944370.021 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/secure.cfg
2026-01-20T21:26:10.117Z,1768944370.117 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Battery.cfg
2026-01-20T21:26:10.403Z,1768944370.403 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2026-01-20T21:26:10.404Z,1768944370.404 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Navigation.cfg
2026-01-20T21:26:10.501Z,1768944370.501 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Sensor.cfg
2026-01-20T21:26:10.688Z,1768944370.688 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/vehicle.cfg
2026-01-20T21:26:10.802Z,1768944370.802 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Simulator.cfg
2026-01-20T21:26:10.926Z,1768944370.926 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Servo.cfg
2026-01-20T21:26:11.049Z,1768944371.049 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Control.cfg
2026-01-20T21:26:11.155Z,1768944371.155 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Science.cfg
2026-01-20T21:26:11.329Z,1768944371.329 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Derivation.cfg
2026-01-20T21:26:11.438Z,1768944371.438 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/workSite.cfg
2026-01-20T21:26:11.535Z,1768944371.535 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/logger.cfg
2026-01-20T21:26:11.646Z,1768944371.646 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/BIT.cfg
2026-01-20T21:26:11.744Z,1768944371.744 [Supervisor](IMPORTANT): Reloading configuration overrides from Data/persisted.cfg
2026-01-20T21:26:11.758Z,1768944371.758 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2026-01-20T21:26:11.996Z,1768944371.996 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2026-01-20T21:26:11.996Z,1768944371.996 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2026-01-20T21:26:12.197Z,1768944372.197 [BuoyancyServo] Loaded
2026-01-20T21:26:12.198Z,1768944372.198 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2026-01-20T21:26:12.222Z,1768944372.222 [ElevatorServo] Loaded
2026-01-20T21:26:12.222Z,1768944372.222 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2026-01-20T21:26:12.245Z,1768944372.245 [MassServo] Loaded
2026-01-20T21:26:12.246Z,1768944372.246 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2026-01-20T21:26:12.269Z,1768944372.269 [RudderServo] Loaded
2026-01-20T21:26:12.269Z,1768944372.269 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2026-01-20T21:26:12.288Z,1768944372.288 [ThrusterHE] Loaded
2026-01-20T21:26:12.288Z,1768944372.288 [ComponentRegistry](DEBUG): SyncComponent "ThrusterHE" handled in the control thread.
2026-01-20T21:26:12.289Z,1768944372.289 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2026-01-20T21:26:12.289Z,1768944372.289 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2026-01-20T21:26:12.506Z,1768944372.506 [SBIT](DEBUG): Construct Startup Built In Test.
2026-01-20T21:26:12.521Z,1768944372.521 [SBIT] Loaded
2026-01-20T21:26:12.521Z,1768944372.521 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2026-01-20T21:26:12.524Z,1768944372.524 [IBIT](DEBUG): Construct Initiated Built In Test.
2026-01-20T21:26:12.545Z,1768944372.545 [IBIT] Loaded
2026-01-20T21:26:12.546Z,1768944372.546 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2026-01-20T21:26:12.551Z,1768944372.551 [CBIT](DEBUG): Construct Continuous Built In Test.
2026-01-20T21:26:12.869Z,1768944372.869 [CBIT] Loaded
2026-01-20T21:26:12.869Z,1768944372.869 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2026-01-20T21:26:12.901Z,1768944372.901 [GFScanner] Loaded
2026-01-20T21:26:12.901Z,1768944372.901 [ComponentRegistry](DEBUG): SyncComponent "GFScanner" handled in the control thread.
2026-01-20T21:26:12.902Z,1768944372.902 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2026-01-20T21:26:12.902Z,1768944372.902 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2026-01-20T21:26:13.126Z,1768944373.126 [CTD_Seabird] Loaded
2026-01-20T21:26:13.127Z,1768944373.127 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread.
2026-01-20T21:26:13.128Z,1768944373.128 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 406874E0
2026-01-20T21:26:13.128Z,1768944373.128 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 1761
2026-01-20T21:26:13.165Z,1768944373.165 [ESPComponent] Loaded
2026-01-20T21:26:13.165Z,1768944373.165 [ComponentRegistry](DEBUG): SyncComponent "ESPComponent" handled in the control thread.
2026-01-20T21:26:13.188Z,1768944373.188 [PAR_Licor] Loaded
2026-01-20T21:26:13.188Z,1768944373.188 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2026-01-20T21:26:13.234Z,1768944373.234 [WetLabsBB2FL] Loaded
2026-01-20T21:26:13.234Z,1768944373.234 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2026-01-20T21:26:13.235Z,1768944373.235 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 406B74E0
2026-01-20T21:26:13.236Z,1768944373.236 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 1762
2026-01-20T21:26:13.237Z,1768944373.237 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2026-01-20T21:26:13.237Z,1768944373.237 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2026-01-20T21:26:13.574Z,1768944373.574 [DepthRateCalculator] Loaded
2026-01-20T21:26:13.574Z,1768944373.574 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2026-01-20T21:26:13.580Z,1768944373.580 [PitchRateCalculator] Loaded
2026-01-20T21:26:13.580Z,1768944373.580 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2026-01-20T21:26:13.590Z,1768944373.590 [SpeedCalculator] Loaded
2026-01-20T21:26:13.591Z,1768944373.591 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2026-01-20T21:26:13.596Z,1768944373.596 [YawRateCalculator] Loaded
2026-01-20T21:26:13.596Z,1768944373.596 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2026-01-20T21:26:13.625Z,1768944373.625 [ElevatorOffsetCalculator] Loaded
2026-01-20T21:26:13.625Z,1768944373.625 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2026-01-20T21:26:13.626Z,1768944373.626 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2026-01-20T21:26:13.626Z,1768944373.626 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2026-01-20T21:26:14.137Z,1768944374.137 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2026-01-20T21:26:14.137Z,1768944374.137 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2026-01-20T21:26:14.183Z,1768944374.183 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2026-01-20T21:26:14.184Z,1768944374.184 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2026-01-20T21:26:14.326Z,1768944374.326 [DeadReckonUsingMultipleVelocitySources] Loaded
2026-01-20T21:26:14.327Z,1768944374.327 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2026-01-20T21:26:14.341Z,1768944374.341 [NavChart] Loaded
2026-01-20T21:26:14.341Z,1768944374.341 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2026-01-20T21:26:14.347Z,1768944374.347 [UniversalFixResidualReporter] Loaded
2026-01-20T21:26:14.347Z,1768944374.347 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2026-01-20T21:26:14.348Z,1768944374.348 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2026-01-20T21:26:14.348Z,1768944374.348 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2026-01-20T21:26:15.034Z,1768944375.034 [AHRS_M2] Loaded
2026-01-20T21:26:15.034Z,1768944375.034 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2026-01-20T21:26:15.074Z,1768944375.074 [BackseatComponent] Loaded
2026-01-20T21:26:15.074Z,1768944375.074 [ComponentRegistry](DEBUG): Component "BackseatComponent" handled in its own thread.
2026-01-20T21:26:15.075Z,1768944375.075 [BackseatComponent ThreadHandler](DEBUG): Created PCaller Thread at 40A854E0
2026-01-20T21:26:15.076Z,1768944375.076 [BackseatComponent ThreadHandler](INFO): Protected caller Thread ID is 1763
2026-01-20T21:26:15.079Z,1768944375.079 [LcmPublisher] Loaded
2026-01-20T21:26:15.079Z,1768944375.079 [ComponentRegistry](DEBUG): SyncComponent "LcmPublisher" handled in the control thread.
2026-01-20T21:26:15.860Z,1768944375.860 [BPC1] Loaded
2026-01-20T21:26:15.860Z,1768944375.860 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2026-01-20T21:26:15.965Z,1768944375.965 [DAT] Loaded
2026-01-20T21:26:15.966Z,1768944375.966 [ComponentRegistry](DEBUG): Component "DAT" handled in its own thread.
2026-01-20T21:26:15.967Z,1768944375.967 [DAT ThreadHandler](DEBUG): Created PCaller Thread at 40AB54E0
2026-01-20T21:26:15.967Z,1768944375.967 [DAT ThreadHandler](INFO): Protected caller Thread ID is 1764
2026-01-20T21:26:16.040Z,1768944376.040 [DataOverHttps] Loaded
2026-01-20T21:26:16.041Z,1768944376.041 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2026-01-20T21:26:16.042Z,1768944376.042 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 40AE54E0
2026-01-20T21:26:16.042Z,1768944376.042 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 1765
2026-01-20T21:26:16.067Z,1768944376.067 [Depth_Keller] Loaded
2026-01-20T21:26:16.067Z,1768944376.067 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2026-01-20T21:26:16.072Z,1768944376.072 [DropWeight] Loaded
2026-01-20T21:26:16.073Z,1768944376.073 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2026-01-20T21:26:16.138Z,1768944376.138 [NAL9602] Loaded
2026-01-20T21:26:16.138Z,1768944376.138 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2026-01-20T21:26:16.165Z,1768944376.165 [Onboard] Loaded
2026-01-20T21:26:16.165Z,1768944376.165 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread.
2026-01-20T21:26:16.167Z,1768944376.167 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 40B154E0
2026-01-20T21:26:16.167Z,1768944376.167 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 1766
2026-01-20T21:26:16.173Z,1768944376.173 [PowerOnly](INFO): Adding load control power supply at /dev/loadC3
2026-01-20T21:26:16.188Z,1768944376.188 [PowerOnly] Loaded
2026-01-20T21:26:16.188Z,1768944376.188 [ComponentRegistry](DEBUG): SyncComponent "PowerOnly" handled in the control thread.
2026-01-20T21:26:16.202Z,1768944376.202 [Power24vConverter] Loaded
2026-01-20T21:26:16.203Z,1768944376.203 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread.
2026-01-20T21:26:16.220Z,1768944376.220 [Radio_Surface] Loaded
2026-01-20T21:26:16.220Z,1768944376.220 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2026-01-20T21:26:16.221Z,1768944376.221 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 40B454E0
2026-01-20T21:26:16.221Z,1768944376.221 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 1767
2026-01-20T21:26:16.238Z,1768944376.238 [Sonardyne_Nano] Loaded
2026-01-20T21:26:16.238Z,1768944376.238 [ComponentRegistry](DEBUG): SyncComponent "Sonardyne_Nano" handled in the control thread.
2026-01-20T21:26:16.239Z,1768944376.239 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2026-01-20T21:26:16.239Z,1768944376.239 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2026-01-20T21:26:16.329Z,1768944376.329 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2026-01-20T21:26:16.330Z,1768944376.330 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2026-01-20T21:26:16.402Z,1768944376.402 [VerticalControl](DEBUG): Construct VerticalControl.
2026-01-20T21:26:16.455Z,1768944376.455 [VerticalControl] Loaded
2026-01-20T21:26:16.456Z,1768944376.456 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2026-01-20T21:26:16.459Z,1768944376.459 [HorizontalControl](DEBUG): Construct HorizontalControl.
2026-01-20T21:26:16.504Z,1768944376.504 [HorizontalControl] Loaded
2026-01-20T21:26:16.505Z,1768944376.505 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2026-01-20T21:26:16.507Z,1768944376.507 [SpeedControl](DEBUG): Construct SpeedControl.
2026-01-20T21:26:16.509Z,1768944376.509 [SpeedControl] Loaded
2026-01-20T21:26:16.509Z,1768944376.509 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2026-01-20T21:26:16.512Z,1768944376.512 [LoopControl](DEBUG): Construct LoopControl.
2026-01-20T21:26:16.513Z,1768944376.513 [LoopControl] Loaded
2026-01-20T21:26:16.513Z,1768944376.513 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2026-01-20T21:26:16.513Z,1768944376.513 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2026-01-20T21:26:16.514Z,1768944376.514 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2026-01-20T21:26:16.528Z,1768944376.528 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2026-01-20T21:26:16.529Z,1768944376.529 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2026-01-20T21:26:16.967Z,1768944376.967 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2026-01-20T21:26:16.973Z,1768944376.973 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2026-01-20T21:26:16.976Z,1768944376.976 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2026-01-20T21:26:16.987Z,1768944376.987 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2026-01-20T21:26:16.988Z,1768944376.988 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40C6D4E0
2026-01-20T21:26:16.989Z,1768944376.989 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 1768
2026-01-20T21:26:16.993Z,1768944376.993 [Supervisor](INFO): Main Thread ID is 822
2026-01-20T21:26:16.993Z,1768944376.993 [Supervisor](DEBUG): Running supervisor.
2026-01-20T21:26:16.994Z,1768944376.994 [CommandExec ThreadHandler](INFO): Handler Thread ID is 1769
2026-01-20T21:26:16.994Z,1768944376.994 [CommandExec](INFO): Initializing the command executive.
2026-01-20T21:26:16.996Z,1768944376.996 [CommandLine ThreadHandler](INFO): Handler Thread ID is 1770
2026-01-20T21:26:16.998Z,1768944376.998 [controlThread ThreadHandler](INFO): Handler Thread ID is 1771
2026-01-20T21:26:16.998Z,1768944376.998 [controlThread](DEBUG): Initializing ControlThread
2026-01-20T21:26:17.000Z,1768944377.000 [SBIT](INFO): Initialize SBIT Component.
2026-01-20T21:26:17.001Z,1768944377.001 [SBIT](IMPORTANT): git: 2025-12-04
2026-01-20T21:26:17.001Z,1768944377.001 [SBIT](INFO): git hash: 9bae910f87c476713ef0b63f9da99d151f0f5f1b
2026-01-20T21:26:17.001Z,1768944377.001 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2026-01-20T21:26:17.003Z,1768944377.003 [SBIT](INFO): Kernel Reporting Different Version From Configuration.
Kernel Expected: #2 PREEMPT Thu Jan 11 20:13:48 PST 2018
Kernel Reported: #1 PREEMPT Wed Mar 17 08:23:48 PDT 2021
2026-01-20T21:26:17.004Z,1768944377.004 [SBIT](INFO): Beginning SBIT in 142.000000 seconds.
2026-01-20T21:26:17.004Z,1768944377.004 [IBIT](INFO): Initialize IBIT Component.
2026-01-20T21:26:17.005Z,1768944377.005 [CBIT](DEBUG): Initialize CBIT Component.
2026-01-20T21:26:17.006Z,1768944377.006 [logger ThreadHandler](INFO): Handler Thread ID is 1772
2026-01-20T21:26:17.016Z,1768944377.016 [CBIT](DEBUG): Initialized mux pins.
2026-01-20T21:26:17.016Z,1768944377.016 [CBIT](DEBUG): Initializing the watchdog timer.
2026-01-20T21:26:17.024Z,1768944377.024 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 1773
2026-01-20T21:26:17.025Z,1768944377.025 [CTD_Seabird](DEBUG): Initializing CTD_Seabird.
2026-01-20T21:26:17.029Z,1768944377.029 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 1775
2026-01-20T21:26:17.032Z,1768944377.032 [WetLabsBB2FL](INFO): Powering up
2026-01-20T21:26:17.034Z,1768944377.034 [BackseatComponent ThreadHandler](INFO): Handler Thread ID is 1777
2026-01-20T21:26:17.040Z,1768944377.040 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2026-01-20T21:26:17.040Z,1768944377.040 [CBIT](DEBUG): Initializing heartbeat.
2026-01-20T21:26:17.041Z,1768944377.041 [DAT ThreadHandler](INFO): Handler Thread ID is 1778
2026-01-20T21:26:17.042Z,1768944377.042 [DAT](INFO): Powering up
2026-01-20T21:26:17.042Z,1768944377.042 [DAT](DEBUG): Initializing DAT.
2026-01-20T21:26:17.045Z,1768944377.045 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 1780
2026-01-20T21:26:17.047Z,1768944377.047 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2026-01-20T21:26:17.057Z,1768944377.057 [Onboard ThreadHandler](INFO): Handler Thread ID is 1781
2026-01-20T21:26:17.074Z,1768944377.074 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 1782
2026-01-20T21:26:17.092Z,1768944377.092 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 1783
2026-01-20T21:26:17.098Z,1768944377.098 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2026-01-20T21:26:17.098Z,1768944377.098 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2026-01-20T21:26:17.098Z,1768944377.098 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2026-01-20T21:26:17.099Z,1768944377.099 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2026-01-20T21:26:17.099Z,1768944377.099 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2026-01-20T21:26:17.099Z,1768944377.099 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2026-01-20T21:26:17.099Z,1768944377.099 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2026-01-20T21:26:17.099Z,1768944377.099 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2026-01-20T21:26:17.112Z,1768944377.112 [CBIT](DEBUG): Deactivating emergency mode.
2026-01-20T21:26:17.152Z,1768944377.152 [CBIT](DEBUG): Backplane powered.
2026-01-20T21:26:17.152Z,1768944377.152 [GFScanner](DEBUG): Initializing GFScanner
2026-01-20T21:26:17.152Z,1768944377.152 [GFScanner](DEBUG): Deactivating GF circuits.
2026-01-20T21:26:17.160Z,1768944377.160 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2026-01-20T21:26:17.161Z,1768944377.161 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2026-01-20T21:26:17.161Z,1768944377.161 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2026-01-20T21:26:17.161Z,1768944377.161 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2026-01-20T21:26:17.162Z,1768944377.162 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2026-01-20T21:26:17.163Z,1768944377.163 [NavChart](DEBUG): Initialize NavChart Navigation.
2026-01-20T21:26:17.163Z,1768944377.163 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2026-01-20T21:26:17.171Z,1768944377.171 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2026-01-20T21:26:17.176Z,1768944377.176 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2026-01-20T21:26:17.177Z,1768944377.177 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2026-01-20T21:26:17.178Z,1768944377.178 [LoopControl](DEBUG): Initialize LoopControlComponent.
2026-01-20T21:26:17.178Z,1768944377.178 [MissionManager](IMPORTANT): Using TethysL tl-to-tx parser
2026-01-20T21:26:17.179Z,1768944377.179 [MissionManager](INFO): Loading Mission from file: Missions/Startup.tl
2026-01-20T21:26:17.188Z,1768944377.188 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Startup.tl
2026-01-20T21:26:17.191Z,1768944377.191 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Startup.tl
2026-01-20T21:26:17.290Z,1768944377.290 [MissionManager](DEBUG): TethyslAPI: Missions/Startup.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="Startup">
    <Guidance:GoToSurface>
        <Progression />
    </Guidance:GoToSurface>
    <Aggregate Id="StartupSatComms">
        <Sequence />
        <ReadDatum>
            <Timeout Duration="P1M" />
            <Universal:latitude_fix />
        </ReadDatum>
        <ReadDatum>
            <Timeout Duration="P1M" />
            <Universal:platform_communications />
        </ReadDatum>
    </Aggregate>
</Mission>

2026-01-20T21:26:17.294Z,1768944377.294 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2026-01-20T21:26:17.340Z,1768944377.340 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

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

  aggregate StartupSatComms {
    run in sequence

    readDatum {
      timeout duration=P1M

      Universal:latitude_fix
    }

    readDatum {
      timeout duration=P1M

      Universal:platform_communications
    }
  }
}


2026-01-20T21:26:17.340Z,1768944377.340 [MissionManager](INFO): Loading Mission from file: Missions/Default.tl
2026-01-20T21:26:17.341Z,1768944377.341 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Default.tl
2026-01-20T21:26:17.356Z,1768944377.356 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Default.tl
2026-01-20T21:26:17.480Z,1768944377.480 [Radio_Surface](INFO): Powering up
2026-01-20T21:26:17.673Z,1768944377.673 [MissionManager](DEBUG): TethyslAPI: Missions/Default.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="Default">
    <DefineArg Name="ElapsedSinceDefaultStarted">
        <Units:minute />
        <Value>0</Value>
    </DefineArg>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:second />
            <Value>13</Value>
        </Setting>
    </Guidance:Wait>
    <Guidance:GoToSurface>
        <Progression />
    </Guidance:GoToSurface>
    <Aggregate Id="CheckIn">
        <Sequence Repeat="288" />
        <ReadDatum Id="Read_GPS">
            <Timeout Duration="P5M" />
            <Universal:time_fix />
        </ReadDatum>
        <ReadDatum Id="Read_Iridium">
            <Timeout Duration="P4H">
                <Guidance:Execute>
                    <Sequence />
                    <Setting>
                        <Guidance:Execute.command />
                        <String>Burn on</String>
                    </Setting>
                </Guidance:Execute>
                <Syslog Severity="Critical">Dropped weight due to communications timeout.</Syslog>
            </Timeout>
            <Universal:platform_communications />
        </ReadDatum>
        <Guidance:Wait>
            <Sequence />
            <Setting>
                <Guidance:Wait.duration />
                <Units:minute />
                <Value>5</Value>
            </Setting>
        </Guidance:Wait>
        <Assign>
            <Sequence />
            <Arg Name="ElapsedSinceDefaultStarted" />
            <Elapsed>
                <Universal:mission_started />
            </Elapsed>
        </Assign>
        <Syslog Severity="Important">
            Default mission has been running for 
            <Arg Name="ElapsedSinceDefaultStarted" />
            <Units:minute />
        </Syslog>
    </Aggregate>
    <Syslog Severity="Important">Restarting logs and Default mission.</Syslog>
    <Guidance:Execute>
        <Sequence />
        <Setting>
            <Guidance:Execute.command />
            <String>restart logs</String>
        </Setting>
    </Guidance:Execute>
</Mission>

2026-01-20T21:26:17.695Z,1768944377.695 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2026-01-20T21:26:17.704Z,1768944377.704 [Default:A.Wait](DEBUG): Construct Wait.
2026-01-20T21:26:17.706Z,1768944377.706 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2026-01-20T21:26:17.752Z,1768944377.752 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2026-01-20T21:26:17.755Z,1768944377.755 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2026-01-20T21:26:17.825Z,1768944377.825 [Default:E.Execute](DEBUG): Construct Execute.
2026-01-20T21:26:17.845Z,1768944377.845 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

mission Default {
  arguments {
    ElapsedSinceDefaultStarted = 0 minute
  }

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

    run in sequence

    set duration = 13 second
  }

  behavior Guidance:GoToSurface {
    run in progression
  }

  aggregate CheckIn {
    run in sequence repeat=288

    readDatum id="Read_GPS" {
      timeout duration=P5M

      Universal:time_fix
    }

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

          set command = "Burn on"
        }

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

      Universal:platform_communications
    }

    behavior Guidance:Wait {
      run in sequence

      set duration = 5 minute
    }

    assign in sequence ElapsedSinceDefaultStarted = elapsed ( Universal:mission_started )

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

  syslog important "Restarting logs and Default mission."

  behavior Guidance:Execute {
    run in sequence

    set command = "restart logs"
  }
}


2026-01-20T21:26:17.850Z,1768944377.850 [controlThread](DEBUG): Component order: CycleStarter,ESPComponent,PAR_Licor,AHRS_M2,BPC1,Depth_Keller,DropWeight,NAL9602,PowerOnly,Power24vConverter,Sonardyne_Nano,PAR_Licor,Depth_Keller,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterHE,SBIT,IBIT,CBIT,GFScanner,LcmPublisher,Reporter,LogSplitter,
2026-01-20T21:26:17.972Z,1768944377.972 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2026-01-20T21:26:18.033Z,1768944378.033 [Depth_Keller](INFO): Initializing.
2026-01-20T21:26:18.035Z,1768944378.035 [Power24vConverter](INFO): Powering up.
2026-01-20T21:26:18.036Z,1768944378.036 [Sonardyne_Nano](INFO): Initializing.
2026-01-20T21:26:18.054Z,1768944378.054 [DepthRateCalculator](ERROR): Depth measurement is not active
2026-01-20T21:26:18.094Z,1768944378.094 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2026-01-20T21:26:18.120Z,1768944378.120 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2026-01-20T21:26:18.122Z,1768944378.122 [ElevatorServo](DEBUG): Initializing EZServoServo.
2026-01-20T21:26:18.160Z,1768944378.160 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2026-01-20T21:26:18.161Z,1768944378.161 [MassServo](DEBUG): Initializing EZServoServo.
2026-01-20T21:26:18.168Z,1768944378.168 [MassServo](DEBUG): Initializing MassServo.
2026-01-20T21:26:18.169Z,1768944378.169 [RudderServo](DEBUG): Initializing EZServoServo.
2026-01-20T21:26:18.176Z,1768944378.176 [RudderServo](DEBUG): Initializing RudderServo.
2026-01-20T21:26:18.177Z,1768944378.177 [ThrusterHE](DEBUG): Initializing EZServoServo.
2026-01-20T21:26:18.184Z,1768944378.184 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2026-01-20T21:26:18.356Z,1768944378.356 [PowerOnly](INFO): Powering up loadControl
2026-01-20T21:26:19.644Z,1768944379.644 [WetLabsBB2FL](INFO): Powering down
2026-01-20T21:26:20.287Z,1768944380.287 [Sonardyne_Nano](ERROR): Failed to get valid response or reached max queue size, flushing UART
2026-01-20T21:26:21.537Z,1768944381.537 [Sonardyne_Nano](IMPORTANT): Found beacon with acoustic ID 2213
2026-01-20T21:26:23.761Z,1768944383.761 [ThrusterHE](ERROR): Zero Speed Commanded.
2026-01-20T21:26:24.056Z,1768944384.056 [CTD_Seabird](ERROR): Device message queue exceeded the allowed limit.
2026-01-20T21:26:29.405Z,1768944389.405 [DAT](INFO): DAT read: 

2026-01-20T21:26:29.406Z,1768944389.406 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2026-01-20T21:26:31.169Z,1768944391.169 [DAT](INFO): DAT read: MF Frequency Band

2026-01-20T21:26:31.170Z,1768944391.170 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2026-01-20T21:26:31.171Z,1768944391.171 [DAT](INFO): DAT read: Jan 20 2026 21:26:24 

2026-01-20T21:26:32.177Z,1768944392.177 [DAT](INFO): DAT read: Features enabled [Bearing]

2026-01-20T21:26:32.178Z,1768944392.178 [DAT](INFO): DAT read: CONNECT 01200 bits/sec 1 of 4, Rate 1/2 CC

2026-01-20T21:26:32.178Z,1768944392.178 [DAT](INFO): commRate: 1200
2026-01-20T21:26:34.244Z,1768944394.244 [DAT](INFO): entering command mode
2026-01-20T21:26:34.444Z,1768944394.444 [DAT](INFO): DAT read: 

2026-01-20T21:26:34.445Z,1768944394.445 [DAT](INFO): DAT read: user:1>

2026-01-20T21:26:34.445Z,1768944394.445 [DAT](INFO): setting verbose to 3
2026-01-20T21:26:34.696Z,1768944394.696 [DAT](INFO): DAT read: user:1>

2026-01-20T21:26:34.698Z,1768944394.698 [DAT](INFO): DAT read: Verbose         | 3           

2026-01-20T21:26:34.698Z,1768944394.698 [DAT](INFO): set verbose to 3
2026-01-20T21:26:34.698Z,1768944394.698 [DAT](INFO): setting DatVerbose to 27440
2026-01-20T21:26:34.949Z,1768944394.949 [DAT](INFO): DAT read: user:2>

2026-01-20T21:26:34.950Z,1768944394.950 [DAT](INFO): DAT read: DatVerbose      | 27440       

2026-01-20T21:26:34.950Z,1768944394.950 [DAT](INFO): set DatVerbose to 27440
2026-01-20T21:26:34.950Z,1768944394.950 [DAT](INFO): setting transmit power to 8
2026-01-20T21:26:35.202Z,1768944395.202 [DAT](INFO): DAT read: user:3>

2026-01-20T21:26:35.203Z,1768944395.203 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2026-01-20T21:26:35.203Z,1768944395.203 [DAT](INFO): set transmit power to 8
2026-01-20T21:26:35.204Z,1768944395.204 [DAT](INFO): setting local address to 5
2026-01-20T21:26:35.453Z,1768944395.453 [DAT](INFO): DAT read: user:4>

2026-01-20T21:26:35.454Z,1768944395.454 [DAT](INFO): DAT read: LocalAddr       | 5           

2026-01-20T21:26:35.454Z,1768944395.454 [DAT](INFO): set local address to 5
2026-01-20T21:26:35.455Z,1768944395.455 [DAT](INFO): Setting time to: 21:26:35 And date to:1/20/2026
2026-01-20T21:26:35.705Z,1768944395.705 [DAT](INFO): DAT read: user:5>

2026-01-20T21:26:35.706Z,1768944395.706 [DAT](INFO): DAT read: Tue Jan 20, 2026  21:26:35  

2026-01-20T21:26:35.706Z,1768944395.706 [DAT](INFO): Local DAT time set to Tue Jan 20, 2026  21:26:35  

2026-01-20T21:26:46.146Z,1768944406.146 [NAL9602](INFO): Powering up NAL9602
2026-01-20T21:26:57.051Z,1768944417.051 [NAL9602](INFO): NAL9602 initialized
2026-01-20T21:27:20.086Z,1768944440.086 [NAL9602](INFO): SBD MO Status=0, MOMSN=25346, MT Status=0, MTMSN=0
2026-01-20T21:27:20.086Z,1768944440.086 [NAL9602](INFO): No messages in MT queue
2026-01-20T21:27:26.957Z,1768944446.957 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,212721.00,A,3659.47720,N,12225.16911,W,0.564,0.00,200126,,,A*7E
2026-01-20T21:27:26.960Z,1768944446.960 [NAL9602](INFO): GPS fix at 20260120T212721: (36.991287, -122.419485)
2026-01-20T21:27:59.288Z,1768944479.288 [BPC1](ERROR): BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).
2026-01-20T21:27:59.292Z,1768944479.292 [NAL9602](INFO): Not Powering down - fast GPS
2026-01-20T21:28:29.065Z,1768944509.065 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003913
2026-01-20T21:28:39.721Z,1768944519.721 [SBIT](IMPORTANT): Beginning Startup BIT
2026-01-20T21:28:39.725Z,1768944519.725 [GFScanner](IMPORTANT): Beginning ground fault scan
2026-01-20T21:28:44.209Z,1768944524.209 [GFScanner](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.002699
CHAN A1 (24V): 0.007167
CHAN A2 (12V): -0.006199
CHAN A3 (5V): -0.012074
CHAN B0 (3.3V): -0.005657
CHAN B1 (3.15aV): -0.002027
CHAN B2 (3.15bV): -0.001871
CHAN B3 (GND): -0.003316
OPEN: 0.011975
Full Scale: +/- 1 mA
2026-01-20T21:29:33.534Z,1768944573.534 [SBIT](IMPORTANT): SBIT PASSED
2026-01-20T21:29:33.535Z,1768944573.535 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2026-01-20T21:29:33.535Z,1768944573.535 [SBIT](IMPORTANT): BPC1.batteryMissingStickThreshold=5 count;

2026-01-20T21:29:33.540Z,1768944573.540 [SBIT](IMPORTANT): CBIT.navErrorThreshold=100 percent;

2026-01-20T21:29:33.540Z,1768944573.540 [SBIT](IMPORTANT): CBIT.runNavErrorCritical=1 bool;

2026-01-20T21:29:33.540Z,1768944573.540 [SBIT](IMPORTANT): DVL_micro.loadAtStartup=0 bool;

2026-01-20T21:29:33.540Z,1768944573.540 [SBIT](IMPORTANT): Express linearApproximation PowerOnly.component_avgCurrent_loadControl 50.000000 milliampere;

2026-01-20T21:29:33.540Z,1768944573.540 [SBIT](IMPORTANT): Express linearApproximation PowerOnly.samplePowerOnly 1.000000 bool;

2026-01-20T21:29:33.540Z,1768944573.540 [SBIT](IMPORTANT): GFScanner.isolationThreshold=0.05 milliampere;

2026-01-20T21:29:33.540Z,1768944573.540 [SBIT](IMPORTANT): IBIT.batteryCapacityThreshold=-1 ampere_hour;

2026-01-20T21:29:33.541Z,1768944573.541 [SBIT](IMPORTANT): IBIT.batteryVoltageThreshold=10 volt;

2026-01-20T21:29:33.541Z,1768944573.541 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=398.675317 cubic_centimeter;

2026-01-20T21:29:33.541Z,1768944573.541 [SBIT](IMPORTANT): VerticalControl.massDefault=30.648980 millimeter;

2026-01-20T21:29:33.927Z,1768944573.927 [MissionManager](IMPORTANT): Started mission Startup
2026-01-20T21:29:33.927Z,1768944573.927 [Startup] Running Loop=1
2026-01-20T21:29:33.927Z,1768944573.927 [Startup](DEBUG): Aggregate::initialize Startup
2026-01-20T21:29:33.927Z,1768944573.927 [Startup:A.GoToSurface] Running Loop=1
2026-01-20T21:29:33.927Z,1768944573.927 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2026-01-20T21:29:33.944Z,1768944573.944 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2026-01-20T21:29:33.944Z,1768944573.944 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2026-01-20T21:29:33.945Z,1768944573.945 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2026-01-20T21:29:33.945Z,1768944573.945 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2026-01-20T21:29:33.945Z,1768944573.945 [Startup:A.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2026-01-20T21:29:33.946Z,1768944573.946 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2026-01-20T21:29:33.947Z,1768944573.947 [Startup:StartupSatComms] Running Loop=1
2026-01-20T21:29:33.947Z,1768944573.947 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2026-01-20T21:29:33.947Z,1768944573.947 [Startup:StartupSatComms:A] Running Loop=1
2026-01-20T21:29:34.329Z,1768944574.329 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2026-01-20T21:29:35.924Z,1768944575.924 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,212930.00,A,3659.49810,N,12225.14916,W,1.030,71.24,200126,,,A*42
2026-01-20T21:29:35.926Z,1768944575.926 [NAL9602](INFO): GPS fix at 20260120T212930: (36.991635, -122.419153)
2026-01-20T21:29:35.939Z,1768944575.939 [Startup:StartupSatComms:A] Stopped
2026-01-20T21:29:35.939Z,1768944575.939 [Startup:StartupSatComms:B] Running Loop=1
2026-01-20T21:29:36.354Z,1768944576.354 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2026-01-20T21:29:43.527Z,1768944583.527 [DataOverHttps](INFO): Sending 40 bytes from file Logs/20260118T144610/Courier0150.lzma
2026-01-20T21:29:44.530Z,1768944584.530 [DataOverHttps](INFO): Moved sent file to Logs/20260118T144610/Courier0150.lzma.bak
2026-01-20T21:29:44.530Z,1768944584.530 [DataOverHttps](INFO): SBD MOMSN=26582967
2026-01-20T21:30:00.412Z,1768944600.412 [DataOverHttps](INFO): Sending 273 bytes from file Logs/20260120T212604/Courier0000.lzma
2026-01-20T21:30:01.414Z,1768944601.414 [DataOverHttps](INFO): Moved sent file to Logs/20260120T212604/Courier0000.lzma.bak
2026-01-20T21:30:01.414Z,1768944601.414 [DataOverHttps](INFO): SBD MOMSN=26582969
2026-01-20T21:30:17.696Z,1768944617.696 [DataOverHttps](INFO): Sending 244 bytes from file Logs/20260118T144610/Express0151.lzma
2026-01-20T21:30:18.698Z,1768944618.698 [DataOverHttps](INFO): Moved sent file to Logs/20260118T144610/Express0151.lzma.bak
2026-01-20T21:30:18.698Z,1768944618.698 [DataOverHttps](INFO): SBD MOMSN=26582973
2026-01-20T21:30:34.818Z,1768944634.818 [DataOverHttps](INFO): Sending 1266 bytes from file Logs/20260120T212604/Express0001.lzma
2026-01-20T21:30:35.818Z,1768944635.818 [DataOverHttps](INFO): Moved sent file to Logs/20260120T212604/Express0001.lzma.bak
2026-01-20T21:30:35.818Z,1768944635.818 [DataOverHttps](INFO): SBD MOMSN=26582979
2026-01-20T21:30:36.143Z,1768944636.143 [Startup:StartupSatComms:B](INFO): Timed out from 2026-01-20T21:29:35.9Z
2026-01-20T21:30:36.143Z,1768944636.143 [Startup:StartupSatComms:B] Stopped
2026-01-20T21:30:36.143Z,1768944636.143 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2026-01-20T21:30:36.143Z,1768944636.143 [Startup:StartupSatComms] Stopped
2026-01-20T21:30:36.143Z,1768944636.143 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2026-01-20T21:30:36.149Z,1768944636.149 [Startup](INFO): Completed Startup
2026-01-20T21:30:36.149Z,1768944636.149 [MissionManager](INFO): Startup is completed.
2026-01-20T21:30:36.149Z,1768944636.149 [MissionManager](INFO): Uninitializing Mission Startup
2026-01-20T21:30:36.150Z,1768944636.150 [Startup] Stopped
2026-01-20T21:30:36.150Z,1768944636.150 [Startup](DEBUG): Aggregate::uninitialize Startup
2026-01-20T21:30:36.150Z,1768944636.150 [Startup:A.GoToSurface] Stopped
2026-01-20T21:30:36.150Z,1768944636.150 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2026-01-20T21:30:36.559Z,1768944636.559 [MissionManager](IMPORTANT): Started mission Default
2026-01-20T21:30:36.560Z,1768944636.560 [Default] Running Loop=1
2026-01-20T21:30:36.560Z,1768944636.560 [Default](DEBUG): Aggregate::initialize Default
2026-01-20T21:30:36.560Z,1768944636.560 [Default:B.GoToSurface] Running Loop=1
2026-01-20T21:30:36.560Z,1768944636.560 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2026-01-20T21:30:36.560Z,1768944636.560 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2026-01-20T21:30:36.567Z,1768944636.567 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2026-01-20T21:30:36.569Z,1768944636.569 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2026-01-20T21:30:36.569Z,1768944636.569 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2026-01-20T21:30:36.570Z,1768944636.570 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2026-01-20T21:30:36.570Z,1768944636.570 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2026-01-20T21:30:36.570Z,1768944636.570 [Default:A.Wait] Running Loop=1
2026-01-20T21:30:36.570Z,1768944636.570 [Default:A.Wait](DEBUG): Initialize Wait Component.
2026-01-20T21:30:49.887Z,1768944649.887 [Default:A.Wait](INFO): Done Waiting.
2026-01-20T21:30:49.888Z,1768944649.888 [Default:A.Wait] Stopped
2026-01-20T21:30:49.888Z,1768944649.888 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2026-01-20T21:30:50.263Z,1768944650.263 [Default:CheckIn] Running Loop=1
2026-01-20T21:30:50.263Z,1768944650.263 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2026-01-20T21:30:50.263Z,1768944650.263 [Default:CheckIn:Read_GPS] Running Loop=1
2026-01-20T21:30:50.667Z,1768944650.667 [Default:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2026-01-20T21:31:15.025Z,1768944675.025 [DataOverHttps](IMPORTANT): SBD MTMSN=20260120T213112
2026-01-20T21:31:22.452Z,1768944682.452 [DataOverHttps](INFO): Received command: schedule resume
2026-01-20T21:31:22.470Z,1768944682.470 [CommandExec](IMPORTANT): got command schedule resume
2026-01-20T21:31:44.395Z,1768944704.395 [NAL9602](INFO): SBD MO Status=2, MOMSN=25347, MT Status=2, MTMSN=0
2026-01-20T21:31:44.395Z,1768944704.395 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-01-20T21:32:00.149Z,1768944720.149 [NAL9602](INFO): SBD MO Status=2, MOMSN=25347, MT Status=2, MTMSN=0
2026-01-20T21:32:00.150Z,1768944720.150 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-01-20T21:33:58.926Z,1768944838.926 [NAL9602](INFO): SBD MO Status=2, MOMSN=25347, MT Status=2, MTMSN=0
2026-01-20T21:33:58.926Z,1768944838.926 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-01-20T21:34:16.298Z,1768944856.298 [NAL9602](INFO): SBD MO Status=2, MOMSN=25347, MT Status=2, MTMSN=0
2026-01-20T21:34:16.298Z,1768944856.298 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-01-20T21:34:38.514Z,1768944878.514 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2026-01-20T21:34:42.965Z,1768944882.965 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,213440.00,A,3659.53014,N,12225.11937,W,0.194,15.05,200126,,,A*47
2026-01-20T21:34:42.968Z,1768944882.968 [NAL9602](INFO): GPS fix at 20260120T213440: (36.992169, -122.418656)
2026-01-20T21:34:42.978Z,1768944882.978 [Default:CheckIn:Read_GPS] Stopped
2026-01-20T21:34:42.978Z,1768944882.978 [Default:CheckIn:Read_Iridium] Running Loop=1
2026-01-20T21:34:43.399Z,1768944883.399 [Default:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2026-01-20T21:34:51.459Z,1768944891.459 [DataOverHttps](INFO): Sending 76 bytes from file Logs/20260120T212604/Courier0004.lzma
2026-01-20T21:34:52.462Z,1768944892.462 [DataOverHttps](INFO): Moved sent file to Logs/20260120T212604/Courier0004.lzma.bak
2026-01-20T21:34:52.462Z,1768944892.462 [DataOverHttps](INFO): SBD MOMSN=26583006
2026-01-20T21:35:08.304Z,1768944908.304 [DataOverHttps](INFO): Sending 363 bytes from file Logs/20260120T212604/Express0005.lzma
2026-01-20T21:35:09.306Z,1768944909.306 [DataOverHttps](INFO): Moved sent file to Logs/20260120T212604/Express0005.lzma.bak
2026-01-20T21:35:09.306Z,1768944909.306 [DataOverHttps](INFO): SBD MOMSN=26583009
2026-01-20T21:35:15.681Z,1768944915.681 [NAL9602](INFO): Not Powering down - fast GPS
2026-01-20T21:35:25.455Z,1768944925.455 [DataOverHttps](INFO): Sending 59 bytes from file Logs/20260120T212604/Express0008.lzma
2026-01-20T21:35:26.458Z,1768944926.458 [DataOverHttps](INFO): Moved sent file to Logs/20260120T212604/Express0008.lzma.bak
2026-01-20T21:35:26.458Z,1768944926.458 [DataOverHttps](INFO): SBD MOMSN=26583015
2026-01-20T21:35:27.833Z,1768944927.833 [Default:CheckIn:Read_Iridium] Stopped
2026-01-20T21:35:27.833Z,1768944927.833 [Default:CheckIn:C.Wait] Running Loop=1
2026-01-20T21:35:27.833Z,1768944927.833 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2026-01-20T21:36:36.202Z,1768944996.202 [DataOverHttps](IMPORTANT): SBD MTMSN=20260120T213633
2026-01-20T21:36:45.782Z,1768945005.782 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2026-01-20T21:36:46.696Z,1768945006.696 [DataOverHttps](INFO): Received command: sched asap "load Science/sci2_vtyoyo.tl;set sci2_vtyoyo.MissionTimeout 14 h;set sci2_vtyoyo.NeedCommsTime 90 min;set sci2_vtyoyo.Lat1 36.797 degree;set sci2_vtyoyo.Lon1 -121.847 degree;set sci2_vtyoyo.Speed .9 m/s" 3suo4 1 2
2026-01-20T21:36:46.704Z,1768945006.704 [CommandExec](IMPORTANT): got command schedule asap "load Science/sci2_vtyoyo.tl;set sci2_vtyoyo.MissionTimeout 14 h;set sci2_vtyoyo.NeedCommsTime 90 min;set sci2_vtyoyo.Lat1 36.797 degree;set sci2_vtyoyo.Lon1 -121.847 degree;set sci2_vtyoyo.Speed .9 m/s" 3suo4 1 2.000000
2026-01-20T21:36:46.704Z,1768945006.704 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=3suo4
2026-01-20T21:36:46.705Z,1768945006.705 [CommandExec](IMPORTANT): Scheduled #1 (#1 of 2 with id='3suo4'): "load Science/sci2_vtyoyo.tl;set sci2_vtyoyo.MissionTimeout 14 h;set sci2_vtyoyo.NeedCommsTime 90 min;set sci2_vtyoyo.Lat1 36.797 degree;set sci2_vtyoyo.Lon1 -121.847 degree;set sci2_vtyoyo.Speed .9 m/s", ASAP
2026-01-20T21:36:47.698Z,1768945007.698 [DataOverHttps](IMPORTANT): SBD MTMSN=20260120T213644
2026-01-20T21:36:55.104Z,1768945015.104 [DataOverHttps](INFO): Received command: sched asap "set sci2_vtyoyo.YoYoMinDepth 4 m;set sci2_vtyoyo.YoYoMaxDepth 85 m;set sci2_vtyoyo.MaxDepth 95 m;set sci2_vtyoyo.SinkOffSurface 1 bool;set sci2_vtyoyo.SinkDepthTimeout 2 min;set sci2_vtyoyo:BackseatDriver.EnableBackseat 1 bool;run" 3suo4 2 2
2026-01-20T21:36:55.156Z,1768945015.156 [CommandExec](IMPORTANT): got command schedule asap "set sci2_vtyoyo.YoYoMinDepth 4 m;set sci2_vtyoyo.YoYoMaxDepth 85 m;set sci2_vtyoyo.MaxDepth 95 m;set sci2_vtyoyo.SinkOffSurface 1 bool;set sci2_vtyoyo.SinkDepthTimeout 2 min;set sci2_vtyoyo:BackseatDriver.EnableBackseat 1 bool;run" 3suo4 2 2.000000
2026-01-20T21:36:55.157Z,1768945015.157 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=3suo4
2026-01-20T21:36:55.157Z,1768945015.157 [CommandExec](IMPORTANT): Scheduled #2 (#2 of 2 with id='3suo4'): "set sci2_vtyoyo.YoYoMinDepth 4 m;set sci2_vtyoyo.YoYoMaxDepth 85 m;set sci2_vtyoyo.MaxDepth 95 m;set sci2_vtyoyo.SinkOffSurface 1 bool;set sci2_vtyoyo.SinkDepthTimeout 2 min;set sci2_vtyoyo:BackseatDriver.EnableBackseat 1 bool;run", ASAP
2026-01-20T21:36:55.289Z,1768945015.289 [CommandExec](IMPORTANT): got command load ./Missions/Science/sci2_vtyoyo.tl
2026-01-20T21:36:55.290Z,1768945015.290 [MissionManager](INFO): Loading Mission from file: ./Missions/Science/sci2_vtyoyo.tl
2026-01-20T21:36:55.290Z,1768945015.290 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Science/sci2_vtyoyo.tl
2026-01-20T21:36:55.301Z,1768945015.301 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Science/sci2_vtyoyo.tl
2026-01-20T21:37:00.222Z,1768945020.222 [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>
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DoingCommsMode" />
        <Arg Name="DoingComms" />
    </Assign>
    <Aggregate Id="setRestoreMode">
        <Sequence />
        <Break>
            <Arg Name="SinkOffSurface" />
        </Break>
        <Assign>
            <Sequence />
            <Arg Name="NeedComms:RestoreMode" />
            <Arg Name="YoYo" />
        </Assign>
    </Aggregate>
    <Aggregate Id="setSinkRestore">
        <Sequence />
        <Break>
            <Not>
                <Arg Name="SinkOffSurface" />
            </Not>
        </Break>
        <Assign>
            <Sequence />
            <Arg Name="NeedComms:RestoreMode" />
            <Arg Name="SurfaceSink" />
        </Assign>
    </Aggregate>
    <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="manageDiveMode">
        <When>
            <Arg Name="NeedComms:IsActive" />
        </When>
        <Aggregate Id="syncWhileActive">
            <While>
                <Arg Name="NeedComms:IsActive" />
            </While>
            <Assign>
                <Parallel />
                <Arg Name="DiveMode" />
                <Arg Name="NeedComms:RequiredDiveMode" />
            </Assign>
        </Aggregate>
    </Aggregate>
    <Call RefId="NeedComms" 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>

2026-01-20T21:37:00.233Z,1768945020.233 [MissionManager](INFO): DefineArg sci2_vtyoyo.MissionTimeout = 2.000000 h
2026-01-20T21:37:00.236Z,1768945020.236 [MissionManager](INFO): DefineArg sci2_vtyoyo.NeedCommsTime = 60.000000 min
2026-01-20T21:37:00.239Z,1768945020.239 [MissionManager](INFO): DefineArg sci2_vtyoyo.Repeat = 1.000000 count
2026-01-20T21:37:00.242Z,1768945020.242 [MissionManager](INFO): DefineArg sci2_vtyoyo.Lat1 = nan arcdeg
2026-01-20T21:37:00.265Z,1768945020.265 [MissionManager](INFO): DefineArg sci2_vtyoyo.Lat2 = nan arcdeg
2026-01-20T21:37:00.272Z,1768945020.272 [MissionManager](INFO): DefineArg sci2_vtyoyo.Lat3 = nan arcdeg
2026-01-20T21:37:00.275Z,1768945020.275 [MissionManager](INFO): DefineArg sci2_vtyoyo.Lat4 = nan arcdeg
2026-01-20T21:37:00.282Z,1768945020.282 [MissionManager](INFO): DefineArg sci2_vtyoyo.Lat5 = nan arcdeg
2026-01-20T21:37:00.325Z,1768945020.325 [MissionManager](INFO): DefineArg sci2_vtyoyo.Lat6 = nan arcdeg
2026-01-20T21:37:00.327Z,1768945020.327 [MissionManager](INFO): DefineArg sci2_vtyoyo.Lat7 = nan arcdeg
2026-01-20T21:37:00.339Z,1768945020.339 [MissionManager](INFO): DefineArg sci2_vtyoyo.Lon1 = nan arcdeg
2026-01-20T21:37:00.346Z,1768945020.346 [MissionManager](INFO): DefineArg sci2_vtyoyo.Lon2 = nan arcdeg
2026-01-20T21:37:00.361Z,1768945020.361 [MissionManager](INFO): DefineArg sci2_vtyoyo.Lon3 = nan arcdeg
2026-01-20T21:37:00.363Z,1768945020.363 [MissionManager](INFO): DefineArg sci2_vtyoyo.Lon4 = nan arcdeg
2026-01-20T21:37:00.382Z,1768945020.382 [MissionManager](INFO): DefineArg sci2_vtyoyo.Lon5 = nan arcdeg
2026-01-20T21:37:00.390Z,1768945020.390 [MissionManager](INFO): DefineArg sci2_vtyoyo.Lon6 = nan arcdeg
2026-01-20T21:37:00.401Z,1768945020.401 [MissionManager](INFO): DefineArg sci2_vtyoyo.Lon7 = nan arcdeg
2026-01-20T21:37:00.403Z,1768945020.403 [MissionManager](INFO): DefineArg sci2_vtyoyo.Speed = 1.000000 m/s
2026-01-20T21:37:00.415Z,1768945020.415 [MissionManager](INFO): DefineArg sci2_vtyoyo.CaptureRadius = nan m
2026-01-20T21:37:00.419Z,1768945020.419 [MissionManager](INFO): DefineArg sci2_vtyoyo.YoYoMinDepth = 2.000000 m
2026-01-20T21:37:00.430Z,1768945020.430 [MissionManager](INFO): DefineArg sci2_vtyoyo.YoYoMaxDepth = 250.000000 m
2026-01-20T21:37:00.437Z,1768945020.437 [MissionManager](INFO): DefineArg sci2_vtyoyo.YoYoMinAltitude = 9.000000 m
2026-01-20T21:37:00.441Z,1768945020.441 [MissionManager](INFO): DefineArg sci2_vtyoyo.YoYoUpPitch = 20.000000 arcdeg
2026-01-20T21:37:00.443Z,1768945020.443 [MissionManager](INFO): DefineArg sci2_vtyoyo.YoYoDownPitch = -20.000000 arcdeg
2026-01-20T21:37:00.455Z,1768945020.455 [MissionManager](INFO): DefineArg sci2_vtyoyo.YoYoLightTerminateThreshold = 0.100000 umol/s/m2
2026-01-20T21:37:00.477Z,1768945020.477 [MissionManager](INFO): DefineArg sci2_vtyoyo.PeakDetectChl = 0 bool
2026-01-20T21:37:00.479Z,1768945020.479 [MissionManager](INFO): DefineArg sci2_vtyoyo.ShallowBoundChl = nan m
2026-01-20T21:37:00.486Z,1768945020.486 [MissionManager](INFO): DefineArg sci2_vtyoyo.DeepBoundChl = nan m
2026-01-20T21:37:00.489Z,1768945020.489 [MissionManager](INFO): DefineArg sci2_vtyoyo.ChlThreshTrigger = 0 bool
2026-01-20T21:37:00.501Z,1768945020.501 [MissionManager](INFO): DefineArg sci2_vtyoyo.ChlLowerThreshold = nan ug/l
2026-01-20T21:37:00.503Z,1768945020.503 [MissionManager](INFO): DefineArg sci2_vtyoyo.ChlUpperThreshold = nan ug/l
2026-01-20T21:37:00.511Z,1768945020.511 [MissionManager](INFO): DefineArg sci2_vtyoyo.NumProfilesThreshold = 5.000000 count
2026-01-20T21:37:00.518Z,1768945020.518 [MissionManager](INFO): DefineArg sci2_vtyoyo.BuoyancyNeutral = 398.675323 cc
2026-01-20T21:37:00.526Z,1768945020.526 [MissionManager](INFO): DefineArg sci2_vtyoyo.MassDefault = 3.064898 cm
2026-01-20T21:37:00.530Z,1768945020.530 [MissionManager](INFO): DefineArg sci2_vtyoyo.MinAltitude = 5.000000 m
2026-01-20T21:37:00.549Z,1768945020.549 [MissionManager](INFO): DefineArg sci2_vtyoyo.MaxDepth = 405.000000 m
2026-01-20T21:37:00.551Z,1768945020.551 [MissionManager](INFO): DefineArg sci2_vtyoyo.MinOffshore = 2.000000 km
2026-01-20T21:37:00.558Z,1768945020.558 [MissionManager](INFO): DefineArg sci2_vtyoyo.SinkOffSurface = 0 bool
2026-01-20T21:37:00.569Z,1768945020.569 [MissionManager](INFO): DefineArg sci2_vtyoyo.SinkDepth = 10.000000 m
2026-01-20T21:37:00.572Z,1768945020.572 [MissionManager](INFO): DefineArg sci2_vtyoyo.SinkDepthTimeout = 10.000000 min
2026-01-20T21:37:00.575Z,1768945020.575 [MissionManager](INFO): DefineOutput sci2_vtyoyo.DiveMode = 0.000000 count
2026-01-20T21:37:00.586Z,1768945020.586 [MissionManager](INFO): DefineOutput sci2_vtyoyo.DoingComms = 0.000000 count
2026-01-20T21:37:00.589Z,1768945020.589 [MissionManager](INFO): DefineOutput sci2_vtyoyo.SurfaceSink = 1.000000 count
2026-01-20T21:37:00.596Z,1768945020.596 [MissionManager](INFO): DefineOutput sci2_vtyoyo.YoYo = 2.000000 count
2026-01-20T21:37:00.597Z,1768945020.597 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2026-01-20T21:37:00.597Z,1768945020.597 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2026-01-20T21:37:00.606Z,1768945020.606 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2026-01-20T21:37:04.400Z,1768945024.400 [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="PeakDepthAvgProfilesChlActive">
        <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="PeakDepthAvgProfilesPlanktivoreLMavgROIActive">
        <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="DeepThreshValidLeg">
        <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="PeakChlAvgProfiles">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlDepthAvgProfiles">
        <Units:meter />
        <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="PeakPlanktivoreLMavgROIAvgProfiles">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROIDepthAvgProfiles">
        <Units:meter />
        <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.deepThreshValidLeg />
                <Arg Name="DeepThreshValidLeg" />
            </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 Id="SyslogSendDataPeakDepthAvgProfilesChl">
            <Sequence />
            <Break>
                <Not>
                    <Arg Name="PeakDepthAvgProfilesChlActive" />
                </Not>
            </Break>
            <Syslog Severity="Info">
                PeakChlAvgProfiles = 
                <Arg Name="PeakChlAvgProfiles" />
                <Units:microgram_per_liter />
                . PeakChlDepthAvgProfiles = 
                <Arg Name="PeakChlDepthAvgProfiles" />
                <Units:meter />
            </Syslog>
            <SendData Service="Express">
                <Arg Name="PeakChlAvgProfiles" />
                <Arg Name="PeakChlDepthAvgProfiles" />
            </SendData>
        </Aggregate>
    </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="PeakDepthAvgProfilesChl">
        <While>
            <Arg Name="PeakDepthAvgProfilesChlActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectHorizontal</Syslog>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <False />
            </Setting>
            <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.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <OutputArg Name="PeakChlAvgProfiles">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepthAvgProfiles">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </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 Id="SyslogSendDataPeakDepthAvgProfilesPlanktivoreLMavgROI">
            <Sequence />
            <Break>
                <Not>
                    <Arg Name="PeakDepthAvgProfilesPlanktivoreLMavgROIActive" />
                </Not>
            </Break>
            <Syslog Severity="Info">
                PeakPlanktivoreLMavgROIAvgProfiles = 
                <Arg Name="PeakPlanktivoreLMavgROIAvgProfiles" />
                <Units:count_per_second />
                . PeakPlanktivoreLMavgROIDepthAvgProfiles = 
                <Arg Name="PeakPlanktivoreLMavgROIDepthAvgProfiles" />
                <Units:meter />
            </Syslog>
            <SendData Service="Express">
                <Arg Name="PeakPlanktivoreLMavgROIAvgProfiles" />
                <Arg Name="PeakPlanktivoreLMavgROIDepthAvgProfiles" />
            </SendData>
        </Aggregate>
    </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="PeakDepthAvgProfilesPlanktivoreLMavgROI">
        <While>
            <Arg Name="PeakDepthAvgProfilesPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectHorizontal</Syslog>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <False />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakPlanktivoreLMavgROI" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakPlanktivoreLMavgROILatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakPlanktivoreLMavgROILongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreLMavgROIAvgProfiles">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepthAvgProfiles">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </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>

2026-01-20T21:37:04.465Z,1768945024.465 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.PeakDetectChlActive = 0 bool
2026-01-20T21:37:04.482Z,1768945024.482 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.PeakDepthAvgProfilesChlActive = 0 bool
2026-01-20T21:37:04.485Z,1768945024.485 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.EdgeDetectChlActive = 0 bool
2026-01-20T21:37:04.488Z,1768945024.488 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.TimeWindowPeakReport = nan min
2026-01-20T21:37:04.490Z,1768945024.490 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.HighestChlPeakReportActive = 0 bool
2026-01-20T21:37:04.493Z,1768945024.493 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.HighestSaltPeakReportActive = 0 bool
2026-01-20T21:37:04.498Z,1768945024.498 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.HighestOilPeakReportActive = 0 bool
2026-01-20T21:37:04.500Z,1768945024.500 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.PatchTracking = 0 bool
2026-01-20T21:37:04.503Z,1768945024.503 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.FilterWidthHorizontal = 3.000000 count
2026-01-20T21:37:04.506Z,1768945024.506 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.NumProfilesSlidingwindow = 100.000000 count
2026-01-20T21:37:04.509Z,1768945024.509 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.OffPeakFractionHorizontal = 80.000000 %
2026-01-20T21:37:04.512Z,1768945024.512 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.PeakDetectNO3Active = 0 bool
2026-01-20T21:37:04.514Z,1768945024.514 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.PeakDetectOilActive = 0 bool
2026-01-20T21:37:04.517Z,1768945024.517 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.PeakDetectFDOMActive = 0 bool
2026-01-20T21:37:04.544Z,1768945024.544 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.PeakDetectSalinityActive = 0 bool
2026-01-20T21:37:04.547Z,1768945024.547 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2026-01-20T21:37:04.549Z,1768945024.549 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.PeakDepthAvgProfilesPlanktivoreLMavgROIActive = 0 bool
2026-01-20T21:37:04.560Z,1768945024.560 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2026-01-20T21:37:04.563Z,1768945024.563 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2026-01-20T21:37:04.570Z,1768945024.570 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.EdgeDetectPlanktivoreHMavgROIActive = 0 bool
2026-01-20T21:37:04.573Z,1768945024.573 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2026-01-20T21:37:04.575Z,1768945024.575 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.EdgeDetectPlanktivoreDiatomsActive = 0 bool
2026-01-20T21:37:04.598Z,1768945024.598 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2026-01-20T21:37:04.605Z,1768945024.605 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.EdgeDetectPlanktivoreDinoflagellatesActive = 0 bool
2026-01-20T21:37:04.617Z,1768945024.617 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2026-01-20T21:37:04.628Z,1768945024.628 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.EnabledAanderaaO2 = 0 bool
2026-01-20T21:37:04.636Z,1768945024.636 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.EnabledNeilBrown = 0 bool
2026-01-20T21:37:04.639Z,1768945024.639 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.EnabledRBRTridente = 0 bool
2026-01-20T21:37:04.647Z,1768945024.647 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.EnabledSeabird = 1 bool
2026-01-20T21:37:04.651Z,1768945024.651 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.EnabledWetLabsBB2FL = 1 bool
2026-01-20T21:37:04.666Z,1768945024.666 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2026-01-20T21:37:04.674Z,1768945024.674 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.EnabledWetLabsUBAT = 0 bool
2026-01-20T21:37:04.692Z,1768945024.692 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.LowPassWindowLength = 20.000000 count
2026-01-20T21:37:04.695Z,1768945024.695 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.MedianFilterLen = 5.000000 count
2026-01-20T21:37:04.706Z,1768945024.706 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.ShallowBound = nan m
2026-01-20T21:37:04.713Z,1768945024.713 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.DeepBound = nan m
2026-01-20T21:37:04.720Z,1768945024.720 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.DeepThreshValidLeg = nan m
2026-01-20T21:37:04.723Z,1768945024.723 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2026-01-20T21:37:04.730Z,1768945024.730 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.OffPeakFractionVerticalAscent = nan %
2026-01-20T21:37:04.733Z,1768945024.733 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.OffPeakFractionVerticalDescent = nan %
2026-01-20T21:37:04.772Z,1768945024.772 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.ChlPeakThresh = 0.000000 ug/l
2026-01-20T21:37:04.775Z,1768945024.775 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.NumberOfLayers = 1.000000 count
2026-01-20T21:37:04.791Z,1768945024.791 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.ChlThreshTriggerActive = 0 bool
2026-01-20T21:37:04.802Z,1768945024.802 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.ChlLowerThresh = nan ug/l
2026-01-20T21:37:04.817Z,1768945024.817 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.ChlUpperThresh = nan ug/l
2026-01-20T21:37:04.824Z,1768945024.824 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.NumProfilesThresh = 5.000000 count
2026-01-20T21:37:04.827Z,1768945024.827 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2026-01-20T21:37:04.838Z,1768945024.838 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.PlanktivoreHMavgROIPeakThresh = 0.000000 count/s
2026-01-20T21:37:04.841Z,1768945024.841 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.PlanktivoreDiatomsPeakThresh = 0.000000 count/ml
2026-01-20T21:37:04.852Z,1768945024.852 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.PlanktivoreDinoflagellatesPeakThresh = 0.000000 count/ml
2026-01-20T21:37:04.855Z,1768945024.855 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.GoDown = 1 bool
2026-01-20T21:37:04.862Z,1768945024.862 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakChl = nan ug/l
2026-01-20T21:37:04.870Z,1768945024.870 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakChlDepth = nan m
2026-01-20T21:37:04.877Z,1768945024.877 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakChlTemperature = nan degC
2026-01-20T21:37:04.888Z,1768945024.888 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakChlLatitude = nan arcdeg
2026-01-20T21:37:04.891Z,1768945024.891 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakChlLongitude = nan arcdeg
2026-01-20T21:37:04.916Z,1768945024.916 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakChlAvgProfiles = nan ug/l
2026-01-20T21:37:04.919Z,1768945024.919 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakChlDepthAvgProfiles = nan m
2026-01-20T21:37:04.927Z,1768945024.927 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.EdgeChl = nan ug/l
2026-01-20T21:37:04.935Z,1768945024.935 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.EdgeChlDepth = nan m
2026-01-20T21:37:04.939Z,1768945024.939 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.EdgeChlTemperature = nan degC
2026-01-20T21:37:04.950Z,1768945024.950 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.EdgeChlLatitude = nan arcdeg
2026-01-20T21:37:04.957Z,1768945024.957 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.EdgeChlLongitude = nan arcdeg
2026-01-20T21:37:04.961Z,1768945024.961 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakNO3 = nan umol/l
2026-01-20T21:37:04.976Z,1768945024.976 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakNO3Depth = nan m
2026-01-20T21:37:04.984Z,1768945024.984 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakNO3Latitude = nan arcdeg
2026-01-20T21:37:04.987Z,1768945024.987 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakNO3Longitude = nan arcdeg
2026-01-20T21:37:04.997Z,1768945024.997 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakOil = nan kg/m3
2026-01-20T21:37:05.009Z,1768945025.009 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakOilDepth = nan m
2026-01-20T21:37:05.013Z,1768945025.013 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakOilLatitude = nan arcdeg
2026-01-20T21:37:05.025Z,1768945025.025 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakOilLongitude = nan arcdeg
2026-01-20T21:37:05.032Z,1768945025.032 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakFDOM = nan ppb
2026-01-20T21:37:05.035Z,1768945025.035 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakFDOMDepth = nan m
2026-01-20T21:37:05.042Z,1768945025.042 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakFDOMTemperature = nan degC
2026-01-20T21:37:05.046Z,1768945025.046 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakFDOMLatitude = nan arcdeg
2026-01-20T21:37:05.054Z,1768945025.054 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakFDOMLongitude = nan arcdeg
2026-01-20T21:37:05.059Z,1768945025.059 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakSalt = nan psu
2026-01-20T21:37:05.070Z,1768945025.070 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakSaltDepth = nan m
2026-01-20T21:37:05.086Z,1768945025.086 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakSaltTemperature = nan degC
2026-01-20T21:37:05.093Z,1768945025.093 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakSaltLatitude = nan arcdeg
2026-01-20T21:37:05.100Z,1768945025.100 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakSaltLongitude = nan arcdeg
2026-01-20T21:37:05.103Z,1768945025.103 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakPlanktivoreLMavgROI = nan count/s
2026-01-20T21:37:05.111Z,1768945025.111 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakPlanktivoreLMavgROIDepth = nan m
2026-01-20T21:37:05.118Z,1768945025.118 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2026-01-20T21:37:05.122Z,1768945025.122 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2026-01-20T21:37:05.133Z,1768945025.133 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2026-01-20T21:37:05.141Z,1768945025.141 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakPlanktivoreLMavgROIAvgProfiles = nan count/s
2026-01-20T21:37:05.180Z,1768945025.180 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakPlanktivoreLMavgROIDepthAvgProfiles = nan m
2026-01-20T21:37:05.192Z,1768945025.192 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.EdgePlanktivoreLMavgROI = nan count/s
2026-01-20T21:37:05.195Z,1768945025.195 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.EdgePlanktivoreLMavgROIDepth = nan m
2026-01-20T21:37:05.206Z,1768945025.206 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2026-01-20T21:37:05.214Z,1768945025.214 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2026-01-20T21:37:05.234Z,1768945025.234 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2026-01-20T21:37:05.245Z,1768945025.245 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakPlanktivoreHMavgROI = nan count/s
2026-01-20T21:37:05.260Z,1768945025.260 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakPlanktivoreHMavgROIDepth = nan m
2026-01-20T21:37:05.263Z,1768945025.263 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2026-01-20T21:37:05.275Z,1768945025.275 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2026-01-20T21:37:05.286Z,1768945025.286 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2026-01-20T21:37:05.295Z,1768945025.295 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.EdgePlanktivoreHMavgROI = nan count/s
2026-01-20T21:37:05.311Z,1768945025.311 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.EdgePlanktivoreHMavgROIDepth = nan m
2026-01-20T21:37:05.322Z,1768945025.322 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.EdgePlanktivoreHMavgROITemperature = nan degC
2026-01-20T21:37:05.331Z,1768945025.331 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.EdgePlanktivoreHMavgROILatitude = nan arcdeg
2026-01-20T21:37:05.346Z,1768945025.346 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.EdgePlanktivoreHMavgROILongitude = nan arcdeg
2026-01-20T21:37:05.354Z,1768945025.354 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakPlanktivoreDiatoms = nan count/ml
2026-01-20T21:37:05.370Z,1768945025.370 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakPlanktivoreDiatomsDepth = nan m
2026-01-20T21:37:05.377Z,1768945025.377 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2026-01-20T21:37:05.388Z,1768945025.388 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2026-01-20T21:37:05.409Z,1768945025.409 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2026-01-20T21:37:05.416Z,1768945025.416 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.EdgePlanktivoreDiatoms = nan count/ml
2026-01-20T21:37:05.419Z,1768945025.419 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.EdgePlanktivoreDiatomsDepth = nan m
2026-01-20T21:37:05.427Z,1768945025.427 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.EdgePlanktivoreDiatomsTemperature = nan degC
2026-01-20T21:37:05.431Z,1768945025.431 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.EdgePlanktivoreDiatomsLatitude = nan arcdeg
2026-01-20T21:37:05.443Z,1768945025.443 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.EdgePlanktivoreDiatomsLongitude = nan arcdeg
2026-01-20T21:37:05.450Z,1768945025.450 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2026-01-20T21:37:05.453Z,1768945025.453 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2026-01-20T21:37:05.456Z,1768945025.456 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2026-01-20T21:37:05.459Z,1768945025.459 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2026-01-20T21:37:05.475Z,1768945025.475 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2026-01-20T21:37:05.479Z,1768945025.479 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.EdgePlanktivoreDinoflagellates = nan count/ml
2026-01-20T21:37:05.482Z,1768945025.482 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.EdgePlanktivoreDinoflagellatesDepth = nan m
2026-01-20T21:37:05.485Z,1768945025.485 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.EdgePlanktivoreDinoflagellatesTemperature = nan degC
2026-01-20T21:37:05.513Z,1768945025.513 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.EdgePlanktivoreDinoflagellatesLatitude = nan arcdeg
2026-01-20T21:37:05.516Z,1768945025.516 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.EdgePlanktivoreDinoflagellatesLongitude = nan arcdeg
2026-01-20T21:37:05.519Z,1768945025.519 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PatchChl = nan ug/l
2026-01-20T21:37:05.522Z,1768945025.522 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PatchChlDepth = nan m
2026-01-20T21:37:05.538Z,1768945025.538 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PatchChlLatitude = nan arcdeg
2026-01-20T21:37:05.541Z,1768945025.541 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PatchChlLongitude = nan arcdeg
2026-01-20T21:37:05.584Z,1768945025.584 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PatchChlDistance = nan m
2026-01-20T21:37:05.587Z,1768945025.587 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PatchSalt = nan psu
2026-01-20T21:37:05.599Z,1768945025.599 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PatchSaltDepth = nan m
2026-01-20T21:37:05.606Z,1768945025.606 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PatchSaltLatitude = nan arcdeg
2026-01-20T21:37:05.626Z,1768945025.626 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PatchSaltLongitude = nan arcdeg
2026-01-20T21:37:05.633Z,1768945025.633 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PatchSaltDistance = nan m
2026-01-20T21:37:05.648Z,1768945025.648 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PatchOil = nan psu
2026-01-20T21:37:05.660Z,1768945025.660 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PatchOilDepth = nan m
2026-01-20T21:37:05.663Z,1768945025.663 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PatchOilLatitude = nan arcdeg
2026-01-20T21:37:05.677Z,1768945025.677 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PatchOilLongitude = nan arcdeg
2026-01-20T21:37:05.682Z,1768945025.682 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PatchOilDistance = nan m
2026-01-20T21:37:05.693Z,1768945025.693 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.TriggeredOnChl = 0 bool
2026-01-20T21:37:05.700Z,1768945025.700 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.ChlTriggering = nan ug/l
2026-01-20T21:37:05.803Z,1768945025.803 [sci2_vtyoyo:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2026-01-20T21:37:05.846Z,1768945025.846 [sci2_vtyoyo:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2026-01-20T21:37:05.901Z,1768945025.901 [sci2_vtyoyo:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2026-01-20T21:37:05.935Z,1768945025.935 [sci2_vtyoyo:Science:PeakDepthAvgProfilesChl:B.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2026-01-20T21:37:05.993Z,1768945025.993 [sci2_vtyoyo:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2026-01-20T21:37:06.043Z,1768945026.043 [sci2_vtyoyo:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2026-01-20T21:37:06.071Z,1768945026.071 [sci2_vtyoyo:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2026-01-20T21:37:06.121Z,1768945026.121 [sci2_vtyoyo:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2026-01-20T21:37:06.143Z,1768945026.143 [sci2_vtyoyo:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2026-01-20T21:37:06.166Z,1768945026.166 [sci2_vtyoyo:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2026-01-20T21:37:06.190Z,1768945026.190 [sci2_vtyoyo:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2026-01-20T21:37:06.239Z,1768945026.239 [sci2_vtyoyo:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2026-01-20T21:37:06.296Z,1768945026.296 [sci2_vtyoyo:Science:PeakDepthAvgProfilesPlanktivoreLMavgROI:B.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2026-01-20T21:37:06.333Z,1768945026.333 [sci2_vtyoyo:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2026-01-20T21:37:06.378Z,1768945026.378 [sci2_vtyoyo:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2026-01-20T21:37:06.463Z,1768945026.463 [sci2_vtyoyo:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2026-01-20T21:37:06.498Z,1768945026.498 [sci2_vtyoyo:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2026-01-20T21:37:06.545Z,1768945026.545 [sci2_vtyoyo:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2026-01-20T21:37:06.582Z,1768945026.582 [sci2_vtyoyo:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2026-01-20T21:37:06.642Z,1768945026.642 [sci2_vtyoyo:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2026-01-20T21:37:06.671Z,1768945026.671 [MissionManager](INFO): RedefineArg sci2_vtyoyo:Science.PeakDetectChlActive = reader:sci2_vtyoyo.PeakDetectChl
2026-01-20T21:37:06.677Z,1768945026.677 [MissionManager](INFO): RedefineArg sci2_vtyoyo:Science.ShallowBound = reader:sci2_vtyoyo.ShallowBoundChl
2026-01-20T21:37:06.679Z,1768945026.679 [MissionManager](INFO): RedefineArg sci2_vtyoyo:Science.DeepBound = reader:sci2_vtyoyo.DeepBoundChl
2026-01-20T21:37:06.685Z,1768945026.685 [MissionManager](INFO): RedefineArg sci2_vtyoyo:Science.ChlThreshTriggerActive = reader:sci2_vtyoyo.ChlThreshTrigger
2026-01-20T21:37:06.687Z,1768945026.687 [MissionManager](INFO): RedefineArg sci2_vtyoyo:Science.ChlLowerThresh = reader:sci2_vtyoyo.ChlLowerThreshold
2026-01-20T21:37:06.689Z,1768945026.689 [MissionManager](INFO): RedefineArg sci2_vtyoyo:Science.ChlUpperThresh = reader:sci2_vtyoyo.ChlUpperThreshold
2026-01-20T21:37:06.691Z,1768945026.691 [MissionManager](INFO): RedefineArg sci2_vtyoyo:Science.NumProfilesThresh = reader:sci2_vtyoyo.NumProfilesThreshold
2026-01-20T21:37:06.691Z,1768945026.691 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2026-01-20T21:37:06.704Z,1768945026.704 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2026-01-20T21:37:06.705Z,1768945026.705 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2026-01-20T21:37:07.390Z,1768945027.390 [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>1500</Value>
    </DefineArg>
    <DefineArg Name="GPSTimeout">
        <Units:minute />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="CommsTimeout">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="DoingCommsMode">
        <Units:count />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="RestoreMode">
        <Units:count />
        <Value>0</Value>
    </DefineArg>
    <DefineOutput Name="IsActive">
        <False />
    </DefineOutput>
    <DefineOutput Name="RequiredDiveMode">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <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>
    <Aggregate Id="setActive">
        <Sequence />
        <Assign>
            <Sequence />
            <Arg Name="RequiredDiveMode" />
            <Arg Name="DoingCommsMode" />
        </Assign>
        <Assign>
            <Sequence />
            <Arg Name="IsActive" />
            <True />
        </Assign>
    </Aggregate>
    <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 Id="setRestoreMode">
        <Sequence />
        <Assign>
            <Sequence />
            <Arg Name="RequiredDiveMode" />
            <Arg Name="RestoreMode" />
        </Assign>
    </Aggregate>
    <Aggregate Id="setInactive">
        <Sequence />
        <Assign>
            <Sequence />
            <Arg Name="IsActive" />
            <False />
        </Assign>
    </Aggregate>
</Aggregate>

2026-01-20T21:37:07.412Z,1768945027.412 [MissionManager](INFO): DefineArg sci2_vtyoyo:NeedComms.DiveInterval = 1.000000 h
2026-01-20T21:37:07.415Z,1768945027.415 [MissionManager](INFO): DefineArg sci2_vtyoyo:NeedComms.WaitForPitchUp = 10.000000 min
2026-01-20T21:37:07.423Z,1768945027.423 [MissionManager](INFO): DefineArg sci2_vtyoyo:NeedComms.SurfacePitch = 20.000000 arcdeg
2026-01-20T21:37:07.426Z,1768945027.426 [MissionManager](INFO): DefineArg sci2_vtyoyo:NeedComms.SurfaceDepthRate = nan m/s
2026-01-20T21:37:07.437Z,1768945027.437 [MissionManager](INFO): DefineArg sci2_vtyoyo:NeedComms.SurfaceSpeed = 1.000000 m/s
2026-01-20T21:37:07.444Z,1768945027.444 [MissionManager](INFO): DefineArg sci2_vtyoyo:NeedComms.SurfacingTimeout = 1500.000000 s
2026-01-20T21:37:07.447Z,1768945027.447 [MissionManager](INFO): DefineArg sci2_vtyoyo:NeedComms.GPSTimeout = 7.000000 min
2026-01-20T21:37:07.455Z,1768945027.455 [MissionManager](INFO): DefineArg sci2_vtyoyo:NeedComms.CommsTimeout = 30.000000 min
2026-01-20T21:37:07.458Z,1768945027.458 [MissionManager](INFO): DefineArg sci2_vtyoyo:NeedComms.DoingCommsMode = 0.000000 count
2026-01-20T21:37:07.469Z,1768945027.469 [MissionManager](INFO): DefineArg sci2_vtyoyo:NeedComms.RestoreMode = 0.000000 count
2026-01-20T21:37:07.476Z,1768945027.476 [MissionManager](INFO): DefineOutput sci2_vtyoyo:NeedComms.IsActive = 0 bool
2026-01-20T21:37:07.479Z,1768945027.479 [MissionManager](INFO): DefineOutput sci2_vtyoyo:NeedComms.RequiredDiveMode = 0.000000 count
2026-01-20T21:37:07.503Z,1768945027.503 [sci2_vtyoyo:NeedComms:C.GoToSurface](DEBUG): Construct GoToSurface.
2026-01-20T21:37:07.618Z,1768945027.618 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2026-01-20T21:37:07.619Z,1768945027.619 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2026-01-20T21:37:07.624Z,1768945027.624 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2026-01-20T21:37:07.897Z,1768945027.897 [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>

2026-01-20T21:37:07.955Z,1768945027.955 [MissionManager](INFO): DefineArg sci2_vtyoyo:StandardEnvelopes.MinAltitude = 5.000000 m
2026-01-20T21:37:07.959Z,1768945027.959 [MissionManager](INFO): DefineArg sci2_vtyoyo:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2026-01-20T21:37:07.966Z,1768945027.966 [MissionManager](INFO): DefineArg sci2_vtyoyo:StandardEnvelopes.MaxDepth = 200.000000 m
2026-01-20T21:37:08.013Z,1768945028.013 [MissionManager](INFO): DefineArg sci2_vtyoyo:StandardEnvelopes.MinOffshore = 2000.000000 m
2026-01-20T21:37:08.014Z,1768945028.014 [sci2_vtyoyo:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2026-01-20T21:37:08.043Z,1768945028.043 [sci2_vtyoyo:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2026-01-20T21:37:08.098Z,1768945028.098 [sci2_vtyoyo:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2026-01-20T21:37:08.127Z,1768945028.127 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2026-01-20T21:37:08.127Z,1768945028.127 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2026-01-20T21:37:08.135Z,1768945028.135 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2026-01-20T21:37:08.187Z,1768945028.187 [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>

2026-01-20T21:37:08.195Z,1768945028.195 [MissionManager](INFO): DefineArg sci2_vtyoyo:BackseatDriver.EnableBackseat = 0 bool
2026-01-20T21:37:08.210Z,1768945028.210 [sci2_vtyoyo:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2026-01-20T21:37:08.217Z,1768945028.217 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2026-01-20T21:37:08.217Z,1768945028.217 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2026-01-20T21:37:08.218Z,1768945028.218 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2026-01-20T21:37:08.520Z,1768945028.520 [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>

2026-01-20T21:37:08.525Z,1768945028.525 [MissionManager](INFO): DefineArg sci2_vtyoyo:PowerOnly.SampleAll = 0 bool
2026-01-20T21:37:08.532Z,1768945028.532 [MissionManager](INFO): DefineArg sci2_vtyoyo:PowerOnly.SampleLoad1 = 0 bool
2026-01-20T21:37:08.535Z,1768945028.535 [MissionManager](INFO): DefineArg sci2_vtyoyo:PowerOnly.SampleLoad2 = 0 bool
2026-01-20T21:37:08.542Z,1768945028.542 [MissionManager](INFO): DefineArg sci2_vtyoyo:PowerOnly.SampleLoad3 = 0 bool
2026-01-20T21:37:08.550Z,1768945028.550 [MissionManager](INFO): DefineArg sci2_vtyoyo:PowerOnly.EnabledPowerOnly = 1 bool
2026-01-20T21:37:08.566Z,1768945028.566 [sci2_vtyoyo:PowerOnly:E.Wait](DEBUG): Construct Wait.
2026-01-20T21:37:08.595Z,1768945028.595 [sci2_vtyoyo:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2026-01-20T21:37:08.608Z,1768945028.608 [sci2_vtyoyo:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Construct.
2026-01-20T21:37:08.617Z,1768945028.617 [sci2_vtyoyo:DiveCmd:SurfaceSink:sink:D.Pitch](DEBUG): Construct.
2026-01-20T21:37:08.642Z,1768945028.642 [sci2_vtyoyo:DiveCmd:YoYoDive:dive:A.Pitch](DEBUG): Construct.
2026-01-20T21:37:08.657Z,1768945028.657 [sci2_vtyoyo:DiveCmd:YoYoDive:dive:B.Buoyancy](DEBUG): Construct Buoyancy.
2026-01-20T21:37:08.664Z,1768945028.664 [sci2_vtyoyo:DiveCmd:YoYoDive:dive:C.SetSpeed](DEBUG): Construct.
2026-01-20T21:37:08.667Z,1768945028.667 [sci2_vtyoyo:DiveCmd:YoYoDive:dive:D.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2026-01-20T21:37:08.691Z,1768945028.691 [sci2_vtyoyo:DiveCmd:YoYoDive:dive:E.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2026-01-20T21:37:08.713Z,1768945028.713 [sci2_vtyoyo:DiveCmd:YoYoDive:dive:F.YoYoPARLicor](DEBUG): Construct Value-Terminated YoYo.
2026-01-20T21:37:08.724Z,1768945028.724 [sci2_vtyoyo:DiveCmd:YoYoDive:dive:G.YoYo](DEBUG): Construct YoYo.
2026-01-20T21:37:08.743Z,1768945028.743 [sci2_vtyoyo:DiveCmd:YoYoDive:dive:StopIfTriggered:A.Execute](DEBUG): Construct Execute.
2026-01-20T21:37:08.763Z,1768945028.763 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2026-01-20T21:37:08.771Z,1768945028.771 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:B.SetSpeed](DEBUG): Construct.
2026-01-20T21:37:08.800Z,1768945028.800 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:D.Pitch](DEBUG): Construct.
2026-01-20T21:37:08.846Z,1768945028.846 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:A.Pitch](DEBUG): Construct.
2026-01-20T21:37:08.856Z,1768945028.856 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:B.Buoyancy](DEBUG): Construct Buoyancy.
2026-01-20T21:37:08.859Z,1768945028.859 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:C.SetSpeed](DEBUG): Construct.
2026-01-20T21:37:08.863Z,1768945028.863 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:D.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2026-01-20T21:37:08.894Z,1768945028.894 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:E.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2026-01-20T21:37:08.915Z,1768945028.915 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:F.YoYoPARLicor](DEBUG): Construct Value-Terminated YoYo.
2026-01-20T21:37:08.927Z,1768945028.927 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:G.YoYo](DEBUG): Construct YoYo.
2026-01-20T21:37:08.947Z,1768945028.947 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:StopIfTriggered:A.Execute](DEBUG): Construct Execute.
2026-01-20T21:37:08.954Z,1768945028.954 [sci2_vtyoyo:Lap:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2026-01-20T21:37:08.971Z,1768945028.971 [sci2_vtyoyo:Lap:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2026-01-20T21:37:08.992Z,1768945028.992 [sci2_vtyoyo:Lap:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2026-01-20T21:37:09.009Z,1768945029.009 [sci2_vtyoyo:Lap:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2026-01-20T21:37:09.026Z,1768945029.026 [sci2_vtyoyo:Lap:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2026-01-20T21:37:09.042Z,1768945029.042 [sci2_vtyoyo:Lap:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2026-01-20T21:37:09.064Z,1768945029.064 [sci2_vtyoyo:Lap:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2026-01-20T21:37:09.182Z,1768945029.182 [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
  assign in sequence NeedComms:DoingCommsMode = DoingComms

  aggregate setRestoreMode {
    run in sequence

    break if ( SinkOffSurface )

    assign in sequence NeedComms:RestoreMode = YoYo
  }

  aggregate setSinkRestore {
    run in sequence

    break if ( not SinkOffSurface )

    assign in sequence NeedComms:RestoreMode = SurfaceSink
  }

  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 manageDiveMode {
    run when ( NeedComms:IsActive )

    aggregate syncWhileActive {
      run while ( NeedComms:IsActive )

      assign in parallel DiveMode = NeedComms:RequiredDiveMode
    }
  }

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

  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]
        }
      }
    }
  }
}


2026-01-20T21:37:09.182Z,1768945029.182 [CommandExec](IMPORTANT): Loaded ./Missions/Science/sci2_vtyoyo.tl id=sci2_vtyoyo
2026-01-20T21:37:29.786Z,1768945049.786 [CommandExec](IMPORTANT): got command set sci2_vtyoyo.MissionTimeout 14 hour
2026-01-20T21:37:29.787Z,1768945049.787 [CommandExec](IMPORTANT): got command set sci2_vtyoyo.NeedCommsTime 90 minute
2026-01-20T21:37:29.787Z,1768945049.787 [CommandExec](IMPORTANT): got command set sci2_vtyoyo.Lat1 36.797 degree
2026-01-20T21:37:29.788Z,1768945049.788 [CommandExec](IMPORTANT): got command set sci2_vtyoyo.Lon1 -121.847 degree
2026-01-20T21:37:29.789Z,1768945049.789 [CommandExec](IMPORTANT): got command set sci2_vtyoyo.Speed .9 meter_per_second
2026-01-20T21:37:58.585Z,1768945078.585 [CommandExec](IMPORTANT): got command set sci2_vtyoyo.YoYoMinDepth 4 meter
2026-01-20T21:37:58.586Z,1768945078.586 [CommandExec](IMPORTANT): got command set sci2_vtyoyo.YoYoMaxDepth 85 meter
2026-01-20T21:37:58.587Z,1768945078.587 [CommandExec](IMPORTANT): got command set sci2_vtyoyo.MaxDepth 95 meter
2026-01-20T21:37:58.592Z,1768945078.592 [CommandExec](IMPORTANT): got command set sci2_vtyoyo.SinkOffSurface 1 bool
2026-01-20T21:37:58.593Z,1768945078.593 [CommandExec](IMPORTANT): got command set sci2_vtyoyo.SinkDepthTimeout 2 minute
2026-01-20T21:37:58.593Z,1768945078.593 [CommandExec](IMPORTANT): got command set sci2_vtyoyo:BackseatDriver.EnableBackseat 1 bool
2026-01-20T21:37:58.594Z,1768945078.594 [CommandExec](IMPORTANT): got command run
2026-01-20T21:37:58.648Z,1768945078.648 [CommandExec](IMPORTANT): Running 
2026-01-20T21:37:58.710Z,1768945078.710 [Default] Stopped
2026-01-20T21:37:58.710Z,1768945078.710 [Default](DEBUG): Aggregate::uninitialize Default
2026-01-20T21:37:58.710Z,1768945078.710 [Default:B.GoToSurface] Stopped
2026-01-20T21:37:58.710Z,1768945078.710 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2026-01-20T21:37:58.710Z,1768945078.710 [Default:CheckIn] Stopped
2026-01-20T21:37:58.710Z,1768945078.710 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2026-01-20T21:37:58.710Z,1768945078.710 [Default:CheckIn:C.Wait] Stopped
2026-01-20T21:37:58.710Z,1768945078.710 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2026-01-20T21:37:58.711Z,1768945078.711 [MissionManager](IMPORTANT): Started mission sci2_vtyoyo
2026-01-20T21:37:58.711Z,1768945078.711 [sci2_vtyoyo] Running Loop=1
2026-01-20T21:37:58.711Z,1768945078.711 [sci2_vtyoyo](DEBUG): Aggregate::initialize sci2_vtyoyo
2026-01-20T21:37:58.711Z,1768945078.711 [sci2_vtyoyo:Science] Running Loop=1
2026-01-20T21:37:58.711Z,1768945078.711 [sci2_vtyoyo:Science](DEBUG): Aggregate::initialize sci2_vtyoyo:Science
2026-01-20T21:37:58.711Z,1768945078.711 [sci2_vtyoyo:Science:A] Running Loop=1
2026-01-20T21:37:58.711Z,1768945078.711 [sci2_vtyoyo:Science:B] Running Loop=1
2026-01-20T21:37:58.711Z,1768945078.711 [sci2_vtyoyo:Science:C] Running Loop=1
2026-01-20T21:37:58.711Z,1768945078.711 [sci2_vtyoyo:Science:D] Running Loop=1
2026-01-20T21:37:58.712Z,1768945078.712 [sci2_vtyoyo:Science:E] Running Loop=1
2026-01-20T21:37:58.712Z,1768945078.712 [sci2_vtyoyo:Science:F] Running Loop=1
2026-01-20T21:37:58.712Z,1768945078.712 [sci2_vtyoyo:Science:Read_Oil] Running Loop=1
2026-01-20T21:37:58.712Z,1768945078.712 [sci2_vtyoyo:Science:PeakDetectChl] Running Loop=1
2026-01-20T21:37:58.712Z,1768945078.712 [sci2_vtyoyo:Science:PeakDetectChl](DEBUG): Aggregate::initialize sci2_vtyoyo:Science:PeakDetectChl
2026-01-20T21:37:58.712Z,1768945078.712 [sci2_vtyoyo:Science:PeakDetectChl:A] Running Loop=1
2026-01-20T21:37:58.712Z,1768945078.712 [sci2_vtyoyo:Science:EdgeDetectChl] Running Loop=1
2026-01-20T21:37:58.712Z,1768945078.712 [sci2_vtyoyo:Science:EdgeDetectChl](DEBUG): Aggregate::initialize sci2_vtyoyo:Science:EdgeDetectChl
2026-01-20T21:37:58.713Z,1768945078.713 [sci2_vtyoyo:Science:EdgeDetectChl:A] Running Loop=1
2026-01-20T21:37:58.713Z,1768945078.713 [sci2_vtyoyo:Science:HighestChlPeakReport] Running Loop=1
2026-01-20T21:37:58.713Z,1768945078.713 [sci2_vtyoyo:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize sci2_vtyoyo:Science:HighestChlPeakReport
2026-01-20T21:37:58.713Z,1768945078.713 [sci2_vtyoyo:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2026-01-20T21:37:58.713Z,1768945078.713 [sci2_vtyoyo:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2026-01-20T21:37:58.713Z,1768945078.713 [sci2_vtyoyo:Science:PeakDepthAvgProfilesChl] Running Loop=1
2026-01-20T21:37:58.714Z,1768945078.714 [sci2_vtyoyo:Science:PeakDepthAvgProfilesChl](DEBUG): Aggregate::initialize sci2_vtyoyo:Science:PeakDepthAvgProfilesChl
2026-01-20T21:37:58.714Z,1768945078.714 [sci2_vtyoyo:Science:PeakDepthAvgProfilesChl:A] Running Loop=1
2026-01-20T21:37:58.714Z,1768945078.714 [sci2_vtyoyo:Science:PeakDetectNO3] Running Loop=1
2026-01-20T21:37:58.714Z,1768945078.714 [sci2_vtyoyo:Science:PeakDetectNO3](DEBUG): Aggregate::initialize sci2_vtyoyo:Science:PeakDetectNO3
2026-01-20T21:37:58.714Z,1768945078.714 [sci2_vtyoyo:Science:PeakDetectNO3:A] Running Loop=1
2026-01-20T21:37:58.714Z,1768945078.714 [sci2_vtyoyo:Science:PeakDetectOil] Running Loop=1
2026-01-20T21:37:58.714Z,1768945078.714 [sci2_vtyoyo:Science:PeakDetectOil](DEBUG): Aggregate::initialize sci2_vtyoyo:Science:PeakDetectOil
2026-01-20T21:37:58.714Z,1768945078.714 [sci2_vtyoyo:Science:PeakDetectOil:A] Running Loop=1
2026-01-20T21:37:58.715Z,1768945078.715 [sci2_vtyoyo:Science:HighestOilPeakReport] Running Loop=1
2026-01-20T21:37:58.715Z,1768945078.715 [sci2_vtyoyo:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize sci2_vtyoyo:Science:HighestOilPeakReport
2026-01-20T21:37:58.715Z,1768945078.715 [sci2_vtyoyo:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2026-01-20T21:37:58.715Z,1768945078.715 [sci2_vtyoyo:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2026-01-20T21:37:58.715Z,1768945078.715 [sci2_vtyoyo:Science:PeakDetectFDOM] Running Loop=1
2026-01-20T21:37:58.715Z,1768945078.715 [sci2_vtyoyo:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize sci2_vtyoyo:Science:PeakDetectFDOM
2026-01-20T21:37:58.715Z,1768945078.715 [sci2_vtyoyo:Science:PeakDetectFDOM:A] Running Loop=1
2026-01-20T21:37:58.715Z,1768945078.715 [sci2_vtyoyo:Science:PeakDetectSalinity] Running Loop=1
2026-01-20T21:37:58.716Z,1768945078.716 [sci2_vtyoyo:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize sci2_vtyoyo:Science:PeakDetectSalinity
2026-01-20T21:37:58.716Z,1768945078.716 [sci2_vtyoyo:Science:PeakDetectSalinity:A] Running Loop=1
2026-01-20T21:37:58.716Z,1768945078.716 [sci2_vtyoyo:Science:HighestSaltPeakReport] Running Loop=1
2026-01-20T21:37:58.716Z,1768945078.716 [sci2_vtyoyo:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize sci2_vtyoyo:Science:HighestSaltPeakReport
2026-01-20T21:37:58.717Z,1768945078.717 [sci2_vtyoyo:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2026-01-20T21:37:58.717Z,1768945078.717 [sci2_vtyoyo:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2026-01-20T21:37:58.717Z,1768945078.717 [sci2_vtyoyo:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2026-01-20T21:37:58.717Z,1768945078.717 [sci2_vtyoyo:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize sci2_vtyoyo:Science:PeakDetectPlanktivoreLMavgROI
2026-01-20T21:37:58.717Z,1768945078.717 [sci2_vtyoyo:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2026-01-20T21:37:58.717Z,1768945078.717 [sci2_vtyoyo:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2026-01-20T21:37:58.718Z,1768945078.718 [sci2_vtyoyo:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize sci2_vtyoyo:Science:EdgeDetectPlanktivoreLMavgROI
2026-01-20T21:37:58.718Z,1768945078.718 [sci2_vtyoyo:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2026-01-20T21:37:58.718Z,1768945078.718 [sci2_vtyoyo:Science:PeakDepthAvgProfilesPlanktivoreLMavgROI] Running Loop=1
2026-01-20T21:37:58.718Z,1768945078.718 [sci2_vtyoyo:Science:PeakDepthAvgProfilesPlanktivoreLMavgROI](DEBUG): Aggregate::initialize sci2_vtyoyo:Science:PeakDepthAvgProfilesPlanktivoreLMavgROI
2026-01-20T21:37:58.718Z,1768945078.718 [sci2_vtyoyo:Science:PeakDepthAvgProfilesPlanktivoreLMavgROI:A] Running Loop=1
2026-01-20T21:37:58.718Z,1768945078.718 [sci2_vtyoyo:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2026-01-20T21:37:58.718Z,1768945078.718 [sci2_vtyoyo:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize sci2_vtyoyo:Science:PeakDetectPlanktivoreHMavgROI
2026-01-20T21:37:58.718Z,1768945078.718 [sci2_vtyoyo:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2026-01-20T21:37:58.718Z,1768945078.718 [sci2_vtyoyo:Science:EdgeDetectPlanktivoreHMavgROI] Running Loop=1
2026-01-20T21:37:58.718Z,1768945078.718 [sci2_vtyoyo:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize sci2_vtyoyo:Science:EdgeDetectPlanktivoreHMavgROI
2026-01-20T21:37:58.719Z,1768945078.719 [sci2_vtyoyo:Science:EdgeDetectPlanktivoreHMavgROI:A] Running Loop=1
2026-01-20T21:37:58.719Z,1768945078.719 [sci2_vtyoyo:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2026-01-20T21:37:58.719Z,1768945078.719 [sci2_vtyoyo:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize sci2_vtyoyo:Science:PeakDetectPlanktivoreDiatoms
2026-01-20T21:37:58.719Z,1768945078.719 [sci2_vtyoyo:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2026-01-20T21:37:58.719Z,1768945078.719 [sci2_vtyoyo:Science:EdgeDetectPlanktivoreDiatoms] Running Loop=1
2026-01-20T21:37:58.719Z,1768945078.719 [sci2_vtyoyo:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize sci2_vtyoyo:Science:EdgeDetectPlanktivoreDiatoms
2026-01-20T21:37:58.719Z,1768945078.719 [sci2_vtyoyo:Science:EdgeDetectPlanktivoreDiatoms:A] Running Loop=1
2026-01-20T21:37:58.719Z,1768945078.719 [sci2_vtyoyo:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2026-01-20T21:37:58.719Z,1768945078.719 [sci2_vtyoyo:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize sci2_vtyoyo:Science:PeakDetectPlanktivoreDinoflagellates
2026-01-20T21:37:58.720Z,1768945078.720 [sci2_vtyoyo:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2026-01-20T21:37:58.720Z,1768945078.720 [sci2_vtyoyo:Science:EdgeDetectPlanktivoreDinoflagellates] Running Loop=1
2026-01-20T21:37:58.720Z,1768945078.720 [sci2_vtyoyo:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize sci2_vtyoyo:Science:EdgeDetectPlanktivoreDinoflagellates
2026-01-20T21:37:58.720Z,1768945078.720 [sci2_vtyoyo:Science:EdgeDetectPlanktivoreDinoflagellates:A] Running Loop=1
2026-01-20T21:37:58.720Z,1768945078.720 [sci2_vtyoyo:Science:ChlThreshTrigger] Running Loop=1
2026-01-20T21:37:58.720Z,1768945078.720 [sci2_vtyoyo:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize sci2_vtyoyo:Science:ChlThreshTrigger
2026-01-20T21:37:58.720Z,1768945078.720 [sci2_vtyoyo:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2026-01-20T21:37:58.720Z,1768945078.720 [sci2_vtyoyo:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2026-01-20T21:37:58.721Z,1768945078.721 [sci2_vtyoyo:Science:OceanCurrent] Running Loop=1
2026-01-20T21:37:58.721Z,1768945078.721 [sci2_vtyoyo:Science:OceanCurrent](DEBUG): Aggregate::initialize sci2_vtyoyo:Science:OceanCurrent
2026-01-20T21:37:58.721Z,1768945078.721 [sci2_vtyoyo:Science:OceanCurrent:A.] Running Loop=1
2026-01-20T21:37:58.721Z,1768945078.721 [sci2_vtyoyo:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2026-01-20T21:37:58.722Z,1768945078.722 [sci2_vtyoyo:StandardEnvelopes] Running Loop=1
2026-01-20T21:37:58.722Z,1768945078.722 [sci2_vtyoyo:StandardEnvelopes](DEBUG): Aggregate::initialize sci2_vtyoyo:StandardEnvelopes
2026-01-20T21:37:58.722Z,1768945078.722 [sci2_vtyoyo:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2026-01-20T21:37:58.722Z,1768945078.722 [sci2_vtyoyo:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2026-01-20T21:37:58.722Z,1768945078.722 [sci2_vtyoyo:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2026-01-20T21:37:58.722Z,1768945078.722 [sci2_vtyoyo:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2026-01-20T21:37:58.722Z,1768945078.722 [sci2_vtyoyo:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2026-01-20T21:37:58.722Z,1768945078.722 [sci2_vtyoyo:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2026-01-20T21:37:58.722Z,1768945078.722 [sci2_vtyoyo:BackseatDriver] Running Loop=1
2026-01-20T21:37:58.723Z,1768945078.723 [sci2_vtyoyo:BackseatDriver](DEBUG): Aggregate::initialize sci2_vtyoyo:BackseatDriver
2026-01-20T21:37:58.723Z,1768945078.723 [sci2_vtyoyo:BackseatDriver:A.BackseatDriver] Running Loop=1
2026-01-20T21:37:58.723Z,1768945078.723 [sci2_vtyoyo:PowerOnly] Running Loop=1
2026-01-20T21:37:58.723Z,1768945078.723 [sci2_vtyoyo:PowerOnly](DEBUG): Aggregate::initialize sci2_vtyoyo:PowerOnly
2026-01-20T21:37:58.723Z,1768945078.723 [sci2_vtyoyo:PowerOnly:A] Running Loop=1
2026-01-20T21:37:58.723Z,1768945078.723 [sci2_vtyoyo:PowerOnly:B] Running Loop=1
2026-01-20T21:37:58.723Z,1768945078.723 [sci2_vtyoyo:PowerOnly:C] Running Loop=1
2026-01-20T21:37:58.723Z,1768945078.723 [sci2_vtyoyo:PowerOnly:D] Running Loop=1
2026-01-20T21:37:58.723Z,1768945078.723 [sci2_vtyoyo:PowerOnly:E.Wait] Running Loop=1
2026-01-20T21:37:58.723Z,1768945078.723 [sci2_vtyoyo:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2026-01-20T21:37:58.724Z,1768945078.724 [sci2_vtyoyo:C] Running Loop=1
2026-01-20T21:37:58.725Z,1768945078.725 [sci2_vtyoyo:PowerOnly] Running Loop=1
2026-01-20T21:37:58.725Z,1768945078.725 [sci2_vtyoyo:PowerOnly:D] Stopped
2026-01-20T21:37:58.725Z,1768945078.725 [sci2_vtyoyo:PowerOnly:C] Stopped
2026-01-20T21:37:58.725Z,1768945078.725 [sci2_vtyoyo:PowerOnly:B] Stopped
2026-01-20T21:37:58.725Z,1768945078.725 [sci2_vtyoyo:PowerOnly:A] Stopped
2026-01-20T21:37:58.725Z,1768945078.725 [sci2_vtyoyo:BackseatDriver] Running Loop=1
2026-01-20T21:37:58.726Z,1768945078.726 [sci2_vtyoyo:BackseatDriver:A.BackseatDriver](INFO): Initializing backseat
2026-01-20T21:37:58.783Z,1768945078.783 [sci2_vtyoyo:StandardEnvelopes] Running Loop=1
2026-01-20T21:37:58.783Z,1768945078.783 [sci2_vtyoyo:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2026-01-20T21:37:58.783Z,1768945078.783 [sci2_vtyoyo:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2026-01-20T21:37:58.788Z,1768945078.788 [sci2_vtyoyo:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2026-01-20T21:37:58.789Z,1768945078.789 [sci2_vtyoyo:C] Stopped
2026-01-20T21:37:58.789Z,1768945078.789 [sci2_vtyoyo:D] Running Loop=1
2026-01-20T21:37:58.789Z,1768945078.789 [sci2_vtyoyo:Science] Running Loop=1
2026-01-20T21:37:58.796Z,1768945078.796 [sci2_vtyoyo:Science:ChlThreshTrigger] Stopped
2026-01-20T21:37:58.796Z,1768945078.796 [sci2_vtyoyo:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Science:ChlThreshTrigger
2026-01-20T21:37:58.796Z,1768945078.796 [sci2_vtyoyo:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2026-01-20T21:37:58.796Z,1768945078.796 [sci2_vtyoyo:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2026-01-20T21:37:58.797Z,1768945078.797 [sci2_vtyoyo:Science:EdgeDetectPlanktivoreDinoflagellates] Stopped
2026-01-20T21:37:58.797Z,1768945078.797 [sci2_vtyoyo:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Science:EdgeDetectPlanktivoreDinoflagellates
2026-01-20T21:37:58.797Z,1768945078.797 [sci2_vtyoyo:Science:EdgeDetectPlanktivoreDinoflagellates:A] Stopped
2026-01-20T21:37:58.797Z,1768945078.797 [sci2_vtyoyo:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2026-01-20T21:37:58.797Z,1768945078.797 [sci2_vtyoyo:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Science:PeakDetectPlanktivoreDinoflagellates
2026-01-20T21:37:58.797Z,1768945078.797 [sci2_vtyoyo:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2026-01-20T21:37:58.797Z,1768945078.797 [sci2_vtyoyo:Science:EdgeDetectPlanktivoreDiatoms] Stopped
2026-01-20T21:37:58.797Z,1768945078.797 [sci2_vtyoyo:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Science:EdgeDetectPlanktivoreDiatoms
2026-01-20T21:37:58.797Z,1768945078.797 [sci2_vtyoyo:Science:EdgeDetectPlanktivoreDiatoms:A] Stopped
2026-01-20T21:37:58.797Z,1768945078.797 [sci2_vtyoyo:Science:PeakDetectPlanktivoreDiatoms] Stopped
2026-01-20T21:37:58.797Z,1768945078.797 [sci2_vtyoyo:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Science:PeakDetectPlanktivoreDiatoms
2026-01-20T21:37:58.797Z,1768945078.797 [sci2_vtyoyo:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2026-01-20T21:37:58.797Z,1768945078.797 [sci2_vtyoyo:Science:EdgeDetectPlanktivoreHMavgROI] Stopped
2026-01-20T21:37:58.798Z,1768945078.798 [sci2_vtyoyo:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Science:EdgeDetectPlanktivoreHMavgROI
2026-01-20T21:37:58.798Z,1768945078.798 [sci2_vtyoyo:Science:EdgeDetectPlanktivoreHMavgROI:A] Stopped
2026-01-20T21:37:58.798Z,1768945078.798 [sci2_vtyoyo:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2026-01-20T21:37:58.798Z,1768945078.798 [sci2_vtyoyo:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Science:PeakDetectPlanktivoreHMavgROI
2026-01-20T21:37:58.798Z,1768945078.798 [sci2_vtyoyo:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2026-01-20T21:37:58.798Z,1768945078.798 [sci2_vtyoyo:Science:PeakDepthAvgProfilesPlanktivoreLMavgROI] Stopped
2026-01-20T21:37:58.798Z,1768945078.798 [sci2_vtyoyo:Science:PeakDepthAvgProfilesPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Science:PeakDepthAvgProfilesPlanktivoreLMavgROI
2026-01-20T21:37:58.798Z,1768945078.798 [sci2_vtyoyo:Science:PeakDepthAvgProfilesPlanktivoreLMavgROI:A] Stopped
2026-01-20T21:37:58.798Z,1768945078.798 [sci2_vtyoyo:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2026-01-20T21:37:58.798Z,1768945078.798 [sci2_vtyoyo:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Science:EdgeDetectPlanktivoreLMavgROI
2026-01-20T21:37:58.798Z,1768945078.798 [sci2_vtyoyo:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2026-01-20T21:37:58.798Z,1768945078.798 [sci2_vtyoyo:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2026-01-20T21:37:58.799Z,1768945078.799 [sci2_vtyoyo:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Science:PeakDetectPlanktivoreLMavgROI
2026-01-20T21:37:58.799Z,1768945078.799 [sci2_vtyoyo:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2026-01-20T21:37:58.799Z,1768945078.799 [sci2_vtyoyo:Science:HighestSaltPeakReport] Stopped
2026-01-20T21:37:58.799Z,1768945078.799 [sci2_vtyoyo:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Science:HighestSaltPeakReport
2026-01-20T21:37:58.799Z,1768945078.799 [sci2_vtyoyo:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2026-01-20T21:37:58.799Z,1768945078.799 [sci2_vtyoyo:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2026-01-20T21:37:58.799Z,1768945078.799 [sci2_vtyoyo:Science:PeakDetectSalinity] Stopped
2026-01-20T21:37:58.799Z,1768945078.799 [sci2_vtyoyo:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Science:PeakDetectSalinity
2026-01-20T21:37:58.799Z,1768945078.799 [sci2_vtyoyo:Science:PeakDetectSalinity:A] Stopped
2026-01-20T21:37:58.799Z,1768945078.799 [sci2_vtyoyo:Science:PeakDetectFDOM] Stopped
2026-01-20T21:37:58.799Z,1768945078.799 [sci2_vtyoyo:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Science:PeakDetectFDOM
2026-01-20T21:37:58.799Z,1768945078.799 [sci2_vtyoyo:Science:PeakDetectFDOM:A] Stopped
2026-01-20T21:37:58.799Z,1768945078.799 [sci2_vtyoyo:Science:HighestOilPeakReport] Stopped
2026-01-20T21:37:58.804Z,1768945078.804 [sci2_vtyoyo:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Science:HighestOilPeakReport
2026-01-20T21:37:58.804Z,1768945078.804 [sci2_vtyoyo:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2026-01-20T21:37:58.804Z,1768945078.804 [sci2_vtyoyo:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2026-01-20T21:37:58.804Z,1768945078.804 [sci2_vtyoyo:Science:PeakDetectOil] Stopped
2026-01-20T21:37:58.804Z,1768945078.804 [sci2_vtyoyo:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Science:PeakDetectOil
2026-01-20T21:37:58.804Z,1768945078.804 [sci2_vtyoyo:Science:PeakDetectOil:A] Stopped
2026-01-20T21:37:58.804Z,1768945078.804 [sci2_vtyoyo:Science:PeakDetectNO3] Stopped
2026-01-20T21:37:58.804Z,1768945078.804 [sci2_vtyoyo:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Science:PeakDetectNO3
2026-01-20T21:37:58.804Z,1768945078.804 [sci2_vtyoyo:Science:PeakDetectNO3:A] Stopped
2026-01-20T21:37:58.805Z,1768945078.805 [sci2_vtyoyo:Science:PeakDepthAvgProfilesChl] Stopped
2026-01-20T21:37:58.805Z,1768945078.805 [sci2_vtyoyo:Science:PeakDepthAvgProfilesChl](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Science:PeakDepthAvgProfilesChl
2026-01-20T21:37:58.805Z,1768945078.805 [sci2_vtyoyo:Science:PeakDepthAvgProfilesChl:A] Stopped
2026-01-20T21:37:58.805Z,1768945078.805 [sci2_vtyoyo:Science:HighestChlPeakReport] Stopped
2026-01-20T21:37:58.805Z,1768945078.805 [sci2_vtyoyo:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Science:HighestChlPeakReport
2026-01-20T21:37:58.805Z,1768945078.805 [sci2_vtyoyo:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2026-01-20T21:37:58.805Z,1768945078.805 [sci2_vtyoyo:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2026-01-20T21:37:58.805Z,1768945078.805 [sci2_vtyoyo:Science:EdgeDetectChl] Stopped
2026-01-20T21:37:58.805Z,1768945078.805 [sci2_vtyoyo:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Science:EdgeDetectChl
2026-01-20T21:37:58.805Z,1768945078.805 [sci2_vtyoyo:Science:EdgeDetectChl:A] Stopped
2026-01-20T21:37:58.805Z,1768945078.805 [sci2_vtyoyo:Science:PeakDetectChl] Stopped
2026-01-20T21:37:58.805Z,1768945078.805 [sci2_vtyoyo:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Science:PeakDetectChl
2026-01-20T21:37:58.806Z,1768945078.806 [sci2_vtyoyo:Science:PeakDetectChl:A] Stopped
2026-01-20T21:37:58.806Z,1768945078.806 [sci2_vtyoyo:Science:OceanCurrent:A.] Running Loop=1
2026-01-20T21:37:58.806Z,1768945078.806 [sci2_vtyoyo:Science:Read_Oil] Stopped
2026-01-20T21:37:58.806Z,1768945078.806 [sci2_vtyoyo:Science:F] Stopped
2026-01-20T21:37:58.806Z,1768945078.806 [sci2_vtyoyo:Science:E] Running Loop=1
2026-01-20T21:37:58.807Z,1768945078.807 [sci2_vtyoyo:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2026-01-20T21:37:58.807Z,1768945078.807 [sci2_vtyoyo:Science:D] Stopped
2026-01-20T21:37:58.807Z,1768945078.807 [sci2_vtyoyo:Science:C] Running Loop=1
2026-01-20T21:37:58.809Z,1768945078.809 [sci2_vtyoyo:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2026-01-20T21:37:58.810Z,1768945078.810 [sci2_vtyoyo:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2026-01-20T21:37:58.810Z,1768945078.810 [sci2_vtyoyo:Science:B] Running Loop=1
2026-01-20T21:37:58.811Z,1768945078.811 [sci2_vtyoyo:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2026-01-20T21:37:58.811Z,1768945078.811 [sci2_vtyoyo:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2026-01-20T21:37:58.811Z,1768945078.811 [sci2_vtyoyo:Science:A] Stopped
2026-01-20T21:37:58.977Z,1768945078.977 [sci2_vtyoyo:D] Stopped
2026-01-20T21:37:58.977Z,1768945078.977 [sci2_vtyoyo:setRestoreMode] Running Loop=1
2026-01-20T21:37:58.977Z,1768945078.977 [sci2_vtyoyo:setRestoreMode](DEBUG): Aggregate::initialize sci2_vtyoyo:setRestoreMode
2026-01-20T21:37:58.977Z,1768945078.977 [sci2_vtyoyo:setRestoreMode:A] Running Loop=1
2026-01-20T21:37:59.112Z,1768945079.112 [BackseatComponent](INFO): Powering up
2026-01-20T21:37:59.113Z,1768945079.113 [BackseatComponent](INFO): Subscribing to LCM channels.
2026-01-20T21:37:59.393Z,1768945079.393 [sci2_vtyoyo:setRestoreMode] Stopped
2026-01-20T21:37:59.393Z,1768945079.393 [sci2_vtyoyo:setRestoreMode](DEBUG): Aggregate::uninitialize sci2_vtyoyo:setRestoreMode
2026-01-20T21:37:59.393Z,1768945079.393 [sci2_vtyoyo:setRestoreMode:A] Stopped
2026-01-20T21:37:59.393Z,1768945079.393 [sci2_vtyoyo:setSinkRestore] Running Loop=1
2026-01-20T21:37:59.393Z,1768945079.393 [sci2_vtyoyo:setSinkRestore](DEBUG): Aggregate::initialize sci2_vtyoyo:setSinkRestore
2026-01-20T21:37:59.393Z,1768945079.393 [sci2_vtyoyo:setSinkRestore:A] Running Loop=1
2026-01-20T21:37:59.537Z,1768945079.537 [WetLabsBB2FL](INFO): Powering up
2026-01-20T21:37:59.785Z,1768945079.785 [sci2_vtyoyo:setSinkRestore:A] Stopped
2026-01-20T21:37:59.785Z,1768945079.785 [sci2_vtyoyo:setSinkRestore](INFO): Completed sci2_vtyoyo:setSinkRestore
2026-01-20T21:37:59.785Z,1768945079.785 [sci2_vtyoyo:setSinkRestore] Stopped
2026-01-20T21:37:59.785Z,1768945079.785 [sci2_vtyoyo:setSinkRestore](DEBUG): Aggregate::uninitialize sci2_vtyoyo:setSinkRestore
2026-01-20T21:37:59.785Z,1768945079.785 [sci2_vtyoyo:H] Running Loop=1
2026-01-20T21:38:00.168Z,1768945080.168 [sci2_vtyoyo:H] Stopped
2026-01-20T21:38:00.168Z,1768945080.168 [sci2_vtyoyo:I] Running Loop=1
2026-01-20T21:38:00.169Z,1768945080.169 [sci2_vtyoyo:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2026-01-20T21:38:00.580Z,1768945080.580 [sci2_vtyoyo:I] Stopped
2026-01-20T21:38:00.580Z,1768945080.580 [sci2_vtyoyo:J] Running Loop=1
2026-01-20T21:38:00.984Z,1768945080.984 [sci2_vtyoyo:J] Stopped
2026-01-20T21:38:00.984Z,1768945080.984 [sci2_vtyoyo:StartingMission] Running Loop=1
2026-01-20T21:38:00.984Z,1768945080.984 [sci2_vtyoyo:StartingMission](DEBUG): Aggregate::initialize sci2_vtyoyo:StartingMission
2026-01-20T21:38:01.393Z,1768945081.393 [sci2_vtyoyo:NeedComms] Running Loop=1
2026-01-20T21:38:01.393Z,1768945081.393 [sci2_vtyoyo:NeedComms](DEBUG): Aggregate::initialize sci2_vtyoyo:NeedComms
2026-01-20T21:38:01.393Z,1768945081.393 [sci2_vtyoyo:NeedComms:C.GoToSurface] Running Loop=1
2026-01-20T21:38:01.393Z,1768945081.393 [sci2_vtyoyo:NeedComms:C.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2026-01-20T21:38:01.393Z,1768945081.393 [sci2_vtyoyo:NeedComms:C.GoToSurface](INFO): Received depth rate setting nan m/s.
2026-01-20T21:38:01.394Z,1768945081.394 [sci2_vtyoyo:NeedComms:C.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2026-01-20T21:38:01.394Z,1768945081.394 [sci2_vtyoyo:NeedComms:C.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2026-01-20T21:38:01.394Z,1768945081.394 [sci2_vtyoyo:NeedComms:C.GoToSurface](INFO): Received surface timeout setting 1500.000000 seconds.
2026-01-20T21:38:01.395Z,1768945081.395 [sci2_vtyoyo:NeedComms:C.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2026-01-20T21:38:01.395Z,1768945081.395 [sci2_vtyoyo:NeedComms:C.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2026-01-20T21:38:01.395Z,1768945081.395 [sci2_vtyoyo:NeedComms:A] Running Loop=1
2026-01-20T21:38:01.396Z,1768945081.396 [sci2_vtyoyo:NeedComms:A](INFO): last time_fix was:  1768944880.000000 second since 1970/01/01T00:00:00Z 
2026-01-20T21:38:01.397Z,1768945081.397 [sci2_vtyoyo:NeedComms:A] Stopped
2026-01-20T21:38:01.397Z,1768945081.397 [sci2_vtyoyo:NeedComms:setActive] Running Loop=1
2026-01-20T21:38:01.397Z,1768945081.397 [sci2_vtyoyo:NeedComms:setActive](DEBUG): Aggregate::initialize sci2_vtyoyo:NeedComms:setActive
2026-01-20T21:38:01.398Z,1768945081.398 [sci2_vtyoyo:NeedComms:setActive:A] Running Loop=1
2026-01-20T21:38:01.809Z,1768945081.809 [sci2_vtyoyo:NeedComms:setActive:A] Stopped
2026-01-20T21:38:01.810Z,1768945081.810 [sci2_vtyoyo:NeedComms:setActive:B] Running Loop=1
2026-01-20T21:38:02.045Z,1768945082.045 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2026-01-20T21:38:02.193Z,1768945082.193 [sci2_vtyoyo:NeedComms:setActive:B] Stopped
2026-01-20T21:38:02.193Z,1768945082.193 [sci2_vtyoyo:NeedComms:setActive](INFO): Completed sci2_vtyoyo:NeedComms:setActive
2026-01-20T21:38:02.194Z,1768945082.194 [sci2_vtyoyo:NeedComms:setActive] Stopped
2026-01-20T21:38:02.194Z,1768945082.194 [sci2_vtyoyo:NeedComms:setActive](DEBUG): Aggregate::uninitialize sci2_vtyoyo:NeedComms:setActive
2026-01-20T21:38:02.595Z,1768945082.595 [sci2_vtyoyo:manageDiveMode] Running Loop=1
2026-01-20T21:38:02.596Z,1768945082.596 [sci2_vtyoyo:manageDiveMode](DEBUG): Aggregate::initialize sci2_vtyoyo:manageDiveMode
2026-01-20T21:38:02.596Z,1768945082.596 [sci2_vtyoyo:manageDiveMode:syncWhileActive] Running Loop=1
2026-01-20T21:38:02.596Z,1768945082.596 [sci2_vtyoyo:manageDiveMode:syncWhileActive](DEBUG): Aggregate::initialize sci2_vtyoyo:manageDiveMode:syncWhileActive
2026-01-20T21:38:02.596Z,1768945082.596 [sci2_vtyoyo:manageDiveMode:syncWhileActive:A] Running Loop=1
2026-01-20T21:38:02.596Z,1768945082.596 [sci2_vtyoyo:manageDiveMode:syncWhileActive] Running Loop=1
2026-01-20T21:38:02.596Z,1768945082.596 [sci2_vtyoyo:manageDiveMode:syncWhileActive:A] Running Loop=1
2026-01-20T21:38:02.601Z,1768945082.601 [sci2_vtyoyo:NeedComms:D] Running Loop=1
2026-01-20T21:38:03.009Z,1768945083.009 [sci2_vtyoyo:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense time_fix
2026-01-20T21:38:04.671Z,1768945084.671 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,213801.00,A,3659.55118,N,12225.09918,W,0.778,49.18,200126,,,D*45
2026-01-20T21:38:04.673Z,1768945084.673 [NAL9602](INFO): GPS fix at 20260120T213801: (36.992520, -122.418320)
2026-01-20T21:38:04.689Z,1768945084.689 [sci2_vtyoyo:NeedComms:D] Stopped
2026-01-20T21:38:04.689Z,1768945084.689 [sci2_vtyoyo:NeedComms:E] Running Loop=1
2026-01-20T21:38:05.053Z,1768945085.053 [sci2_vtyoyo:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense platform_communications
2026-01-20T21:38:13.123Z,1768945093.123 [DataOverHttps](INFO): Sending 77 bytes from file Logs/20260120T212604/Courier0010.lzma
2026-01-20T21:38:14.126Z,1768945094.126 [DataOverHttps](INFO): Moved sent file to Logs/20260120T212604/Courier0010.lzma.bak
2026-01-20T21:38:14.126Z,1768945094.126 [DataOverHttps](INFO): SBD MOMSN=26583020
2026-01-20T21:38:32.213Z,1768945112.213 [DataOverHttps](INFO): Sending 699 bytes from file Logs/20260120T212604/Express0011.lzma
2026-01-20T21:38:33.215Z,1768945113.215 [DataOverHttps](INFO): Moved sent file to Logs/20260120T212604/Express0011.lzma.bak
2026-01-20T21:38:33.215Z,1768945113.215 [DataOverHttps](INFO): SBD MOMSN=26583023
2026-01-20T21:38:35.390Z,1768945115.390 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2026-01-20T21:38:35.470Z,1768945115.470 [NAL9602](ERROR): received: 
+CSQ:0

OK347, 2, 0, 0, 0

OK
2026-01-20T21:38:38.067Z,1768945118.067 [BackseatComponent](IMPORTANT): piscivore: running backseat_app backseat application.
2026-01-20T21:38:50.047Z,1768945130.047 [DataOverHttps](INFO): Sending 52 bytes from file Logs/20260120T212604/Express0012.lzma
2026-01-20T21:38:51.051Z,1768945131.051 [DataOverHttps](INFO): Moved sent file to Logs/20260120T212604/Express0012.lzma.bak
2026-01-20T21:38:51.051Z,1768945131.051 [DataOverHttps](INFO): SBD MOMSN=26583049
2026-01-20T21:38:52.441Z,1768945132.441 [sci2_vtyoyo:NeedComms:E] Stopped
2026-01-20T21:38:52.441Z,1768945132.441 [sci2_vtyoyo:NeedComms:F] Running Loop=1
2026-01-20T21:38:52.869Z,1768945132.869 [sci2_vtyoyo:NeedComms:F](DEBUG): Initialize ReadDataComponent to sense time_fix
2026-01-20T21:40:39.503Z,1768945239.503 [NAL9602](INFO): SBD MO Status=2, MOMSN=25347, MT Status=2, MTMSN=0
2026-01-20T21:40:39.503Z,1768945239.503 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-01-20T21:41:01.272Z,1768945261.272 [NAL9602](INFO): SBD MO Status=2, MOMSN=25347, MT Status=2, MTMSN=0
2026-01-20T21:41:01.272Z,1768945261.272 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-01-20T21:41:50.138Z,1768945310.138 [NAL9602](INFO): SBD MO Status=0, MOMSN=25347, MT Status=0, MTMSN=0
2026-01-20T21:41:50.139Z,1768945310.139 [NAL9602](INFO): No messages in MT queue
2026-01-20T21:41:51.360Z,1768945311.360 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,214148.00,A,3659.57185,N,12225.07738,W,0.058,33.99,200126,,,D*43
2026-01-20T21:41:51.362Z,1768945311.362 [NAL9602](INFO): GPS fix at 20260120T214148: (36.992864, -122.417956)
2026-01-20T21:41:51.377Z,1768945311.377 [sci2_vtyoyo:NeedComms:F] Stopped
2026-01-20T21:41:51.377Z,1768945311.377 [sci2_vtyoyo:NeedComms:setRestoreMode] Running Loop=1
2026-01-20T21:41:51.377Z,1768945311.377 [sci2_vtyoyo:NeedComms:setRestoreMode](DEBUG): Aggregate::initialize sci2_vtyoyo:NeedComms:setRestoreMode
2026-01-20T21:41:51.377Z,1768945311.377 [sci2_vtyoyo:NeedComms:setRestoreMode:A] Running Loop=1
2026-01-20T21:41:51.797Z,1768945311.797 [sci2_vtyoyo:NeedComms:setRestoreMode:A] Stopped
2026-01-20T21:41:51.797Z,1768945311.797 [sci2_vtyoyo:NeedComms:setRestoreMode](INFO): Completed sci2_vtyoyo:NeedComms:setRestoreMode
2026-01-20T21:41:51.797Z,1768945311.797 [sci2_vtyoyo:NeedComms:setRestoreMode] Stopped
2026-01-20T21:41:51.797Z,1768945311.797 [sci2_vtyoyo:NeedComms:setRestoreMode](DEBUG): Aggregate::uninitialize sci2_vtyoyo:NeedComms:setRestoreMode
2026-01-20T21:41:51.797Z,1768945311.797 [sci2_vtyoyo:NeedComms:setInactive] Running Loop=1
2026-01-20T21:41:51.797Z,1768945311.797 [sci2_vtyoyo:NeedComms:setInactive](DEBUG): Aggregate::initialize sci2_vtyoyo:NeedComms:setInactive
2026-01-20T21:41:51.798Z,1768945311.798 [sci2_vtyoyo:NeedComms:setInactive:A] Running Loop=1
2026-01-20T21:41:52.173Z,1768945312.173 [sci2_vtyoyo:NeedComms:setInactive:A] Stopped
2026-01-20T21:41:52.173Z,1768945312.173 [sci2_vtyoyo:NeedComms:setInactive](INFO): Completed sci2_vtyoyo:NeedComms:setInactive
2026-01-20T21:41:52.173Z,1768945312.173 [sci2_vtyoyo:NeedComms:setInactive] Stopped
2026-01-20T21:41:52.173Z,1768945312.173 [sci2_vtyoyo:NeedComms:setInactive](DEBUG): Aggregate::uninitialize sci2_vtyoyo:NeedComms:setInactive
2026-01-20T21:41:52.174Z,1768945312.174 [sci2_vtyoyo:NeedComms](INFO): Completed sci2_vtyoyo:NeedComms
2026-01-20T21:41:52.174Z,1768945312.174 [sci2_vtyoyo:NeedComms] Stopped
2026-01-20T21:41:52.174Z,1768945312.174 [sci2_vtyoyo:NeedComms](DEBUG): Aggregate::uninitialize sci2_vtyoyo:NeedComms
2026-01-20T21:41:52.174Z,1768945312.174 [sci2_vtyoyo:NeedComms:C.GoToSurface] Stopped
2026-01-20T21:41:52.174Z,1768945312.174 [sci2_vtyoyo:NeedComms:C.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2026-01-20T21:41:52.571Z,1768945312.571 [sci2_vtyoyo:StartingMission](INFO): Completed sci2_vtyoyo:StartingMission
2026-01-20T21:41:52.571Z,1768945312.571 [sci2_vtyoyo:StartingMission] Stopped
2026-01-20T21:41:52.571Z,1768945312.571 [sci2_vtyoyo:StartingMission](DEBUG): Aggregate::uninitialize sci2_vtyoyo:StartingMission
2026-01-20T21:41:52.572Z,1768945312.572 [sci2_vtyoyo:Lap] Running Loop=1
2026-01-20T21:41:52.572Z,1768945312.572 [sci2_vtyoyo:Lap](DEBUG): Aggregate::initialize sci2_vtyoyo:Lap
2026-01-20T21:41:52.572Z,1768945312.572 [sci2_vtyoyo:Lap:Dive] Running Loop=1
2026-01-20T21:41:52.572Z,1768945312.572 [sci2_vtyoyo:Lap:Dive](DEBUG): Aggregate::initialize sci2_vtyoyo:Lap:Dive
2026-01-20T21:41:52.572Z,1768945312.572 [sci2_vtyoyo:Lap:Dive:A] Running Loop=1
2026-01-20T21:41:52.573Z,1768945312.573 [sci2_vtyoyo:Lap:Dive:A](DEBUG): Aggregate::initialize sci2_vtyoyo:Lap:Dive:A
2026-01-20T21:41:52.573Z,1768945312.573 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink] Running Loop=1
2026-01-20T21:41:52.573Z,1768945312.573 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink](DEBUG): Aggregate::initialize sci2_vtyoyo:Lap:Dive:A:SurfaceSink
2026-01-20T21:41:52.573Z,1768945312.573 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink] Running Loop=1
2026-01-20T21:41:52.573Z,1768945312.573 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink](DEBUG): Aggregate::initialize sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink
2026-01-20T21:41:52.573Z,1768945312.573 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:BuoyancyHold.Buoyancy] Running Loop=1
2026-01-20T21:41:52.573Z,1768945312.573 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2026-01-20T21:41:52.573Z,1768945312.573 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:B.SetSpeed] Running Loop=1
2026-01-20T21:41:52.573Z,1768945312.573 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:B.SetSpeed](DEBUG): Initialize.
2026-01-20T21:41:52.574Z,1768945312.574 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:C] Running Loop=1
2026-01-20T21:41:52.574Z,1768945312.574 [sci2_vtyoyo:Lap:Dive:A:YoYoDive] Running Loop=1
2026-01-20T21:41:52.574Z,1768945312.574 [sci2_vtyoyo:Lap:Dive:A:YoYoDive](DEBUG): Aggregate::initialize sci2_vtyoyo:Lap:Dive:A:YoYoDive
2026-01-20T21:41:52.574Z,1768945312.574 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive] Running Loop=1
2026-01-20T21:41:52.574Z,1768945312.574 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive](DEBUG): Aggregate::initialize sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive
2026-01-20T21:41:52.574Z,1768945312.574 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:A.Pitch] Running Loop=1
2026-01-20T21:41:52.574Z,1768945312.574 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:A.Pitch](DEBUG): Initialize.
2026-01-20T21:41:52.574Z,1768945312.574 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:B.Buoyancy] Running Loop=1
2026-01-20T21:41:52.574Z,1768945312.574 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2026-01-20T21:41:52.575Z,1768945312.575 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:C.SetSpeed] Running Loop=1
2026-01-20T21:41:52.575Z,1768945312.575 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:C.SetSpeed](DEBUG): Initialize.
2026-01-20T21:41:52.575Z,1768945312.575 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:D.DepthEnvelope] Running Loop=1
2026-01-20T21:41:52.575Z,1768945312.575 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:D.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2026-01-20T21:41:52.575Z,1768945312.575 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:E.AltitudeEnvelope] Running Loop=1
2026-01-20T21:41:52.575Z,1768945312.575 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:E.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2026-01-20T21:41:52.575Z,1768945312.575 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:F.YoYoPARLicor] Running Loop=1
2026-01-20T21:41:52.575Z,1768945312.575 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:F.YoYoPARLicor](DEBUG): Initialize Value-Terminated YoYo.
2026-01-20T21:41:52.579Z,1768945312.579 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:G.YoYo] Running Loop=1
2026-01-20T21:41:52.579Z,1768945312.579 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:G.YoYo](DEBUG): Initialize YoYoComponent.
2026-01-20T21:41:52.579Z,1768945312.579 [sci2_vtyoyo:Lap:Wpt1] Running Loop=1
2026-01-20T21:41:52.580Z,1768945312.580 [sci2_vtyoyo:Lap:Wpt1](DEBUG): Aggregate::initialize sci2_vtyoyo:Lap:Wpt1
2026-01-20T21:41:52.580Z,1768945312.580 [sci2_vtyoyo:Lap:Wpt1:A.Waypoint] Running Loop=1
2026-01-20T21:41:52.580Z,1768945312.580 [sci2_vtyoyo:Lap:Wpt1:A.Waypoint](DEBUG): Initialize WaypointComponent.
2026-01-20T21:41:52.582Z,1768945312.582 [sci2_vtyoyo:Lap:Wpt1:A.Waypoint](IMPORTANT): Navigating to waypoint: 36.797001,-121.847000
2026-01-20T21:41:52.582Z,1768945312.582 [sci2_vtyoyo:manageDiveMode:syncWhileActive] Stopped
2026-01-20T21:41:52.582Z,1768945312.582 [sci2_vtyoyo:manageDiveMode:syncWhileActive](DEBUG): Aggregate::uninitialize sci2_vtyoyo:manageDiveMode:syncWhileActive
2026-01-20T21:41:52.582Z,1768945312.582 [sci2_vtyoyo:manageDiveMode:syncWhileActive:A] Stopped
2026-01-20T21:41:52.994Z,1768945312.994 [sci2_vtyoyo:Lap:Wpt1:A.Waypoint](INFO): Navigating to waypoint: 36.797001,-121.847000
2026-01-20T21:41:52.994Z,1768945312.994 [sci2_vtyoyo:Lap:Dive] Running Loop=1
2026-01-20T21:41:52.995Z,1768945312.995 [sci2_vtyoyo:Lap:Dive:A:YoYoDive] Stopped
2026-01-20T21:41:52.995Z,1768945312.995 [sci2_vtyoyo:Lap:Dive:A:YoYoDive](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Lap:Dive:A:YoYoDive
2026-01-20T21:41:52.995Z,1768945312.995 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive] Stopped
2026-01-20T21:41:52.995Z,1768945312.995 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive
2026-01-20T21:41:52.995Z,1768945312.995 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:A.Pitch] Stopped
2026-01-20T21:41:52.995Z,1768945312.995 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:B.Buoyancy] Stopped
2026-01-20T21:41:52.995Z,1768945312.995 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2026-01-20T21:41:52.995Z,1768945312.995 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:C.SetSpeed] Stopped
2026-01-20T21:41:52.995Z,1768945312.995 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:C.SetSpeed](DEBUG): Uninitialize.
2026-01-20T21:41:52.995Z,1768945312.995 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:D.DepthEnvelope] Stopped
2026-01-20T21:41:52.996Z,1768945312.996 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:D.DepthEnvelope](DEBUG): Uninitialize.
2026-01-20T21:41:52.996Z,1768945312.996 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:E.AltitudeEnvelope] Stopped
2026-01-20T21:41:52.996Z,1768945312.996 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:E.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2026-01-20T21:41:52.996Z,1768945312.996 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:F.YoYoPARLicor] Stopped
2026-01-20T21:41:52.996Z,1768945312.996 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:F.YoYoPARLicor](DEBUG): Uninitialize Value-Terminated YoYo.
2026-01-20T21:41:52.997Z,1768945312.997 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:G.YoYo] Stopped
2026-01-20T21:41:52.997Z,1768945312.997 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:G.YoYo](DEBUG): Uninitialize YoYoComponent.
2026-01-20T21:41:52.997Z,1768945312.997 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink] Running Loop=1
2026-01-20T21:41:52.998Z,1768945312.998 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:C](INFO): Sinking to  10.000000 m 
2026-01-20T21:41:52.998Z,1768945312.998 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:C] Stopped
2026-01-20T21:41:52.998Z,1768945312.998 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:D.Pitch] Running Loop=1
2026-01-20T21:41:52.998Z,1768945312.998 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:D.Pitch](DEBUG): Initialize.
2026-01-20T21:41:52.999Z,1768945312.999 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:B.SetSpeed] Running Loop=1
2026-01-20T21:41:52.999Z,1768945312.999 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:BuoyancyHold.Buoyancy] Running Loop=1
2026-01-20T21:41:53.017Z,1768945313.017 [HorizontalControl](DEBUG): kpHeading = 0.400000
2026-01-20T21:41:53.017Z,1768945313.017 [HorizontalControl](DEBUG): kiHeading = 0.001000
2026-01-20T21:41:53.018Z,1768945313.018 [HorizontalControl](DEBUG): kdHeading = 0.050000
2026-01-20T21:42:23.579Z,1768945343.579 [NAL9602](INFO): Not Powering down - fast GPS
2026-01-20T21:43:53.103Z,1768945433.103 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:D.Pitch](INFO): Timed out from 2026-01-20T21:41:52.0Z
2026-01-20T21:43:53.103Z,1768945433.103 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:D.Pitch:A_Timeout] Running Loop=1
2026-01-20T21:43:53.103Z,1768945433.103 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:D.Pitch:A_Timeout](DEBUG): Aggregate::initialize sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:D.Pitch:A_Timeout
2026-01-20T21:43:53.103Z,1768945433.103 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:D.Pitch:A_Timeout:A] Running Loop=1
2026-01-20T21:43:53.104Z,1768945433.104 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:D.Pitch:A_Timeout:A](IMPORTANT): Timed out while trying to reach target sink depth at current depth of  4.380489 m 
2026-01-20T21:43:53.104Z,1768945433.104 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:D.Pitch:A_Timeout:A] Stopped
2026-01-20T21:43:53.104Z,1768945433.104 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:D.Pitch:A_Timeout](INFO): Completed sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:D.Pitch:A_Timeout
2026-01-20T21:43:53.104Z,1768945433.104 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:D.Pitch] Stopped
2026-01-20T21:43:53.104Z,1768945433.104 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:E] Running Loop=1
2026-01-20T21:43:53.487Z,1768945433.487 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:E] Stopped
2026-01-20T21:43:53.487Z,1768945433.487 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink](INFO): Completed sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink
2026-01-20T21:43:53.487Z,1768945433.487 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink] Stopped
2026-01-20T21:43:53.488Z,1768945433.488 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink
2026-01-20T21:43:53.488Z,1768945433.488 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:BuoyancyHold.Buoyancy] Stopped
2026-01-20T21:43:53.488Z,1768945433.488 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2026-01-20T21:43:53.488Z,1768945433.488 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:B.SetSpeed] Stopped
2026-01-20T21:43:53.488Z,1768945433.488 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:B.SetSpeed](DEBUG): Uninitialize.
2026-01-20T21:43:53.488Z,1768945433.488 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink](INFO): Completed sci2_vtyoyo:Lap:Dive:A:SurfaceSink
2026-01-20T21:43:53.893Z,1768945433.893 [sci2_vtyoyo:Lap:Dive:A:YoYoDive] Running Loop=1
2026-01-20T21:43:53.893Z,1768945433.893 [sci2_vtyoyo:Lap:Dive:A:YoYoDive](DEBUG): Aggregate::initialize sci2_vtyoyo:Lap:Dive:A:YoYoDive
2026-01-20T21:43:53.893Z,1768945433.893 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive] Running Loop=1
2026-01-20T21:43:53.893Z,1768945433.893 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive](DEBUG): Aggregate::initialize sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive
2026-01-20T21:43:53.893Z,1768945433.893 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:A.Pitch] Running Loop=1
2026-01-20T21:43:53.893Z,1768945433.893 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:A.Pitch](DEBUG): Initialize.
2026-01-20T21:43:53.893Z,1768945433.893 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:B.Buoyancy] Running Loop=1
2026-01-20T21:43:53.893Z,1768945433.893 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2026-01-20T21:43:53.893Z,1768945433.893 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:C.SetSpeed] Running Loop=1
2026-01-20T21:43:53.894Z,1768945433.894 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:C.SetSpeed](DEBUG): Initialize.
2026-01-20T21:43:53.894Z,1768945433.894 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:D.DepthEnvelope] Running Loop=1
2026-01-20T21:43:53.894Z,1768945433.894 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:D.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2026-01-20T21:43:53.894Z,1768945433.894 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:E.AltitudeEnvelope] Running Loop=1
2026-01-20T21:43:53.894Z,1768945433.894 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:E.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2026-01-20T21:43:53.894Z,1768945433.894 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:F.YoYoPARLicor] Running Loop=1
2026-01-20T21:43:53.894Z,1768945433.894 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:F.YoYoPARLicor](DEBUG): Initialize Value-Terminated YoYo.
2026-01-20T21:43:53.898Z,1768945433.898 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:G.YoYo] Running Loop=1
2026-01-20T21:43:53.898Z,1768945433.898 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:G.YoYo](DEBUG): Initialize YoYoComponent.
2026-01-20T21:43:53.899Z,1768945433.899 [sci2_vtyoyo:Lap:Dive:A:YoYoDive] Running Loop=1
2026-01-20T21:43:53.899Z,1768945433.899 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:G.YoYo] Running Loop=1
2026-01-20T21:43:53.899Z,1768945433.899 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:F.YoYoPARLicor] Running Loop=1
2026-01-20T21:43:53.901Z,1768945433.901 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:E.AltitudeEnvelope] Running Loop=1
2026-01-20T21:43:53.901Z,1768945433.901 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:D.DepthEnvelope] Running Loop=1
2026-01-20T21:43:53.902Z,1768945433.902 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:C.SetSpeed] Running Loop=1
2026-01-20T21:43:53.902Z,1768945433.902 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:B.Buoyancy] Running Loop=1
2026-01-20T21:43:53.902Z,1768945433.902 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:A.Pitch] Running Loop=1
2026-01-20T21:43:54.707Z,1768945434.707 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 0.90 m/s, pitch -20.00 deg, mass-position 30.65 mm (1 active estimators).
2026-01-20T21:43:55.519Z,1768945435.519 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:E.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2026-01-20T21:43:57.172Z,1768945437.172 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-20T21:44:09.768Z,1768945449.768 [Radio_Surface](INFO): Powering down
2026-01-20T21:44:28.296Z,1768945468.296 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-20T21:44:29.306Z,1768945469.306 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2026-01-20T21:45:13.893Z,1768945513.893 [CTD_Seabird](ERROR): Failed to parse device response: .90
2026-01-20T21:45:35.576Z,1768945535.576 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.199265
2026-01-20T21:49:19.870Z,1768945759.870 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 0.90 m/s, pitch 20.00 deg, mass-position 30.65 mm (2 active estimators).
2026-01-20T21:57:18.461Z,1768946238.461 [BPC1](INFO): Calculating totals. Valid battery stick count: 49. Valid reserve battery stick count: 5.
2026-01-20T21:57:18.465Z,1768946238.465 [BPC1](ERROR): Failed to receive data from all sticks prior to timeout. Will not retry this scan cycle.
2026-01-20T22:09:20.856Z,1768946960.856 [RudderServo](ERROR): getPosition uart error serial timeout
2026-01-20T22:09:20.856Z,1768946960.856 [RudderServo](FAULT): Rudder uart error - getPosition..serial timeout
2026-01-20T22:09:20.856Z,1768946960.856 [RudderServo] Communications Fault, FailCount= 1
2026-01-20T22:09:20.856Z,1768946960.856 [RudderServo](ERROR): Communications Fault
2026-01-20T22:09:20.871Z,1768946960.871 [CBIT](ERROR): Communications Fault in component: RudderServo
2026-01-20T22:09:21.005Z,1768946961.005 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2026-01-20T22:09:21.005Z,1768946961.005 [RudderServo](INFO): Powering down
2026-01-20T22:09:21.769Z,1768946961.769 [RudderServo](DEBUG): Initializing EZServoServo.
2026-01-20T22:09:21.889Z,1768946961.889 [RudderServo](DEBUG): Initializing RudderServo.
2026-01-20T22:09:21.971Z,1768946961.971 [CBIT](INFO): Clearing failed state for component RudderServo
2026-01-20T22:09:21.971Z,1768946961.971 [RudderServo] No Fault, FailCount= 1
2026-01-20T22:33:10.725Z,1768948390.725 [CTD_Seabird](ERROR): Failed to parse device response: 16.9765,4070.09
2026-01-20T22:48:05.453Z,1768949285.453 [CTD_Seabird](ERROR): Failed to parse device response: .95
2026-01-20T23:02:44.006Z,1768950164.006 [BPC1](ERROR): BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).
2026-01-20T23:04:43.682Z,1768950283.682 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2026-01-20T23:15:14.033Z,1768950914.033 [sci2_vtyoyo:NeedComms] Running Loop=1
2026-01-20T23:15:14.033Z,1768950914.033 [sci2_vtyoyo:NeedComms](DEBUG): Aggregate::initialize sci2_vtyoyo:NeedComms
2026-01-20T23:15:14.033Z,1768950914.033 [sci2_vtyoyo:NeedComms:C.GoToSurface] Running Loop=1
2026-01-20T23:15:14.033Z,1768950914.033 [sci2_vtyoyo:NeedComms:C.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2026-01-20T23:15:14.033Z,1768950914.033 [sci2_vtyoyo:NeedComms:C.GoToSurface](INFO): Received depth rate setting nan m/s.
2026-01-20T23:15:14.034Z,1768950914.034 [sci2_vtyoyo:NeedComms:C.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2026-01-20T23:15:14.034Z,1768950914.034 [sci2_vtyoyo:NeedComms:C.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2026-01-20T23:15:14.034Z,1768950914.034 [sci2_vtyoyo:NeedComms:C.GoToSurface](INFO): Received surface timeout setting 1500.000000 seconds.
2026-01-20T23:15:14.035Z,1768950914.035 [sci2_vtyoyo:NeedComms:C.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2026-01-20T23:15:14.035Z,1768950914.035 [sci2_vtyoyo:NeedComms:C.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2026-01-20T23:15:14.035Z,1768950914.035 [sci2_vtyoyo:NeedComms:A] Running Loop=1
2026-01-20T23:15:14.053Z,1768950914.053 [sci2_vtyoyo:NeedComms:A](INFO): last time_fix was:  1768945308.000000 second since 1970/01/01T00:00:00Z 
2026-01-20T23:15:14.054Z,1768950914.054 [sci2_vtyoyo:NeedComms:A] Stopped
2026-01-20T23:15:14.054Z,1768950914.054 [sci2_vtyoyo:NeedComms:setActive] Running Loop=1
2026-01-20T23:15:14.054Z,1768950914.054 [sci2_vtyoyo:NeedComms:setActive](DEBUG): Aggregate::initialize sci2_vtyoyo:NeedComms:setActive
2026-01-20T23:15:14.054Z,1768950914.054 [sci2_vtyoyo:NeedComms:setActive:A] Running Loop=1
2026-01-20T23:15:14.458Z,1768950914.458 [sci2_vtyoyo:NeedComms:setActive:A] Stopped
2026-01-20T23:15:14.458Z,1768950914.458 [sci2_vtyoyo:NeedComms:setActive:B] Running Loop=1
2026-01-20T23:15:14.862Z,1768950914.862 [sci2_vtyoyo:NeedComms:setActive:B] Stopped
2026-01-20T23:15:14.862Z,1768950914.862 [sci2_vtyoyo:NeedComms:setActive](INFO): Completed sci2_vtyoyo:NeedComms:setActive
2026-01-20T23:15:14.862Z,1768950914.862 [sci2_vtyoyo:NeedComms:setActive] Stopped
2026-01-20T23:15:14.862Z,1768950914.862 [sci2_vtyoyo:NeedComms:setActive](DEBUG): Aggregate::uninitialize sci2_vtyoyo:NeedComms:setActive
2026-01-20T23:15:15.270Z,1768950915.270 [sci2_vtyoyo:manageDiveMode:syncWhileActive] Running Loop=1
2026-01-20T23:15:15.270Z,1768950915.270 [sci2_vtyoyo:manageDiveMode:syncWhileActive](DEBUG): Aggregate::initialize sci2_vtyoyo:manageDiveMode:syncWhileActive
2026-01-20T23:15:15.270Z,1768950915.270 [sci2_vtyoyo:manageDiveMode:syncWhileActive:A] Running Loop=1
2026-01-20T23:15:15.659Z,1768950915.659 [sci2_vtyoyo:Lap:Dive] Stopped
2026-01-20T23:15:15.659Z,1768950915.659 [sci2_vtyoyo:Lap:Dive](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Lap:Dive
2026-01-20T23:15:15.659Z,1768950915.659 [sci2_vtyoyo:Lap:Dive:A] Stopped
2026-01-20T23:15:15.659Z,1768950915.659 [sci2_vtyoyo:Lap:Dive:A](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Lap:Dive:A
2026-01-20T23:15:15.659Z,1768950915.659 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink] Stopped
2026-01-20T23:15:15.659Z,1768950915.659 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Lap:Dive:A:SurfaceSink
2026-01-20T23:15:15.659Z,1768950915.659 [sci2_vtyoyo:Lap:Dive:A:YoYoDive] Stopped
2026-01-20T23:15:15.659Z,1768950915.659 [sci2_vtyoyo:Lap:Dive:A:YoYoDive](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Lap:Dive:A:YoYoDive
2026-01-20T23:15:15.659Z,1768950915.659 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive] Stopped
2026-01-20T23:15:15.659Z,1768950915.659 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive
2026-01-20T23:15:15.659Z,1768950915.659 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:A.Pitch] Stopped
2026-01-20T23:15:15.660Z,1768950915.660 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:B.Buoyancy] Stopped
2026-01-20T23:15:15.660Z,1768950915.660 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2026-01-20T23:15:15.660Z,1768950915.660 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:C.SetSpeed] Stopped
2026-01-20T23:15:15.660Z,1768950915.660 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:C.SetSpeed](DEBUG): Uninitialize.
2026-01-20T23:15:15.660Z,1768950915.660 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:D.DepthEnvelope] Stopped
2026-01-20T23:15:15.660Z,1768950915.660 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:D.DepthEnvelope](DEBUG): Uninitialize.
2026-01-20T23:15:15.660Z,1768950915.660 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:E.AltitudeEnvelope] Stopped
2026-01-20T23:15:15.660Z,1768950915.660 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:E.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2026-01-20T23:15:15.660Z,1768950915.660 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:F.YoYoPARLicor] Stopped
2026-01-20T23:15:15.660Z,1768950915.660 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:F.YoYoPARLicor](DEBUG): Uninitialize Value-Terminated YoYo.
2026-01-20T23:15:15.662Z,1768950915.662 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:G.YoYo] Stopped
2026-01-20T23:15:15.662Z,1768950915.662 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:G.YoYo](DEBUG): Uninitialize YoYoComponent.
2026-01-20T23:19:13.210Z,1768951153.210 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2026-01-20T23:19:45.345Z,1768951185.345 [sci2_vtyoyo:NeedComms:D] Running Loop=1
2026-01-20T23:19:45.884Z,1768951185.884 [Radio_Surface](INFO): Powering up
2026-01-20T23:19:51.860Z,1768951191.860 [DataOverHttps](INFO): Radio surface powered ON.
2026-01-20T23:20:21.984Z,1768951221.984 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-20T23:20:53.108Z,1768951253.108 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-20T23:21:24.232Z,1768951284.232 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-20T23:21:55.368Z,1768951315.368 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-20T23:22:04.182Z,1768951324.182 [DataOverHttps](IMPORTANT): SBD MTMSN=20260120T232201
2026-01-20T23:22:04.185Z,1768951324.185 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003476
2026-01-20T23:22:11.913Z,1768951331.913 [DataOverHttps](INFO): Received command: sched 20260121T0145 "load Science/sci2.tl;set sci2.MissionTimeout 14 h;set sci2.NeedCommsTime 90 min;set sci2.Lat1 36.797 degree;set sci2.Lon1 -121.847 degree;set sci2.Speed .7 m/s;set sci2.YoYoMinDepth 4 m;set sci2.YoYoMaxDepth 70 m" 3svwk 1 2
2026-01-20T23:22:11.930Z,1768951331.930 [CommandExec](IMPORTANT): got command schedule 20260121T014500 "load Science/sci2.tl;set sci2.MissionTimeout 14 h;set sci2.NeedCommsTime 90 min;set sci2.Lat1 36.797 degree;set sci2.Lon1 -121.847 degree;set sci2.Speed .7 m/s;set sci2.YoYoMinDepth 4 m;set sci2.YoYoMaxDepth 70 m" 3svwk 1 2.000000
2026-01-20T23:22:11.930Z,1768951331.930 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=3svwk
2026-01-20T23:22:11.932Z,1768951331.932 [CommandExec](IMPORTANT): Scheduled #3 (#1 of 2 with id='3svwk'): "load Science/sci2.tl;set sci2.MissionTimeout 14 h;set sci2.NeedCommsTime 90 min;set sci2.Lat1 36.797 degree;set sci2.Lon1 -121.847 degree;set sci2.Speed .7 m/s;set sci2.YoYoMinDepth 4 m;set sci2.YoYoMaxDepth 70 m", AT TIME: 2026-01-21T01:45:00Z
2026-01-20T23:22:12.914Z,1768951332.914 [DataOverHttps](IMPORTANT): SBD MTMSN=20260120T232209
2026-01-20T23:22:20.840Z,1768951340.840 [DataOverHttps](INFO): Received command: sched 20260121T0145 "set sci2.SinkOffSurface 1 bool;set sci2.SinkDepthTimeout 2 min;set sci2.MaxDepth 80 m;run" 3svwk 2 2
2026-01-20T23:22:20.902Z,1768951340.902 [CommandExec](IMPORTANT): got command schedule 20260121T014500 "set sci2.SinkOffSurface 1 bool;set sci2.SinkDepthTimeout 2 min;set sci2.MaxDepth 80 m;run" 3svwk 2 2.000000
2026-01-20T23:22:20.902Z,1768951340.902 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=3svwk
2026-01-20T23:22:20.908Z,1768951340.908 [CommandExec](IMPORTANT): Scheduled #4 (#2 of 2 with id='3svwk'): "set sci2.SinkOffSurface 1 bool;set sci2.SinkDepthTimeout 2 min;set sci2.MaxDepth 80 m;run", AT TIME: 2026-01-21T01:45:00Z
2026-01-20T23:22:21.841Z,1768951341.841 [DataOverHttps](IMPORTANT): SBD MTMSN=20260120T232218
2026-01-20T23:22:29.823Z,1768951349.823 [DataOverHttps](INFO): Received command: sched 20260121T0145 "restart logs"
2026-01-20T23:22:29.903Z,1768951349.903 [CommandExec](IMPORTANT): got command schedule 20260121T014500 "restart logs"
2026-01-20T23:22:29.904Z,1768951349.904 [CommandExec](IMPORTANT): Scheduled #5: "restart logs", AT TIME: 2026-01-21T01:45:00Z
2026-01-20T23:24:22.129Z,1768951462.129 [NAL9602](INFO): SBD MO Status=0, MOMSN=25348, MT Status=0, MTMSN=0
2026-01-20T23:24:22.129Z,1768951462.129 [NAL9602](INFO): No messages in MT queue
2026-01-20T23:24:23.339Z,1768951463.339 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,232420.00,A,3659.17322,N,12222.50304,W,0.544,54.81,200126,,,D*49
2026-01-20T23:24:23.341Z,1768951463.341 [NAL9602](INFO): GPS fix at 20260120T232420: (36.986220, -122.375051)
2026-01-20T23:24:23.378Z,1768951463.378 [UniversalFixResidualReporter](INFO): Fix residual: 25.7 %DT, over the last 3886.9 m. Residual distance 999.1 m at bearing -156.6 degrees. Fix at (36.9862, -122.3751) with 3881.7 m made good.
2026-01-20T23:24:23.380Z,1768951463.380 [sci2_vtyoyo:Lap:Wpt1:A.Waypoint](INFO): Navigating to waypoint: 36.797001,-121.847000
2026-01-20T23:24:23.385Z,1768951463.385 [sci2_vtyoyo:NeedComms:D] Stopped
2026-01-20T23:24:23.385Z,1768951463.385 [sci2_vtyoyo:NeedComms:E] Running Loop=1
2026-01-20T23:24:31.752Z,1768951471.752 [DataOverHttps](INFO): Sending 269 bytes from file Logs/20260120T212604/Courier0015.lzma
2026-01-20T23:24:32.754Z,1768951472.754 [DataOverHttps](INFO): Moved sent file to Logs/20260120T212604/Courier0015.lzma.bak
2026-01-20T23:24:32.754Z,1768951472.754 [DataOverHttps](INFO): SBD MOMSN=26583092
2026-01-20T23:24:50.003Z,1768951490.003 [DataOverHttps](INFO): Sending 2022 bytes from file Logs/20260120T212604/Express0016.lzma
2026-01-20T23:24:51.002Z,1768951491.002 [DataOverHttps](INFO): Moved sent file to Logs/20260120T212604/Express0016.lzma.bak
2026-01-20T23:24:51.002Z,1768951491.002 [DataOverHttps](INFO): SBD MOMSN=26583095
2026-01-20T23:24:55.669Z,1768951495.669 [NAL9602](INFO): Not Powering down - fast GPS
2026-01-20T23:25:07.787Z,1768951507.787 [DataOverHttps](INFO): Sending 70 bytes from file Logs/20260120T212604/Express0020.lzma
2026-01-20T23:25:08.790Z,1768951508.790 [DataOverHttps](INFO): Moved sent file to Logs/20260120T212604/Express0020.lzma.bak
2026-01-20T23:25:08.790Z,1768951508.790 [DataOverHttps](INFO): SBD MOMSN=26583115
2026-01-20T23:25:10.241Z,1768951510.241 [sci2_vtyoyo:NeedComms:E] Stopped
2026-01-20T23:25:10.241Z,1768951510.241 [sci2_vtyoyo:NeedComms:F] Running Loop=1
2026-01-20T23:25:12.239Z,1768951512.239 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,232509.00,A,3659.17442,N,12222.49765,W,0.272,59.41,200126,,,D*4A
2026-01-20T23:25:12.245Z,1768951512.245 [NAL9602](INFO): GPS fix at 20260120T232509: (36.986240, -122.374961)
2026-01-20T23:25:12.286Z,1768951512.286 [sci2_vtyoyo:Lap:Wpt1:A.Waypoint](INFO): Navigating to waypoint: 36.797001,-121.847000
2026-01-20T23:25:12.289Z,1768951512.289 [sci2_vtyoyo:NeedComms:F] Stopped
2026-01-20T23:25:12.289Z,1768951512.289 [sci2_vtyoyo:NeedComms:setRestoreMode] Running Loop=1
2026-01-20T23:25:12.289Z,1768951512.289 [sci2_vtyoyo:NeedComms:setRestoreMode](DEBUG): Aggregate::initialize sci2_vtyoyo:NeedComms:setRestoreMode
2026-01-20T23:25:12.289Z,1768951512.289 [sci2_vtyoyo:NeedComms:setRestoreMode:A] Running Loop=1
2026-01-20T23:25:12.697Z,1768951512.697 [sci2_vtyoyo:NeedComms:setRestoreMode:A] Stopped
2026-01-20T23:25:12.697Z,1768951512.697 [sci2_vtyoyo:NeedComms:setRestoreMode](INFO): Completed sci2_vtyoyo:NeedComms:setRestoreMode
2026-01-20T23:25:12.697Z,1768951512.697 [sci2_vtyoyo:NeedComms:setRestoreMode] Stopped
2026-01-20T23:25:12.697Z,1768951512.697 [sci2_vtyoyo:NeedComms:setRestoreMode](DEBUG): Aggregate::uninitialize sci2_vtyoyo:NeedComms:setRestoreMode
2026-01-20T23:25:12.697Z,1768951512.697 [sci2_vtyoyo:NeedComms:setInactive] Running Loop=1
2026-01-20T23:25:12.697Z,1768951512.697 [sci2_vtyoyo:NeedComms:setInactive](DEBUG): Aggregate::initialize sci2_vtyoyo:NeedComms:setInactive
2026-01-20T23:25:12.698Z,1768951512.698 [sci2_vtyoyo:NeedComms:setInactive:A] Running Loop=1
2026-01-20T23:25:13.085Z,1768951513.085 [sci2_vtyoyo:NeedComms:setInactive:A] Stopped
2026-01-20T23:25:13.085Z,1768951513.085 [sci2_vtyoyo:NeedComms:setInactive](INFO): Completed sci2_vtyoyo:NeedComms:setInactive
2026-01-20T23:25:13.085Z,1768951513.085 [sci2_vtyoyo:NeedComms:setInactive] Stopped
2026-01-20T23:25:13.085Z,1768951513.085 [sci2_vtyoyo:NeedComms:setInactive](DEBUG): Aggregate::uninitialize sci2_vtyoyo:NeedComms:setInactive
2026-01-20T23:25:13.086Z,1768951513.086 [sci2_vtyoyo:NeedComms](INFO): Completed sci2_vtyoyo:NeedComms
2026-01-20T23:25:13.086Z,1768951513.086 [sci2_vtyoyo:NeedComms] Stopped
2026-01-20T23:25:13.086Z,1768951513.086 [sci2_vtyoyo:NeedComms](DEBUG): Aggregate::uninitialize sci2_vtyoyo:NeedComms
2026-01-20T23:25:13.086Z,1768951513.086 [sci2_vtyoyo:NeedComms:C.GoToSurface] Stopped
2026-01-20T23:25:13.086Z,1768951513.086 [sci2_vtyoyo:NeedComms:C.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2026-01-20T23:25:13.482Z,1768951513.482 [sci2_vtyoyo:Lap:Dive] Running Loop=1
2026-01-20T23:25:13.483Z,1768951513.483 [sci2_vtyoyo:Lap:Dive](DEBUG): Aggregate::initialize sci2_vtyoyo:Lap:Dive
2026-01-20T23:25:13.483Z,1768951513.483 [sci2_vtyoyo:Lap:Dive:A] Running Loop=1
2026-01-20T23:25:13.483Z,1768951513.483 [sci2_vtyoyo:Lap:Dive:A](DEBUG): Aggregate::initialize sci2_vtyoyo:Lap:Dive:A
2026-01-20T23:25:13.483Z,1768951513.483 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink] Running Loop=1
2026-01-20T23:25:13.483Z,1768951513.483 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink](DEBUG): Aggregate::initialize sci2_vtyoyo:Lap:Dive:A:SurfaceSink
2026-01-20T23:25:13.483Z,1768951513.483 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink] Running Loop=1
2026-01-20T23:25:13.483Z,1768951513.483 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink](DEBUG): Aggregate::initialize sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink
2026-01-20T23:25:13.483Z,1768951513.483 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:BuoyancyHold.Buoyancy] Running Loop=1
2026-01-20T23:25:13.483Z,1768951513.483 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2026-01-20T23:25:13.483Z,1768951513.483 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:B.SetSpeed] Running Loop=1
2026-01-20T23:25:13.488Z,1768951513.488 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:B.SetSpeed](DEBUG): Initialize.
2026-01-20T23:25:13.488Z,1768951513.488 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:C] Running Loop=1
2026-01-20T23:25:13.488Z,1768951513.488 [sci2_vtyoyo:Lap:Dive:A:YoYoDive] Running Loop=1
2026-01-20T23:25:13.488Z,1768951513.488 [sci2_vtyoyo:Lap:Dive:A:YoYoDive](DEBUG): Aggregate::initialize sci2_vtyoyo:Lap:Dive:A:YoYoDive
2026-01-20T23:25:13.488Z,1768951513.488 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive] Running Loop=1
2026-01-20T23:25:13.488Z,1768951513.488 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive](DEBUG): Aggregate::initialize sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive
2026-01-20T23:25:13.488Z,1768951513.488 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:A.Pitch] Running Loop=1
2026-01-20T23:25:13.488Z,1768951513.488 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:A.Pitch](DEBUG): Initialize.
2026-01-20T23:25:13.489Z,1768951513.489 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:B.Buoyancy] Running Loop=1
2026-01-20T23:25:13.489Z,1768951513.489 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2026-01-20T23:25:13.489Z,1768951513.489 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:C.SetSpeed] Running Loop=1
2026-01-20T23:25:13.489Z,1768951513.489 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:C.SetSpeed](DEBUG): Initialize.
2026-01-20T23:25:13.489Z,1768951513.489 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:D.DepthEnvelope] Running Loop=1
2026-01-20T23:25:13.489Z,1768951513.489 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:D.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2026-01-20T23:25:13.489Z,1768951513.489 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:E.AltitudeEnvelope] Running Loop=1
2026-01-20T23:25:13.489Z,1768951513.489 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:E.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2026-01-20T23:25:13.490Z,1768951513.490 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:F.YoYoPARLicor] Running Loop=1
2026-01-20T23:25:13.490Z,1768951513.490 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:F.YoYoPARLicor](DEBUG): Initialize Value-Terminated YoYo.
2026-01-20T23:25:13.495Z,1768951513.495 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:G.YoYo] Running Loop=1
2026-01-20T23:25:13.495Z,1768951513.495 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:G.YoYo](DEBUG): Initialize YoYoComponent.
2026-01-20T23:25:13.495Z,1768951513.495 [sci2_vtyoyo:Lap:Dive:A:YoYoDive] Stopped
2026-01-20T23:25:13.495Z,1768951513.495 [sci2_vtyoyo:Lap:Dive:A:YoYoDive](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Lap:Dive:A:YoYoDive
2026-01-20T23:25:13.495Z,1768951513.495 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive] Stopped
2026-01-20T23:25:13.495Z,1768951513.495 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive
2026-01-20T23:25:13.500Z,1768951513.500 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:A.Pitch] Stopped
2026-01-20T23:25:13.500Z,1768951513.500 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:B.Buoyancy] Stopped
2026-01-20T23:25:13.500Z,1768951513.500 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2026-01-20T23:25:13.500Z,1768951513.500 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:C.SetSpeed] Stopped
2026-01-20T23:25:13.500Z,1768951513.500 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:C.SetSpeed](DEBUG): Uninitialize.
2026-01-20T23:25:13.500Z,1768951513.500 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:D.DepthEnvelope] Stopped
2026-01-20T23:25:13.500Z,1768951513.500 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:D.DepthEnvelope](DEBUG): Uninitialize.
2026-01-20T23:25:13.500Z,1768951513.500 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:E.AltitudeEnvelope] Stopped
2026-01-20T23:25:13.500Z,1768951513.500 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:E.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2026-01-20T23:25:13.500Z,1768951513.500 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:F.YoYoPARLicor] Stopped
2026-01-20T23:25:13.501Z,1768951513.501 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:F.YoYoPARLicor](DEBUG): Uninitialize Value-Terminated YoYo.
2026-01-20T23:25:13.502Z,1768951513.502 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:G.YoYo] Stopped
2026-01-20T23:25:13.502Z,1768951513.502 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:G.YoYo](DEBUG): Uninitialize YoYoComponent.
2026-01-20T23:25:13.502Z,1768951513.502 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:C](INFO): Sinking to  10.000000 m 
2026-01-20T23:25:13.503Z,1768951513.503 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:C] Stopped
2026-01-20T23:25:13.503Z,1768951513.503 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:D.Pitch] Running Loop=1
2026-01-20T23:25:13.503Z,1768951513.503 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:D.Pitch](DEBUG): Initialize.
2026-01-20T23:25:13.503Z,1768951513.503 [sci2_vtyoyo:manageDiveMode:syncWhileActive] Stopped
2026-01-20T23:25:13.532Z,1768951513.532 [sci2_vtyoyo:manageDiveMode:syncWhileActive](DEBUG): Aggregate::uninitialize sci2_vtyoyo:manageDiveMode:syncWhileActive
2026-01-20T23:25:13.532Z,1768951513.532 [sci2_vtyoyo:manageDiveMode:syncWhileActive:A] Stopped
2026-01-20T23:27:11.621Z,1768951631.621 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-20T23:27:13.682Z,1768951633.682 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:D.Pitch](INFO): Timed out from 2026-01-20T23:25:13.5Z
2026-01-20T23:27:13.682Z,1768951633.682 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:D.Pitch:A_Timeout] Running Loop=1
2026-01-20T23:27:13.682Z,1768951633.682 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:D.Pitch:A_Timeout](DEBUG): Aggregate::initialize sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:D.Pitch:A_Timeout
2026-01-20T23:27:13.683Z,1768951633.683 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:D.Pitch:A_Timeout:A] Running Loop=1
2026-01-20T23:27:13.685Z,1768951633.685 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:D.Pitch:A_Timeout:A](IMPORTANT): Timed out while trying to reach target sink depth at current depth of  4.768658 m 
2026-01-20T23:27:13.685Z,1768951633.685 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:D.Pitch:A_Timeout:A] Stopped
2026-01-20T23:27:13.686Z,1768951633.686 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:D.Pitch:A_Timeout](INFO): Completed sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:D.Pitch:A_Timeout
2026-01-20T23:27:13.686Z,1768951633.686 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:D.Pitch] Stopped
2026-01-20T23:27:13.686Z,1768951633.686 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:E] Running Loop=1
2026-01-20T23:27:14.103Z,1768951634.103 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:E] Stopped
2026-01-20T23:27:14.109Z,1768951634.109 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink](INFO): Completed sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink
2026-01-20T23:27:14.109Z,1768951634.109 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink] Stopped
2026-01-20T23:27:14.109Z,1768951634.109 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink
2026-01-20T23:27:14.110Z,1768951634.110 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:BuoyancyHold.Buoyancy] Stopped
2026-01-20T23:27:14.110Z,1768951634.110 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2026-01-20T23:27:14.110Z,1768951634.110 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:B.SetSpeed] Stopped
2026-01-20T23:27:14.110Z,1768951634.110 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:B.SetSpeed](DEBUG): Uninitialize.
2026-01-20T23:27:14.110Z,1768951634.110 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink](INFO): Completed sci2_vtyoyo:Lap:Dive:A:SurfaceSink
2026-01-20T23:27:14.488Z,1768951634.488 [sci2_vtyoyo:Lap:Dive:A:YoYoDive] Running Loop=1
2026-01-20T23:27:14.488Z,1768951634.488 [sci2_vtyoyo:Lap:Dive:A:YoYoDive](DEBUG): Aggregate::initialize sci2_vtyoyo:Lap:Dive:A:YoYoDive
2026-01-20T23:27:14.488Z,1768951634.488 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive] Running Loop=1
2026-01-20T23:27:14.488Z,1768951634.488 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive](DEBUG): Aggregate::initialize sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive
2026-01-20T23:27:14.488Z,1768951634.488 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:A.Pitch] Running Loop=1
2026-01-20T23:27:14.488Z,1768951634.488 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:A.Pitch](DEBUG): Initialize.
2026-01-20T23:27:14.489Z,1768951634.489 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:B.Buoyancy] Running Loop=1
2026-01-20T23:27:14.489Z,1768951634.489 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2026-01-20T23:27:14.489Z,1768951634.489 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:C.SetSpeed] Running Loop=1
2026-01-20T23:27:14.489Z,1768951634.489 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:C.SetSpeed](DEBUG): Initialize.
2026-01-20T23:27:14.489Z,1768951634.489 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:D.DepthEnvelope] Running Loop=1
2026-01-20T23:27:14.489Z,1768951634.489 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:D.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2026-01-20T23:27:14.489Z,1768951634.489 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:E.AltitudeEnvelope] Running Loop=1
2026-01-20T23:27:14.489Z,1768951634.489 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:E.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2026-01-20T23:27:14.489Z,1768951634.489 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:F.YoYoPARLicor] Running Loop=1
2026-01-20T23:27:14.489Z,1768951634.489 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:F.YoYoPARLicor](DEBUG): Initialize Value-Terminated YoYo.
2026-01-20T23:27:14.493Z,1768951634.493 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:G.YoYo] Running Loop=1
2026-01-20T23:27:14.493Z,1768951634.493 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:G.YoYo](DEBUG): Initialize YoYoComponent.
2026-01-20T23:27:25.472Z,1768951645.472 [Radio_Surface](INFO): Powering down
2026-01-20T23:27:42.744Z,1768951662.744 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-20T23:27:43.748Z,1768951663.748 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2026-01-20T23:28:19.344Z,1768951699.344 [BPC1](INFO): Calculating totals. Valid battery stick count: 49. Valid reserve battery stick count: 5.
2026-01-20T23:28:19.346Z,1768951699.346 [BPC1](ERROR): Failed to receive data from all sticks prior to timeout. Will not retry this scan cycle.
2026-01-20T23:28:49.009Z,1768951729.009 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.727325
2026-01-20T23:30:14.526Z,1768951814.526 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2026-01-20T23:30:32.885Z,1768951832.885 [CTD_Seabird](ERROR): Failed to parse device response: 45.15.64
2026-01-20T23:30:45.227Z,1768951845.227 [NAL9602](INFO): Not Powering down - fast GPS
2026-01-21T00:26:26.029Z,1768955186.029 [Sonardyne_Nano](ERROR): Failed to parse response: >VS:2213,HPR45,EXT,TILT

2026-01-21T00:26:44.861Z,1768955204.861 [CTD_Seabird](ERROR): Failed to parse device response: 3.12,14.2761,4.027.25
2026-01-21T00:31:16.673Z,1768955476.673 [BPC1](ERROR): BPC1A: No match for serial number 1717 in BPC1A's battery stick inventory (sticks 1-31 in onboard configuration file).
2026-01-21T00:40:37.426Z,1768956037.426 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2026-01-21T00:50:15.593Z,1768956615.593 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2026-01-21T00:55:12.593Z,1768956912.593 [sci2_vtyoyo:NeedComms] Running Loop=1
2026-01-21T00:55:12.593Z,1768956912.593 [sci2_vtyoyo:NeedComms](DEBUG): Aggregate::initialize sci2_vtyoyo:NeedComms
2026-01-21T00:55:12.593Z,1768956912.593 [sci2_vtyoyo:NeedComms:C.GoToSurface] Running Loop=1
2026-01-21T00:55:12.593Z,1768956912.593 [sci2_vtyoyo:NeedComms:C.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2026-01-21T00:55:12.593Z,1768956912.593 [sci2_vtyoyo:NeedComms:C.GoToSurface](INFO): Received depth rate setting nan m/s.
2026-01-21T00:55:12.594Z,1768956912.594 [sci2_vtyoyo:NeedComms:C.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2026-01-21T00:55:12.594Z,1768956912.594 [sci2_vtyoyo:NeedComms:C.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2026-01-21T00:55:12.594Z,1768956912.594 [sci2_vtyoyo:NeedComms:C.GoToSurface](INFO): Received surface timeout setting 1500.000000 seconds.
2026-01-21T00:55:12.595Z,1768956912.595 [sci2_vtyoyo:NeedComms:C.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2026-01-21T00:55:12.595Z,1768956912.595 [sci2_vtyoyo:NeedComms:C.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2026-01-21T00:55:12.595Z,1768956912.595 [sci2_vtyoyo:NeedComms:A] Running Loop=1
2026-01-21T00:55:12.597Z,1768956912.597 [sci2_vtyoyo:NeedComms:A](INFO): last time_fix was:  1768951509.000000 second since 1970/01/01T00:00:00Z 
2026-01-21T00:55:12.597Z,1768956912.597 [sci2_vtyoyo:NeedComms:A] Stopped
2026-01-21T00:55:12.597Z,1768956912.597 [sci2_vtyoyo:NeedComms:setActive] Running Loop=1
2026-01-21T00:55:12.598Z,1768956912.598 [sci2_vtyoyo:NeedComms:setActive](DEBUG): Aggregate::initialize sci2_vtyoyo:NeedComms:setActive
2026-01-21T00:55:12.598Z,1768956912.598 [sci2_vtyoyo:NeedComms:setActive:A] Running Loop=1
2026-01-21T00:55:12.990Z,1768956912.990 [sci2_vtyoyo:NeedComms:setActive:A] Stopped
2026-01-21T00:55:12.990Z,1768956912.990 [sci2_vtyoyo:NeedComms:setActive:B] Running Loop=1
2026-01-21T00:55:13.390Z,1768956913.390 [sci2_vtyoyo:NeedComms:setActive:B] Stopped
2026-01-21T00:55:13.390Z,1768956913.390 [sci2_vtyoyo:NeedComms:setActive](INFO): Completed sci2_vtyoyo:NeedComms:setActive
2026-01-21T00:55:13.390Z,1768956913.390 [sci2_vtyoyo:NeedComms:setActive] Stopped
2026-01-21T00:55:13.390Z,1768956913.390 [sci2_vtyoyo:NeedComms:setActive](DEBUG): Aggregate::uninitialize sci2_vtyoyo:NeedComms:setActive
2026-01-21T00:55:13.794Z,1768956913.794 [sci2_vtyoyo:manageDiveMode:syncWhileActive] Running Loop=1
2026-01-21T00:55:13.794Z,1768956913.794 [sci2_vtyoyo:manageDiveMode:syncWhileActive](DEBUG): Aggregate::initialize sci2_vtyoyo:manageDiveMode:syncWhileActive
2026-01-21T00:55:13.794Z,1768956913.794 [sci2_vtyoyo:manageDiveMode:syncWhileActive:A] Running Loop=1
2026-01-21T00:55:14.199Z,1768956914.199 [sci2_vtyoyo:Lap:Dive] Stopped
2026-01-21T00:55:14.199Z,1768956914.199 [sci2_vtyoyo:Lap:Dive](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Lap:Dive
2026-01-21T00:55:14.199Z,1768956914.199 [sci2_vtyoyo:Lap:Dive:A] Stopped
2026-01-21T00:55:14.199Z,1768956914.199 [sci2_vtyoyo:Lap:Dive:A](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Lap:Dive:A
2026-01-21T00:55:14.199Z,1768956914.199 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink] Stopped
2026-01-21T00:55:14.199Z,1768956914.199 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Lap:Dive:A:SurfaceSink
2026-01-21T00:55:14.199Z,1768956914.199 [sci2_vtyoyo:Lap:Dive:A:YoYoDive] Stopped
2026-01-21T00:55:14.204Z,1768956914.204 [sci2_vtyoyo:Lap:Dive:A:YoYoDive](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Lap:Dive:A:YoYoDive
2026-01-21T00:55:14.205Z,1768956914.205 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive] Stopped
2026-01-21T00:55:14.205Z,1768956914.205 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive
2026-01-21T00:55:14.205Z,1768956914.205 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:A.Pitch] Stopped
2026-01-21T00:55:14.205Z,1768956914.205 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:B.Buoyancy] Stopped
2026-01-21T00:55:14.205Z,1768956914.205 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2026-01-21T00:55:14.205Z,1768956914.205 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:C.SetSpeed] Stopped
2026-01-21T00:55:14.205Z,1768956914.205 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:C.SetSpeed](DEBUG): Uninitialize.
2026-01-21T00:55:14.205Z,1768956914.205 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:D.DepthEnvelope] Stopped
2026-01-21T00:55:14.205Z,1768956914.205 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:D.DepthEnvelope](DEBUG): Uninitialize.
2026-01-21T00:55:14.205Z,1768956914.205 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:E.AltitudeEnvelope] Stopped
2026-01-21T00:55:14.205Z,1768956914.205 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:E.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2026-01-21T00:55:14.205Z,1768956914.205 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:F.YoYoPARLicor] Stopped
2026-01-21T00:55:14.205Z,1768956914.205 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:F.YoYoPARLicor](DEBUG): Uninitialize Value-Terminated YoYo.
2026-01-21T00:55:14.207Z,1768956914.207 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:G.YoYo] Stopped
2026-01-21T00:55:14.207Z,1768956914.207 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:G.YoYo](DEBUG): Uninitialize YoYoComponent.
2026-01-21T00:56:56.409Z,1768957016.409 [sci2_vtyoyo:NeedComms:D] Running Loop=1
2026-01-21T00:56:57.028Z,1768957017.028 [Radio_Surface](INFO): Powering up
2026-01-21T00:57:02.732Z,1768957022.732 [DataOverHttps](INFO): Radio surface powered ON.
2026-01-21T00:57:29.276Z,1768957049.276 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2026-01-21T00:57:29.360Z,1768957049.360 [NAL9602](ERROR): received: 
+CSQ:0

OK348, 0, 0, 0, 0

OK
2026-01-21T00:57:32.865Z,1768957052.865 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-21T00:57:54.330Z,1768957074.330 [NAL9602](INFO): SBD MO Status=2, MOMSN=25349, MT Status=2, MTMSN=0
2026-01-21T00:57:54.331Z,1768957074.331 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-01-21T00:58:03.988Z,1768957083.988 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-21T00:58:35.112Z,1768957115.112 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-21T00:59:06.236Z,1768957146.236 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-21T00:59:14.981Z,1768957154.981 [DataOverHttps](IMPORTANT): SBD MTMSN=20260121T005911
2026-01-21T00:59:14.984Z,1768957154.984 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003246
2026-01-21T00:59:20.371Z,1768957160.371 [BPC1](ERROR): Battery stick #53 (s/n: 0459) reported OVER_TEMP_ALARM. Status code: 0x1717.
2026-01-21T00:59:20.371Z,1768957160.371 [BPC1](INFO): Calculating totals. Valid battery stick count: 48. Valid reserve battery stick count: 5.
2026-01-21T00:59:20.374Z,1768957160.374 [BPC1](ERROR): Failed to receive data from all sticks prior to timeout. Will not retry this scan cycle.
2026-01-21T00:59:22.791Z,1768957162.791 [DataOverHttps](INFO): Received command: sched 20260121T1445 "restart logs"
2026-01-21T00:59:22.795Z,1768957162.795 [CommandExec](IMPORTANT): got command schedule 20260121T144500 "restart logs"
2026-01-21T00:59:22.796Z,1768957162.796 [CommandExec](IMPORTANT): Scheduled #6: "restart logs", AT TIME: 2026-01-21T14:45:00Z
2026-01-21T00:59:23.794Z,1768957163.794 [DataOverHttps](IMPORTANT): SBD MTMSN=20260121T005920
2026-01-21T00:59:31.604Z,1768957171.604 [DataOverHttps](INFO): Received command: sched 20260121T1445 "load Science/sci2_vtyoyo.tl;set sci2_vtyoyo.MissionTimeout 14 h;set sci2_vtyoyo.NeedCommsTime 90 min;set sci2_vtyoyo.Lat1 36.797 degree;set sci2_vtyoyo.Lon1 -121.847 degree;set sci2_vtyoyo.Speed .8 m/s" 3t1rf 1 3
2026-01-21T00:59:31.641Z,1768957171.641 [CommandExec](IMPORTANT): got command schedule 20260121T144500 "load Science/sci2_vtyoyo.tl;set sci2_vtyoyo.MissionTimeout 14 h;set sci2_vtyoyo.NeedCommsTime 90 min;set sci2_vtyoyo.Lat1 36.797 degree;set sci2_vtyoyo.Lon1 -121.847 degree;set sci2_vtyoyo.Speed .8 m/s" 3t1rf 1 3.000000
2026-01-21T00:59:31.641Z,1768957171.641 [CommandExec](IMPORTANT): Scheduling command #1 of 3 with id=3t1rf
2026-01-21T00:59:31.643Z,1768957171.643 [CommandExec](IMPORTANT): Scheduled #7 (#1 of 3 with id='3t1rf'): "load Science/sci2_vtyoyo.tl;set sci2_vtyoyo.MissionTimeout 14 h;set sci2_vtyoyo.NeedCommsTime 90 min;set sci2_vtyoyo.Lat1 36.797 degree;set sci2_vtyoyo.Lon1 -121.847 degree;set sci2_vtyoyo.Speed .8 m/s", AT TIME: 2026-01-21T14:45:00Z
2026-01-21T00:59:32.606Z,1768957172.606 [DataOverHttps](IMPORTANT): SBD MTMSN=20260121T005929
2026-01-21T00:59:41.368Z,1768957181.368 [DataOverHttps](INFO): Received command: sched 20260121T1445 "set sci2_vtyoyo.YoYoMinDepth 4 m;set sci2_vtyoyo.YoYoMaxDepth 70 m;set sci2_vtyoyo.MaxDepth 80 m;set sci2_vtyoyo.SinkOffSurface 1 bool;set sci2_vtyoyo.SinkDepthTimeout 2 min" 3t1rf 2 3
2026-01-21T00:59:41.425Z,1768957181.425 [CommandExec](IMPORTANT): got command schedule 20260121T144500 "set sci2_vtyoyo.YoYoMinDepth 4 m;set sci2_vtyoyo.YoYoMaxDepth 70 m;set sci2_vtyoyo.MaxDepth 80 m;set sci2_vtyoyo.SinkOffSurface 1 bool;set sci2_vtyoyo.SinkDepthTimeout 2 min" 3t1rf 2 3.000000
2026-01-21T00:59:41.426Z,1768957181.426 [CommandExec](IMPORTANT): Scheduling command #2 of 3 with id=3t1rf
2026-01-21T00:59:41.427Z,1768957181.427 [CommandExec](IMPORTANT): Scheduled #8 (#2 of 3 with id='3t1rf'): "set sci2_vtyoyo.YoYoMinDepth 4 m;set sci2_vtyoyo.YoYoMaxDepth 70 m;set sci2_vtyoyo.MaxDepth 80 m;set sci2_vtyoyo.SinkOffSurface 1 bool;set sci2_vtyoyo.SinkDepthTimeout 2 min", AT TIME: 2026-01-21T14:45:00Z
2026-01-21T00:59:42.369Z,1768957182.369 [DataOverHttps](IMPORTANT): SBD MTMSN=20260121T005939
2026-01-21T00:59:51.212Z,1768957191.212 [DataOverHttps](INFO): Received command: sched 20260121T1445 "set sci2_vtyoyo:BackseatDriver.EnableBackseat 1 bool;run" 3t1rf 3 3
2026-01-21T00:59:51.308Z,1768957191.308 [CommandExec](IMPORTANT): got command schedule 20260121T144500 "set sci2_vtyoyo:BackseatDriver.EnableBackseat 1 bool;run" 3t1rf 3 3.000000
2026-01-21T00:59:51.308Z,1768957191.308 [CommandExec](IMPORTANT): Scheduling command #3 of 3 with id=3t1rf
2026-01-21T00:59:51.310Z,1768957191.310 [CommandExec](IMPORTANT): Scheduled #9 (#3 of 3 with id='3t1rf'): "set sci2_vtyoyo:BackseatDriver.EnableBackseat 1 bool;run", AT TIME: 2026-01-21T14:45:00Z
2026-01-21T01:01:35.325Z,1768957295.325 [NAL9602](INFO): SBD MO Status=2, MOMSN=25349, MT Status=2, MTMSN=0
2026-01-21T01:01:35.326Z,1768957295.326 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-01-21T01:02:00.374Z,1768957320.374 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2026-01-21T01:02:01.585Z,1768957321.585 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,010158.00,A,3658.39026,N,12219.95694,W,0.486,140.12,210126,,,D*76
2026-01-21T01:02:01.588Z,1768957321.588 [NAL9602](INFO): GPS fix at 20260121T010158: (36.973171, -122.332616)
2026-01-21T01:02:01.599Z,1768957321.599 [UniversalFixResidualReporter](INFO): Fix residual: 16.6 %DT, over the last 3626.7 m. Residual distance 601.2 m at bearing -103.3 degrees. Fix at (36.9732, -122.3326) with 4032.4 m made good.
2026-01-21T01:02:01.621Z,1768957321.621 [sci2_vtyoyo:Lap:Wpt1:A.Waypoint](INFO): Navigating to waypoint: 36.797001,-121.847000
2026-01-21T01:02:01.625Z,1768957321.625 [sci2_vtyoyo:NeedComms:D] Stopped
2026-01-21T01:02:01.625Z,1768957321.625 [sci2_vtyoyo:NeedComms:E] Running Loop=1
2026-01-21T01:02:09.657Z,1768957329.657 [DataOverHttps](INFO): Sending 100 bytes from file Logs/20260120T212604/Courier0022.lzma
2026-01-21T01:02:10.658Z,1768957330.658 [DataOverHttps](INFO): Moved sent file to Logs/20260120T212604/Courier0022.lzma.bak
2026-01-21T01:02:10.659Z,1768957330.659 [DataOverHttps](INFO): SBD MOMSN=26583189
2026-01-21T01:02:28.223Z,1768957348.223 [DataOverHttps](INFO): Sending 40 bytes from file Logs/20260120T212604/Courier0025.lzma
2026-01-21T01:02:29.226Z,1768957349.226 [DataOverHttps](INFO): Moved sent file to Logs/20260120T212604/Courier0025.lzma.bak
2026-01-21T01:02:29.226Z,1768957349.226 [DataOverHttps](INFO): SBD MOMSN=26583192
2026-01-21T01:02:33.521Z,1768957353.521 [NAL9602](INFO): Not Powering down - fast GPS
2026-01-21T01:02:47.942Z,1768957367.942 [DataOverHttps](INFO): Sending 1628 bytes from file Logs/20260120T212604/Express0023.lzma
2026-01-21T01:02:48.942Z,1768957368.942 [DataOverHttps](INFO): Moved sent file to Logs/20260120T212604/Express0023.lzma.bak
2026-01-21T01:02:48.942Z,1768957368.942 [DataOverHttps](INFO): SBD MOMSN=26583194
2026-01-21T01:03:05.843Z,1768957385.843 [DataOverHttps](INFO): Sending 70 bytes from file Logs/20260120T212604/Express0026.lzma
2026-01-21T01:03:06.847Z,1768957386.847 [DataOverHttps](INFO): Moved sent file to Logs/20260120T212604/Express0026.lzma.bak
2026-01-21T01:03:06.847Z,1768957386.847 [DataOverHttps](INFO): SBD MOMSN=26583216
2026-01-21T01:03:08.321Z,1768957388.321 [sci2_vtyoyo:NeedComms:E] Stopped
2026-01-21T01:03:08.321Z,1768957388.321 [sci2_vtyoyo:NeedComms:F] Running Loop=1
2026-01-21T01:03:10.311Z,1768957390.311 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,010307.00,A,3658.38726,N,12219.94817,W,0.583,104.84,210126,,,D*77
2026-01-21T01:03:10.313Z,1768957390.313 [NAL9602](INFO): GPS fix at 20260121T010307: (36.973121, -122.332470)
2026-01-21T01:03:10.365Z,1768957390.365 [sci2_vtyoyo:Lap:Wpt1:A.Waypoint](INFO): Navigating to waypoint: 36.797001,-121.847000
2026-01-21T01:03:10.369Z,1768957390.369 [sci2_vtyoyo:NeedComms:F] Stopped
2026-01-21T01:03:10.369Z,1768957390.369 [sci2_vtyoyo:NeedComms:setRestoreMode] Running Loop=1
2026-01-21T01:03:10.369Z,1768957390.369 [sci2_vtyoyo:NeedComms:setRestoreMode](DEBUG): Aggregate::initialize sci2_vtyoyo:NeedComms:setRestoreMode
2026-01-21T01:03:10.369Z,1768957390.369 [sci2_vtyoyo:NeedComms:setRestoreMode:A] Running Loop=1
2026-01-21T01:03:10.761Z,1768957390.761 [sci2_vtyoyo:NeedComms:setRestoreMode:A] Stopped
2026-01-21T01:03:10.761Z,1768957390.761 [sci2_vtyoyo:NeedComms:setRestoreMode](INFO): Completed sci2_vtyoyo:NeedComms:setRestoreMode
2026-01-21T01:03:10.761Z,1768957390.761 [sci2_vtyoyo:NeedComms:setRestoreMode] Stopped
2026-01-21T01:03:10.761Z,1768957390.761 [sci2_vtyoyo:NeedComms:setRestoreMode](DEBUG): Aggregate::uninitialize sci2_vtyoyo:NeedComms:setRestoreMode
2026-01-21T01:03:10.761Z,1768957390.761 [sci2_vtyoyo:NeedComms:setInactive] Running Loop=1
2026-01-21T01:03:10.761Z,1768957390.761 [sci2_vtyoyo:NeedComms:setInactive](DEBUG): Aggregate::initialize sci2_vtyoyo:NeedComms:setInactive
2026-01-21T01:03:10.762Z,1768957390.762 [sci2_vtyoyo:NeedComms:setInactive:A] Running Loop=1
2026-01-21T01:03:11.161Z,1768957391.161 [sci2_vtyoyo:NeedComms:setInactive:A] Stopped
2026-01-21T01:03:11.161Z,1768957391.161 [sci2_vtyoyo:NeedComms:setInactive](INFO): Completed sci2_vtyoyo:NeedComms:setInactive
2026-01-21T01:03:11.161Z,1768957391.161 [sci2_vtyoyo:NeedComms:setInactive] Stopped
2026-01-21T01:03:11.161Z,1768957391.161 [sci2_vtyoyo:NeedComms:setInactive](DEBUG): Aggregate::uninitialize sci2_vtyoyo:NeedComms:setInactive
2026-01-21T01:03:11.162Z,1768957391.162 [sci2_vtyoyo:NeedComms](INFO): Completed sci2_vtyoyo:NeedComms
2026-01-21T01:03:11.162Z,1768957391.162 [sci2_vtyoyo:NeedComms] Stopped
2026-01-21T01:03:11.162Z,1768957391.162 [sci2_vtyoyo:NeedComms](DEBUG): Aggregate::uninitialize sci2_vtyoyo:NeedComms
2026-01-21T01:03:11.162Z,1768957391.162 [sci2_vtyoyo:NeedComms:C.GoToSurface] Stopped
2026-01-21T01:03:11.162Z,1768957391.162 [sci2_vtyoyo:NeedComms:C.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2026-01-21T01:03:11.561Z,1768957391.561 [sci2_vtyoyo:Lap:Dive] Running Loop=1
2026-01-21T01:03:11.561Z,1768957391.561 [sci2_vtyoyo:Lap:Dive](DEBUG): Aggregate::initialize sci2_vtyoyo:Lap:Dive
2026-01-21T01:03:11.561Z,1768957391.561 [sci2_vtyoyo:Lap:Dive:A] Running Loop=1
2026-01-21T01:03:11.561Z,1768957391.561 [sci2_vtyoyo:Lap:Dive:A](DEBUG): Aggregate::initialize sci2_vtyoyo:Lap:Dive:A
2026-01-21T01:03:11.561Z,1768957391.561 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink] Running Loop=1
2026-01-21T01:03:11.561Z,1768957391.561 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink](DEBUG): Aggregate::initialize sci2_vtyoyo:Lap:Dive:A:SurfaceSink
2026-01-21T01:03:11.561Z,1768957391.561 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink] Running Loop=1
2026-01-21T01:03:11.561Z,1768957391.561 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink](DEBUG): Aggregate::initialize sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink
2026-01-21T01:03:11.561Z,1768957391.561 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:BuoyancyHold.Buoyancy] Running Loop=1
2026-01-21T01:03:11.561Z,1768957391.561 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2026-01-21T01:03:11.561Z,1768957391.561 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:B.SetSpeed] Running Loop=1
2026-01-21T01:03:11.562Z,1768957391.562 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:B.SetSpeed](DEBUG): Initialize.
2026-01-21T01:03:11.562Z,1768957391.562 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:C] Running Loop=1
2026-01-21T01:03:11.562Z,1768957391.562 [sci2_vtyoyo:Lap:Dive:A:YoYoDive] Running Loop=1
2026-01-21T01:03:11.562Z,1768957391.562 [sci2_vtyoyo:Lap:Dive:A:YoYoDive](DEBUG): Aggregate::initialize sci2_vtyoyo:Lap:Dive:A:YoYoDive
2026-01-21T01:03:11.562Z,1768957391.562 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive] Running Loop=1
2026-01-21T01:03:11.562Z,1768957391.562 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive](DEBUG): Aggregate::initialize sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive
2026-01-21T01:03:11.562Z,1768957391.562 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:A.Pitch] Running Loop=1
2026-01-21T01:03:11.562Z,1768957391.562 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:A.Pitch](DEBUG): Initialize.
2026-01-21T01:03:11.562Z,1768957391.562 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:B.Buoyancy] Running Loop=1
2026-01-21T01:03:11.563Z,1768957391.563 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2026-01-21T01:03:11.563Z,1768957391.563 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:C.SetSpeed] Running Loop=1
2026-01-21T01:03:11.563Z,1768957391.563 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:C.SetSpeed](DEBUG): Initialize.
2026-01-21T01:03:11.563Z,1768957391.563 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:D.DepthEnvelope] Running Loop=1
2026-01-21T01:03:11.563Z,1768957391.563 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:D.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2026-01-21T01:03:11.563Z,1768957391.563 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:E.AltitudeEnvelope] Running Loop=1
2026-01-21T01:03:11.563Z,1768957391.563 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:E.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2026-01-21T01:03:11.563Z,1768957391.563 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:F.YoYoPARLicor] Running Loop=1
2026-01-21T01:03:11.563Z,1768957391.563 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:F.YoYoPARLicor](DEBUG): Initialize Value-Terminated YoYo.
2026-01-21T01:03:11.575Z,1768957391.575 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:G.YoYo] Running Loop=1
2026-01-21T01:03:11.575Z,1768957391.575 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:G.YoYo](DEBUG): Initialize YoYoComponent.
2026-01-21T01:03:11.584Z,1768957391.584 [sci2_vtyoyo:Lap:Dive:A:YoYoDive] Stopped
2026-01-21T01:03:11.584Z,1768957391.584 [sci2_vtyoyo:Lap:Dive:A:YoYoDive](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Lap:Dive:A:YoYoDive
2026-01-21T01:03:11.584Z,1768957391.584 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive] Stopped
2026-01-21T01:03:11.584Z,1768957391.584 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive
2026-01-21T01:03:11.584Z,1768957391.584 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:A.Pitch] Stopped
2026-01-21T01:03:11.584Z,1768957391.584 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:B.Buoyancy] Stopped
2026-01-21T01:03:11.584Z,1768957391.584 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2026-01-21T01:03:11.585Z,1768957391.585 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:C.SetSpeed] Stopped
2026-01-21T01:03:11.585Z,1768957391.585 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:C.SetSpeed](DEBUG): Uninitialize.
2026-01-21T01:03:11.585Z,1768957391.585 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:D.DepthEnvelope] Stopped
2026-01-21T01:03:11.585Z,1768957391.585 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:D.DepthEnvelope](DEBUG): Uninitialize.
2026-01-21T01:03:11.585Z,1768957391.585 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:E.AltitudeEnvelope] Stopped
2026-01-21T01:03:11.585Z,1768957391.585 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:E.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2026-01-21T01:03:11.585Z,1768957391.585 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:F.YoYoPARLicor] Stopped
2026-01-21T01:03:11.585Z,1768957391.585 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:F.YoYoPARLicor](DEBUG): Uninitialize Value-Terminated YoYo.
2026-01-21T01:03:11.586Z,1768957391.586 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:G.YoYo] Stopped
2026-01-21T01:03:11.586Z,1768957391.586 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:G.YoYo](DEBUG): Uninitialize YoYoComponent.
2026-01-21T01:03:11.587Z,1768957391.587 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:C](INFO): Sinking to  10.000000 m 
2026-01-21T01:03:11.587Z,1768957391.587 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:C] Stopped
2026-01-21T01:03:11.587Z,1768957391.587 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:D.Pitch] Running Loop=1
2026-01-21T01:03:11.587Z,1768957391.587 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:D.Pitch](DEBUG): Initialize.
2026-01-21T01:03:11.596Z,1768957391.596 [sci2_vtyoyo:manageDiveMode:syncWhileActive] Stopped
2026-01-21T01:03:11.596Z,1768957391.596 [sci2_vtyoyo:manageDiveMode:syncWhileActive](DEBUG): Aggregate::uninitialize sci2_vtyoyo:manageDiveMode:syncWhileActive
2026-01-21T01:03:11.596Z,1768957391.596 [sci2_vtyoyo:manageDiveMode:syncWhileActive:A] Stopped
2026-01-21T01:03:41.035Z,1768957421.035 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2026-01-21T01:03:41.108Z,1768957421.108 [NAL9602](ERROR): received: 
+CSQ:0

OK349, 2, 0, 0, 0

OK
2026-01-21T01:04:38.992Z,1768957478.992 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-21T01:05:10.116Z,1768957510.116 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-21T01:05:11.621Z,1768957511.621 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:D.Pitch](INFO): Timed out from 2026-01-21T01:03:11.6Z
2026-01-21T01:05:11.621Z,1768957511.621 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:D.Pitch:A_Timeout] Running Loop=1
2026-01-21T01:05:11.621Z,1768957511.621 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:D.Pitch:A_Timeout](DEBUG): Aggregate::initialize sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:D.Pitch:A_Timeout
2026-01-21T01:05:11.622Z,1768957511.622 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:D.Pitch:A_Timeout:A] Running Loop=1
2026-01-21T01:05:11.622Z,1768957511.622 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:D.Pitch:A_Timeout:A](IMPORTANT): Timed out while trying to reach target sink depth at current depth of  5.037014 m 
2026-01-21T01:05:11.622Z,1768957511.622 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:D.Pitch:A_Timeout:A] Stopped
2026-01-21T01:05:11.622Z,1768957511.622 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:D.Pitch:A_Timeout](INFO): Completed sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:D.Pitch:A_Timeout
2026-01-21T01:05:11.622Z,1768957511.622 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:D.Pitch] Stopped
2026-01-21T01:05:11.622Z,1768957511.622 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:E] Running Loop=1
2026-01-21T01:05:12.005Z,1768957512.005 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:E] Stopped
2026-01-21T01:05:12.006Z,1768957512.006 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink](INFO): Completed sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink
2026-01-21T01:05:12.006Z,1768957512.006 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink] Stopped
2026-01-21T01:05:12.006Z,1768957512.006 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink
2026-01-21T01:05:12.006Z,1768957512.006 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:BuoyancyHold.Buoyancy] Stopped
2026-01-21T01:05:12.006Z,1768957512.006 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2026-01-21T01:05:12.006Z,1768957512.006 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:B.SetSpeed] Stopped
2026-01-21T01:05:12.006Z,1768957512.006 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:B.SetSpeed](DEBUG): Uninitialize.
2026-01-21T01:05:12.007Z,1768957512.007 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink](INFO): Completed sci2_vtyoyo:Lap:Dive:A:SurfaceSink
2026-01-21T01:05:12.409Z,1768957512.409 [sci2_vtyoyo:Lap:Dive:A:YoYoDive] Running Loop=1
2026-01-21T01:05:12.409Z,1768957512.409 [sci2_vtyoyo:Lap:Dive:A:YoYoDive](DEBUG): Aggregate::initialize sci2_vtyoyo:Lap:Dive:A:YoYoDive
2026-01-21T01:05:12.409Z,1768957512.409 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive] Running Loop=1
2026-01-21T01:05:12.409Z,1768957512.409 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive](DEBUG): Aggregate::initialize sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive
2026-01-21T01:05:12.409Z,1768957512.409 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:A.Pitch] Running Loop=1
2026-01-21T01:05:12.410Z,1768957512.410 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:A.Pitch](DEBUG): Initialize.
2026-01-21T01:05:12.410Z,1768957512.410 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:B.Buoyancy] Running Loop=1
2026-01-21T01:05:12.410Z,1768957512.410 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2026-01-21T01:05:12.410Z,1768957512.410 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:C.SetSpeed] Running Loop=1
2026-01-21T01:05:12.410Z,1768957512.410 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:C.SetSpeed](DEBUG): Initialize.
2026-01-21T01:05:12.410Z,1768957512.410 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:D.DepthEnvelope] Running Loop=1
2026-01-21T01:05:12.410Z,1768957512.410 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:D.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2026-01-21T01:05:12.410Z,1768957512.410 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:E.AltitudeEnvelope] Running Loop=1
2026-01-21T01:05:12.410Z,1768957512.410 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:E.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2026-01-21T01:05:12.411Z,1768957512.411 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:F.YoYoPARLicor] Running Loop=1
2026-01-21T01:05:12.411Z,1768957512.411 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:F.YoYoPARLicor](DEBUG): Initialize Value-Terminated YoYo.
2026-01-21T01:05:12.414Z,1768957512.414 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:G.YoYo] Running Loop=1
2026-01-21T01:05:12.415Z,1768957512.415 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:G.YoYo](DEBUG): Initialize YoYoComponent.
2026-01-21T01:05:19.344Z,1768957519.344 [Radio_Surface](INFO): Powering down
2026-01-21T01:05:41.240Z,1768957541.240 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-21T01:05:42.244Z,1768957542.244 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2026-01-21T01:06:48.515Z,1768957608.515 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.724869
2026-01-21T01:08:12.743Z,1768957692.743 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2026-01-21T01:08:43.553Z,1768957723.553 [NAL9602](INFO): Not Powering down - fast GPS
2026-01-21T01:32:07.133Z,1768959127.133 [CTD_Seabird](ERROR): Failed to parse device response: 3,4.02664,4124.19
2026-01-21T01:34:00.220Z,1768959240.220 [ThrusterHE](FAULT): getSpeed error serial timeout
2026-01-21T01:34:00.220Z,1768959240.220 [ThrusterHE](FAULT): Thruster uart error: serial timeout
2026-01-21T01:34:00.220Z,1768959240.220 [ThrusterHE] Communications Fault, FailCount= 1
2026-01-21T01:34:00.220Z,1768959240.220 [ThrusterHE](ERROR): Communications Fault
2026-01-21T01:34:00.224Z,1768959240.224 [CBIT](ERROR): Communications Fault in component: ThrusterHE
2026-01-21T01:34:00.485Z,1768959240.485 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2026-01-21T01:34:00.486Z,1768959240.486 [ThrusterHE](INFO): Powering down
2026-01-21T01:34:01.281Z,1768959241.281 [ThrusterHE](DEBUG): Initializing EZServoServo.
2026-01-21T01:34:01.401Z,1768959241.401 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2026-01-21T01:34:01.407Z,1768959241.407 [CBIT](INFO): Clearing failed state for component ThrusterHE
2026-01-21T01:34:01.408Z,1768959241.408 [ThrusterHE] No Fault, FailCount= 1
2026-01-21T01:34:06.821Z,1768959246.821 [ThrusterHE](ERROR): Zero Speed Commanded.
2026-01-21T01:42:43.785Z,1768959763.785 [CTD_Seabird](ERROR): Failed to parse device response: ,14.2611,4.02592,4120.15
2026-01-21T01:45:00.035Z,1768959900.035 [CommandExec](IMPORTANT): got command load ./Missions/Science/sci2.tl
2026-01-21T01:45:00.036Z,1768959900.036 [MissionManager](INFO): Uninitializing Mission sci2_vtyoyo
2026-01-21T01:45:00.036Z,1768959900.036 [sci2_vtyoyo] Stopped
2026-01-21T01:45:00.036Z,1768959900.036 [sci2_vtyoyo](DEBUG): Aggregate::uninitialize sci2_vtyoyo
2026-01-21T01:45:00.036Z,1768959900.036 [sci2_vtyoyo:Science] Stopped
2026-01-21T01:45:00.036Z,1768959900.036 [sci2_vtyoyo:Science](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Science
2026-01-21T01:45:00.036Z,1768959900.036 [sci2_vtyoyo:Science:B] Stopped
2026-01-21T01:45:00.036Z,1768959900.036 [sci2_vtyoyo:Science:C] Stopped
2026-01-21T01:45:00.036Z,1768959900.036 [sci2_vtyoyo:Science:E] Stopped
2026-01-21T01:45:00.036Z,1768959900.036 [sci2_vtyoyo:Science:OceanCurrent] Stopped
2026-01-21T01:45:00.037Z,1768959900.037 [sci2_vtyoyo:Science:OceanCurrent](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Science:OceanCurrent
2026-01-21T01:45:00.037Z,1768959900.037 [sci2_vtyoyo:Science:OceanCurrent:A.] Stopped
2026-01-21T01:45:00.037Z,1768959900.037 [sci2_vtyoyo:StandardEnvelopes] Stopped
2026-01-21T01:45:00.037Z,1768959900.037 [sci2_vtyoyo:StandardEnvelopes](DEBUG): Aggregate::uninitialize sci2_vtyoyo:StandardEnvelopes
2026-01-21T01:45:00.037Z,1768959900.037 [sci2_vtyoyo:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2026-01-21T01:45:00.037Z,1768959900.037 [sci2_vtyoyo:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2026-01-21T01:45:00.037Z,1768959900.037 [sci2_vtyoyo:StandardEnvelopes:B.DepthEnvelope] Stopped
2026-01-21T01:45:00.037Z,1768959900.037 [sci2_vtyoyo:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2026-01-21T01:45:00.037Z,1768959900.037 [sci2_vtyoyo:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2026-01-21T01:45:00.037Z,1768959900.037 [sci2_vtyoyo:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2026-01-21T01:45:00.037Z,1768959900.037 [sci2_vtyoyo:BackseatDriver] Stopped
2026-01-21T01:45:00.037Z,1768959900.037 [sci2_vtyoyo:BackseatDriver](DEBUG): Aggregate::uninitialize sci2_vtyoyo:BackseatDriver
2026-01-21T01:45:00.038Z,1768959900.038 [sci2_vtyoyo:BackseatDriver:A.BackseatDriver] Stopped
2026-01-21T01:45:00.038Z,1768959900.038 [sci2_vtyoyo:PowerOnly] Stopped
2026-01-21T01:45:00.038Z,1768959900.038 [sci2_vtyoyo:PowerOnly](DEBUG): Aggregate::uninitialize sci2_vtyoyo:PowerOnly
2026-01-21T01:45:00.038Z,1768959900.038 [sci2_vtyoyo:PowerOnly:E.Wait] Stopped
2026-01-21T01:45:00.038Z,1768959900.038 [sci2_vtyoyo:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2026-01-21T01:45:00.038Z,1768959900.038 [sci2_vtyoyo:manageDiveMode] Stopped
2026-01-21T01:45:00.038Z,1768959900.038 [sci2_vtyoyo:manageDiveMode](DEBUG): Aggregate::uninitialize sci2_vtyoyo:manageDiveMode
2026-01-21T01:45:00.038Z,1768959900.038 [sci2_vtyoyo:Lap] Stopped
2026-01-21T01:45:00.038Z,1768959900.038 [sci2_vtyoyo:Lap](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Lap
2026-01-21T01:45:00.038Z,1768959900.038 [sci2_vtyoyo:Lap:Dive] Stopped
2026-01-21T01:45:00.038Z,1768959900.038 [sci2_vtyoyo:Lap:Dive](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Lap:Dive
2026-01-21T01:45:00.039Z,1768959900.039 [sci2_vtyoyo:Lap:Dive:A] Stopped
2026-01-21T01:45:00.039Z,1768959900.039 [sci2_vtyoyo:Lap:Dive:A](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Lap:Dive:A
2026-01-21T01:45:00.039Z,1768959900.039 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink] Stopped
2026-01-21T01:45:00.039Z,1768959900.039 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Lap:Dive:A:SurfaceSink
2026-01-21T01:45:00.039Z,1768959900.039 [sci2_vtyoyo:Lap:Dive:A:YoYoDive] Stopped
2026-01-21T01:45:00.039Z,1768959900.039 [sci2_vtyoyo:Lap:Dive:A:YoYoDive](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Lap:Dive:A:YoYoDive
2026-01-21T01:45:00.039Z,1768959900.039 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive] Stopped
2026-01-21T01:45:00.039Z,1768959900.039 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive
2026-01-21T01:45:00.039Z,1768959900.039 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:A.Pitch] Stopped
2026-01-21T01:45:00.039Z,1768959900.039 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:B.Buoyancy] Stopped
2026-01-21T01:45:00.039Z,1768959900.039 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2026-01-21T01:45:00.039Z,1768959900.039 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:C.SetSpeed] Stopped
2026-01-21T01:45:00.040Z,1768959900.040 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:C.SetSpeed](DEBUG): Uninitialize.
2026-01-21T01:45:00.040Z,1768959900.040 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:D.DepthEnvelope] Stopped
2026-01-21T01:45:00.040Z,1768959900.040 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:D.DepthEnvelope](DEBUG): Uninitialize.
2026-01-21T01:45:00.040Z,1768959900.040 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:E.AltitudeEnvelope] Stopped
2026-01-21T01:45:00.040Z,1768959900.040 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:E.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2026-01-21T01:45:00.040Z,1768959900.040 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:F.YoYoPARLicor] Stopped
2026-01-21T01:45:00.040Z,1768959900.040 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:F.YoYoPARLicor](DEBUG): Uninitialize Value-Terminated YoYo.
2026-01-21T01:45:00.041Z,1768959900.041 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:G.YoYo] Stopped
2026-01-21T01:45:00.041Z,1768959900.041 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:G.YoYo](DEBUG): Uninitialize YoYoComponent.
2026-01-21T01:45:00.042Z,1768959900.042 [sci2_vtyoyo:Lap:Wpt1] Stopped
2026-01-21T01:45:00.042Z,1768959900.042 [sci2_vtyoyo:Lap:Wpt1](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Lap:Wpt1
2026-01-21T01:45:00.042Z,1768959900.042 [sci2_vtyoyo:Lap:Wpt1:A.Waypoint] Stopped
2026-01-21T01:45:00.042Z,1768959900.042 [sci2_vtyoyo:Lap:Wpt1:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2026-01-21T01:45:00.359Z,1768959900.359 [MissionManager](INFO): Loading Mission from file: ./Missions/Science/sci2.tl
2026-01-21T01:45:00.364Z,1768959900.364 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Science/sci2.tl
2026-01-21T01:45:00.379Z,1768959900.379 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Science/sci2.tl
2026-01-21T01:45:00.408Z,1768959900.408 [WetLabsBB2FL](INFO): Powering down
2026-01-21T01:45:01.620Z,1768959901.620 [BackseatComponent](INFO): Sent LCM shutdown request.
2026-01-21T01:45:01.620Z,1768959901.620 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.).
2026-01-21T01:45:06.021Z,1768959906.021 [MissionManager](DEBUG): TethyslAPI: ./Missions/Science/sci2.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="sci2">
    <DefineArg Name="MissionTimeout">
        <Units:hour />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>60</Value>
    </DefineArg>
    <DefineArg Name="Repeat">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="Lat1">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat2">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat3">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat4">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat5">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat6">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat7">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon1">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon2">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon3">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon4">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon5">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon6">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon7">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Speed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="CaptureRadius">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="YoYoMinDepth">
        <Units:meter />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="YoYoMaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="YoYoMinAltitude">
        <Units:meter />
        <Value>9</Value>
    </DefineArg>
    <DefineArg Name="YoYoUpPitch">
        <Units:degree />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="YoYoDownPitch">
        <Units:degree />
        <Value>-20</Value>
    </DefineArg>
    <DefineArg Name="SurfaceDiveSpeed">
        <Units:meter_per_second />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="SurfaceThreshold">
        <Control:VerticalControl.surfaceThreshold />
    </DefineArg>
    <DefineArg Name="SinkOffSurface">
        <False />
    </DefineArg>
    <DefineArg Name="SinkDepth">
        <Units:meter />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="SinkDepthTimeout">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="YoYoLightTerminate">
        <False />
    </DefineArg>
    <DefineArg Name="YoYoLightTerminateThreshold">
        <Units:micromole_per_second_per_square_meter />
        <Value>0.1</Value>
    </DefineArg>
    <DefineArg Name="PeakDetectChl">
        <False />
    </DefineArg>
    <DefineArg Name="ShallowBoundChl">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DeepBoundChl">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlThreshTrigger">
        <False />
    </DefineArg>
    <DefineArg Name="ChlLowerThreshold">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlUpperThreshold">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesThreshold">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="BuoyancyNeutral">
        <Control:VerticalControl.buoyancyNeutral />
    </DefineArg>
    <DefineArg Name="MassDefault">
        <Control:VerticalControl.massDefault />
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>205</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <DefineOutput Name="DiveMode">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="DoingComms">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="SurfaceSink">
        <Units:count />
        <Value>1</Value>
    </DefineOutput>
    <DefineOutput Name="YoYo">
        <Units:count />
        <Value>2</Value>
    </DefineOutput>
    <Timeout Duration="MissionTimeout" />
    <Insert Filename="Insert/Science.tl">
        <RedefineArg Name="PeakDetectChlActive">
            <Arg Name="PeakDetectChl" />
        </RedefineArg>
        <RedefineArg Name="ShallowBound">
            <Arg Name="ShallowBoundChl" />
        </RedefineArg>
        <RedefineArg Name="DeepBound">
            <Arg Name="DeepBoundChl" />
        </RedefineArg>
        <RedefineArg Name="ChlThreshTriggerActive">
            <Arg Name="ChlThreshTrigger" />
        </RedefineArg>
        <RedefineArg Name="ChlLowerThresh">
            <Arg Name="ChlLowerThreshold" />
        </RedefineArg>
        <RedefineArg Name="ChlUpperThresh">
            <Arg Name="ChlUpperThreshold" />
        </RedefineArg>
        <RedefineArg Name="NumProfilesThresh">
            <Arg Name="NumProfilesThreshold" />
        </RedefineArg>
    </Insert>
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="NeedCommsTime" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DoingCommsMode" />
        <Arg Name="DoingComms" />
    </Assign>
    <Aggregate Id="setRestoreMode">
        <Sequence />
        <Break>
            <Arg Name="SinkOffSurface" />
        </Break>
        <Assign>
            <Sequence />
            <Arg Name="NeedComms:RestoreMode" />
            <Arg Name="YoYo" />
        </Assign>
    </Aggregate>
    <Aggregate Id="setSinkRestore">
        <Sequence />
        <Break>
            <Not>
                <Arg Name="SinkOffSurface" />
            </Not>
        </Break>
        <Assign>
            <Sequence />
            <Arg Name="NeedComms:RestoreMode" />
            <Arg Name="SurfaceSink" />
        </Assign>
    </Aggregate>
    <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="manageDiveMode">
        <When>
            <Arg Name="NeedComms:IsActive" />
        </When>
        <Aggregate Id="syncWhileActive">
            <While>
                <Arg Name="NeedComms:IsActive" />
            </While>
            <Assign>
                <Parallel />
                <Arg Name="DiveMode" />
                <Arg Name="NeedComms:RequiredDiveMode" />
            </Assign>
        </Aggregate>
    </Aggregate>
    <Call RefId="NeedComms" Id="StartingMission" PriorityHere="false" />
    <Aggregate Id="DiveCmd">
        <When>
            <Called />
        </When>
        <Aggregate Id="SurfaceSink">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="SurfaceSink" />
                </Eq>
            </While>
            <Aggregate Id="sink">
                <Sequence />
                <Guidance:Buoyancy Id="BuoyancyHold">
                    <Parallel />
                    <Setting>
                        <Guidance:Buoyancy.position />
                        <Units:cubic_centimeter />
                        <Value>NaN</Value>
                    </Setting>
                </Guidance:Buoyancy>
                <Guidance:SetSpeed>
                    <Parallel />
                    <Setting>
                        <Guidance:SetSpeed.speed />
                        <Units:meter_per_second />
                        <Value>0</Value>
                    </Setting>
                </Guidance:SetSpeed>
                <Syslog Severity="Info">
                    Sinking to 
                    <Arg Name="SinkDepth" />
                    <Units:meter />
                </Syslog>
                <Guidance:Pitch>
                    <Sequence />
                    <Timeout Duration="SinkDepthTimeout">
                        <Syslog Severity="Important">
                            Timed out while trying to reach target sink depth at current depth of 
                            <Universal:depth />
                            <Units:meter />
                        </Syslog>
                    </Timeout>
                    <Setting>
                        <Guidance:Pitch.depth />
                        <Arg Name="SinkDepth" />
                    </Setting>
                </Guidance:Pitch>
                <Assign>
                    <Sequence />
                    <Arg Name="DiveMode" />
                    <Arg Name="YoYo" />
                </Assign>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="YoYoDive">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="YoYo" />
                </Eq>
            </While>
            <Aggregate Id="dive">
                <Sequence />
                <Guidance:Pitch>
                    <Parallel />
                    <Setting>
                        <Guidance:Pitch.massPosition />
                        <Arg Name="MassDefault" />
                    </Setting>
                </Guidance:Pitch>
                <Guidance:Buoyancy>
                    <Parallel />
                    <Setting>
                        <Guidance:Buoyancy.position />
                        <Arg Name="BuoyancyNeutral" />
                    </Setting>
                </Guidance:Buoyancy>
                <Aggregate Id="SetSpeed">
                    <Parallel />
                    <Aggregate Id="SurfaceDive">
                        <While>
                            <Not>
                                <IsNaN>
                                    <Arg Name="SurfaceDiveSpeed" />
                                </IsNaN>
                            </Not>
                            <And>
                                <Universal:depth />
                                <Le>
                                    <Arg Name="SurfaceThreshold" />
                                </Le>
                            </And>
                        </While>
                        <Aggregate Id="SurfaceSpeed">
                            <Parallel />
                            <Guidance:SetSpeed>
                                <Parallel />
                                <Setting>
                                    <Guidance:SetSpeed.speed />
                                    <Arg Name="SurfaceDiveSpeed" />
                                </Setting>
                            </Guidance:SetSpeed>
                        </Aggregate>
                    </Aggregate>
                    <Aggregate Id="ProfileSpeed">
                        <While>
                            <IsNaN>
                                <Arg Name="SurfaceDiveSpeed" />
                            </IsNaN>
                            <Or>
                                <Universal:depth />
                                <Gt>
                                    <Control:VerticalControl.surfaceThreshold />
                                </Gt>
                            </Or>
                        </While>
                        <Guidance:SetSpeed>
                            <Parallel />
                            <Setting>
                                <Guidance:SetSpeed.speed />
                                <Arg Name="Speed" />
                            </Setting>
                        </Guidance:SetSpeed>
                    </Aggregate>
                </Aggregate>
                <Guidance:DepthEnvelope>
                    <Parallel />
                    <Setting>
                        <Guidance:DepthEnvelope.minDepth />
                        <Arg Name="YoYoMinDepth" />
                    </Setting>
                    <Setting>
                        <Guidance:DepthEnvelope.maxDepth />
                        <Arg Name="YoYoMaxDepth" />
                    </Setting>
                    <Setting>
                        <Guidance:DepthEnvelope.downPitch />
                        <Arg Name="YoYoDownPitch" />
                    </Setting>
                    <Setting>
                        <Guidance:DepthEnvelope.upPitch />
                        <Arg Name="YoYoUpPitch" />
                    </Setting>
                </Guidance:DepthEnvelope>
                <Guidance:AltitudeEnvelope>
                    <Parallel />
                    <Setting>
                        <Guidance:AltitudeEnvelope.minAltitude />
                        <Arg Name="YoYoMinAltitude" />
                    </Setting>
                </Guidance:AltitudeEnvelope>
                <Guidance:YoYo>
                    <Parallel />
                    <Setting>
                        <Guidance:YoYo.downPitch />
                        <Arg Name="YoYoDownPitch" />
                    </Setting>
                    <Setting>
                        <Guidance:YoYo.upPitch />
                        <Arg Name="YoYoUpPitch" />
                    </Setting>
                </Guidance:YoYo>
                <Aggregate Id="YoYoFlip">
                    <When>
                        <Science:PAR_Licor.loadAtStartup />
                        <And>
                            <Arg Name="YoYoLightTerminate" />
                        </And>
                        <And>
                            <Science:PAR_Licor.downwelling_photosynthetic_photon_flux_in_sea_water />
                            <Lt>
                                <Arg Name="YoYoLightTerminateThreshold" />
                            </Lt>
                        </And>
                        <And>
                            <Universal:platform_pitch_angle />
                            <Lt>
                                <Units:degree />
                                <Value>1</Value>
                            </Lt>
                        </And>
                    </When>
                    <Guidance:Pitch>
                        <Parallel />
                        <Setting>
                            <Guidance:Pitch.pitch />
                            <Arg Name="YoYoUpPitch" />
                        </Setting>
                    </Guidance:Pitch>
                </Aggregate>
                <Aggregate Id="StopIfTriggered">
                    <When>
                        <Arg Name="Science:TriggeredOnChl" />
                    </When>
                    <Guidance:Execute>
                        <Sequence />
                        <Setting>
                            <Guidance:Execute.command />
                            <String>stop</String>
                        </Setting>
                    </Guidance:Execute>
                </Aggregate>
            </Aggregate>
        </Aggregate>
    </Aggregate>
    <Aggregate Id="Lap">
        <Sequence Repeat="Repeat" />
        <Aggregate Id="Dive">
            <While>
                <Not>
                    <Arg Name="DiveMode" />
                    <Eq>
                        <Arg Name="DoingComms" />
                    </Eq>
                </Not>
            </While>
            <Call RefId="DiveCmd" PriorityHere="false" />
        </Aggregate>
        <Aggregate Id="Wpt1">
            <Sequence />
            <Guidance:Waypoint>
                <Sequence />
                <Setting>
                    <Guidance:Waypoint.latitude />
                    <Arg Name="Lat1" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.longitude />
                    <Arg Name="Lon1" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.captureRadius />
                    <Arg Name="CaptureRadius" />
                </Setting>
            </Guidance:Waypoint>
        </Aggregate>
        <Aggregate Id="Wpt2">
            <Sequence />
            <Guidance:Waypoint>
                <Sequence />
                <Setting>
                    <Guidance:Waypoint.latitude />
                    <Arg Name="Lat2" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.longitude />
                    <Arg Name="Lon2" />
                </Setting>
            </Guidance:Waypoint>
        </Aggregate>
        <Aggregate Id="Wpt3">
            <Sequence />
            <Guidance:Waypoint>
                <Sequence />
                <Setting>
                    <Guidance:Waypoint.latitude />
                    <Arg Name="Lat3" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.longitude />
                    <Arg Name="Lon3" />
                </Setting>
            </Guidance:Waypoint>
        </Aggregate>
        <Aggregate Id="Wpt4">
            <Sequence />
            <Guidance:Waypoint>
                <Sequence />
                <Setting>
                    <Guidance:Waypoint.latitude />
                    <Arg Name="Lat4" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.longitude />
                    <Arg Name="Lon4" />
                </Setting>
            </Guidance:Waypoint>
        </Aggregate>
        <Aggregate Id="Wpt5">
            <Sequence />
            <Guidance:Waypoint>
                <Sequence />
                <Setting>
                    <Guidance:Waypoint.latitude />
                    <Arg Name="Lat5" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.longitude />
                    <Arg Name="Lon5" />
                </Setting>
            </Guidance:Waypoint>
        </Aggregate>
        <Aggregate Id="Wpt6">
            <Sequence />
            <Guidance:Waypoint>
                <Sequence />
                <Setting>
                    <Guidance:Waypoint.latitude />
                    <Arg Name="Lat6" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.longitude />
                    <Arg Name="Lon6" />
                </Setting>
            </Guidance:Waypoint>
        </Aggregate>
        <Aggregate Id="Wpt7">
            <Sequence />
            <Guidance:Waypoint>
                <Sequence />
                <Setting>
                    <Guidance:Waypoint.latitude />
                    <Arg Name="Lat7" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.longitude />
                    <Arg Name="Lon7" />
                </Setting>
            </Guidance:Waypoint>
        </Aggregate>
    </Aggregate>
</Mission>

2026-01-21T01:45:06.034Z,1768959906.034 [MissionManager](INFO): DefineArg sci2.MissionTimeout = 2.000000 h
2026-01-21T01:45:06.038Z,1768959906.038 [MissionManager](INFO): DefineArg sci2.NeedCommsTime = 60.000000 min
2026-01-21T01:45:06.061Z,1768959906.061 [MissionManager](INFO): DefineArg sci2.Repeat = 1.000000 count
2026-01-21T01:45:06.069Z,1768959906.069 [MissionManager](INFO): DefineArg sci2.Lat1 = nan arcdeg
2026-01-21T01:45:06.073Z,1768959906.073 [MissionManager](INFO): DefineArg sci2.Lat2 = nan arcdeg
2026-01-21T01:45:06.077Z,1768959906.077 [MissionManager](INFO): DefineArg sci2.Lat3 = nan arcdeg
2026-01-21T01:45:06.084Z,1768959906.084 [MissionManager](INFO): DefineArg sci2.Lat4 = nan arcdeg
2026-01-21T01:45:06.087Z,1768959906.087 [MissionManager](INFO): DefineArg sci2.Lat5 = nan arcdeg
2026-01-21T01:45:06.094Z,1768959906.094 [MissionManager](INFO): DefineArg sci2.Lat6 = nan arcdeg
2026-01-21T01:45:06.102Z,1768959906.102 [MissionManager](INFO): DefineArg sci2.Lat7 = nan arcdeg
2026-01-21T01:45:06.111Z,1768959906.111 [MissionManager](INFO): DefineArg sci2.Lon1 = nan arcdeg
2026-01-21T01:45:06.118Z,1768959906.118 [MissionManager](INFO): DefineArg sci2.Lon2 = nan arcdeg
2026-01-21T01:45:06.165Z,1768959906.165 [MissionManager](INFO): DefineArg sci2.Lon3 = nan arcdeg
2026-01-21T01:45:06.176Z,1768959906.176 [MissionManager](INFO): DefineArg sci2.Lon4 = nan arcdeg
2026-01-21T01:45:06.179Z,1768959906.179 [MissionManager](INFO): DefineArg sci2.Lon5 = nan arcdeg
2026-01-21T01:45:06.195Z,1768959906.195 [MissionManager](INFO): DefineArg sci2.Lon6 = nan arcdeg
2026-01-21T01:45:06.199Z,1768959906.199 [MissionManager](INFO): DefineArg sci2.Lon7 = nan arcdeg
2026-01-21T01:45:06.220Z,1768959906.220 [MissionManager](INFO): DefineArg sci2.Speed = 1.000000 m/s
2026-01-21T01:45:06.228Z,1768959906.228 [MissionManager](INFO): DefineArg sci2.CaptureRadius = nan m
2026-01-21T01:45:06.237Z,1768959906.237 [MissionManager](INFO): DefineArg sci2.YoYoMinDepth = 2.000000 m
2026-01-21T01:45:06.244Z,1768959906.244 [MissionManager](INFO): DefineArg sci2.YoYoMaxDepth = 200.000000 m
2026-01-21T01:45:06.250Z,1768959906.250 [MissionManager](INFO): DefineArg sci2.YoYoMinAltitude = 9.000000 m
2026-01-21T01:45:06.253Z,1768959906.253 [MissionManager](INFO): DefineArg sci2.YoYoUpPitch = 20.000000 arcdeg
2026-01-21T01:45:06.259Z,1768959906.259 [MissionManager](INFO): DefineArg sci2.YoYoDownPitch = -20.000000 arcdeg
2026-01-21T01:45:06.274Z,1768959906.274 [MissionManager](INFO): DefineArg sci2.SurfaceDiveSpeed = nan m/s
2026-01-21T01:45:06.290Z,1768959906.290 [MissionManager](INFO): DefineArg sci2.SurfaceThreshold = 1.000000 m
2026-01-21T01:45:06.294Z,1768959906.294 [MissionManager](INFO): DefineArg sci2.SinkOffSurface = 0 bool
2026-01-21T01:45:06.310Z,1768959906.310 [MissionManager](INFO): DefineArg sci2.SinkDepth = 10.000000 m
2026-01-21T01:45:06.313Z,1768959906.313 [MissionManager](INFO): DefineArg sci2.SinkDepthTimeout = 10.000000 min
2026-01-21T01:45:06.332Z,1768959906.332 [MissionManager](INFO): DefineArg sci2.YoYoLightTerminate = 0 bool
2026-01-21T01:45:06.335Z,1768959906.335 [MissionManager](INFO): DefineArg sci2.YoYoLightTerminateThreshold = 0.100000 umol/s/m2
2026-01-21T01:45:06.358Z,1768959906.358 [MissionManager](INFO): DefineArg sci2.PeakDetectChl = 0 bool
2026-01-21T01:45:06.362Z,1768959906.362 [MissionManager](INFO): DefineArg sci2.ShallowBoundChl = nan m
2026-01-21T01:45:06.378Z,1768959906.378 [MissionManager](INFO): DefineArg sci2.DeepBoundChl = nan m
2026-01-21T01:45:06.382Z,1768959906.382 [MissionManager](INFO): DefineArg sci2.ChlThreshTrigger = 0 bool
2026-01-21T01:45:06.393Z,1768959906.393 [MissionManager](INFO): DefineArg sci2.ChlLowerThreshold = nan ug/l
2026-01-21T01:45:06.401Z,1768959906.401 [MissionManager](INFO): DefineArg sci2.ChlUpperThreshold = nan ug/l
2026-01-21T01:45:06.408Z,1768959906.408 [MissionManager](INFO): DefineArg sci2.NumProfilesThreshold = 5.000000 count
2026-01-21T01:45:06.416Z,1768959906.416 [MissionManager](INFO): DefineArg sci2.BuoyancyNeutral = 398.675323 cc
2026-01-21T01:45:06.424Z,1768959906.424 [MissionManager](INFO): DefineArg sci2.MassDefault = 3.064898 cm
2026-01-21T01:45:06.427Z,1768959906.427 [MissionManager](INFO): DefineArg sci2.MinAltitude = 5.000000 m
2026-01-21T01:45:06.435Z,1768959906.435 [MissionManager](INFO): DefineArg sci2.MaxDepth = 205.000000 m
2026-01-21T01:45:06.442Z,1768959906.442 [MissionManager](INFO): DefineArg sci2.MinOffshore = 2.000000 km
2026-01-21T01:45:06.446Z,1768959906.446 [MissionManager](INFO): DefineOutput sci2.DiveMode = 0.000000 count
2026-01-21T01:45:06.458Z,1768959906.458 [MissionManager](INFO): DefineOutput sci2.DoingComms = 0.000000 count
2026-01-21T01:45:06.463Z,1768959906.463 [MissionManager](INFO): DefineOutput sci2.SurfaceSink = 1.000000 count
2026-01-21T01:45:06.474Z,1768959906.474 [MissionManager](INFO): DefineOutput sci2.YoYo = 2.000000 count
2026-01-21T01:45:06.474Z,1768959906.474 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2026-01-21T01:45:06.475Z,1768959906.475 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2026-01-21T01:45:06.488Z,1768959906.488 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2026-01-21T01:45:10.780Z,1768959910.780 [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="PeakDepthAvgProfilesChlActive">
        <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="PeakDepthAvgProfilesPlanktivoreLMavgROIActive">
        <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="DeepThreshValidLeg">
        <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="PeakChlAvgProfiles">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlDepthAvgProfiles">
        <Units:meter />
        <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="PeakPlanktivoreLMavgROIAvgProfiles">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROIDepthAvgProfiles">
        <Units:meter />
        <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.deepThreshValidLeg />
                <Arg Name="DeepThreshValidLeg" />
            </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 Id="SyslogSendDataPeakDepthAvgProfilesChl">
            <Sequence />
            <Break>
                <Not>
                    <Arg Name="PeakDepthAvgProfilesChlActive" />
                </Not>
            </Break>
            <Syslog Severity="Info">
                PeakChlAvgProfiles = 
                <Arg Name="PeakChlAvgProfiles" />
                <Units:microgram_per_liter />
                . PeakChlDepthAvgProfiles = 
                <Arg Name="PeakChlDepthAvgProfiles" />
                <Units:meter />
            </Syslog>
            <SendData Service="Express">
                <Arg Name="PeakChlAvgProfiles" />
                <Arg Name="PeakChlDepthAvgProfiles" />
            </SendData>
        </Aggregate>
    </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="PeakDepthAvgProfilesChl">
        <While>
            <Arg Name="PeakDepthAvgProfilesChlActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectHorizontal</Syslog>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <False />
            </Setting>
            <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.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <OutputArg Name="PeakChlAvgProfiles">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepthAvgProfiles">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </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 Id="SyslogSendDataPeakDepthAvgProfilesPlanktivoreLMavgROI">
            <Sequence />
            <Break>
                <Not>
                    <Arg Name="PeakDepthAvgProfilesPlanktivoreLMavgROIActive" />
                </Not>
            </Break>
            <Syslog Severity="Info">
                PeakPlanktivoreLMavgROIAvgProfiles = 
                <Arg Name="PeakPlanktivoreLMavgROIAvgProfiles" />
                <Units:count_per_second />
                . PeakPlanktivoreLMavgROIDepthAvgProfiles = 
                <Arg Name="PeakPlanktivoreLMavgROIDepthAvgProfiles" />
                <Units:meter />
            </Syslog>
            <SendData Service="Express">
                <Arg Name="PeakPlanktivoreLMavgROIAvgProfiles" />
                <Arg Name="PeakPlanktivoreLMavgROIDepthAvgProfiles" />
            </SendData>
        </Aggregate>
    </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="PeakDepthAvgProfilesPlanktivoreLMavgROI">
        <While>
            <Arg Name="PeakDepthAvgProfilesPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectHorizontal</Syslog>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <False />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakPlanktivoreLMavgROI" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakPlanktivoreLMavgROILatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakPlanktivoreLMavgROILongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreLMavgROIAvgProfiles">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepthAvgProfiles">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </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>

2026-01-21T01:45:10.817Z,1768959910.817 [MissionManager](INFO): DefineArg sci2:Science.PeakDetectChlActive = 0 bool
2026-01-21T01:45:10.820Z,1768959910.820 [MissionManager](INFO): DefineArg sci2:Science.PeakDepthAvgProfilesChlActive = 0 bool
2026-01-21T01:45:10.823Z,1768959910.823 [MissionManager](INFO): DefineArg sci2:Science.EdgeDetectChlActive = 0 bool
2026-01-21T01:45:10.827Z,1768959910.827 [MissionManager](INFO): DefineArg sci2:Science.TimeWindowPeakReport = nan min
2026-01-21T01:45:10.830Z,1768959910.830 [MissionManager](INFO): DefineArg sci2:Science.HighestChlPeakReportActive = 0 bool
2026-01-21T01:45:10.845Z,1768959910.845 [MissionManager](INFO): DefineArg sci2:Science.HighestSaltPeakReportActive = 0 bool
2026-01-21T01:45:10.851Z,1768959910.851 [MissionManager](INFO): DefineArg sci2:Science.HighestOilPeakReportActive = 0 bool
2026-01-21T01:45:10.858Z,1768959910.858 [MissionManager](INFO): DefineArg sci2:Science.PatchTracking = 0 bool
2026-01-21T01:45:10.872Z,1768959910.872 [MissionManager](INFO): DefineArg sci2:Science.FilterWidthHorizontal = 3.000000 count
2026-01-21T01:45:10.880Z,1768959910.880 [MissionManager](INFO): DefineArg sci2:Science.NumProfilesSlidingwindow = 100.000000 count
2026-01-21T01:45:10.888Z,1768959910.888 [MissionManager](INFO): DefineArg sci2:Science.OffPeakFractionHorizontal = 80.000000 %
2026-01-21T01:45:10.891Z,1768959910.891 [MissionManager](INFO): DefineArg sci2:Science.PeakDetectNO3Active = 0 bool
2026-01-21T01:45:10.898Z,1768959910.898 [MissionManager](INFO): DefineArg sci2:Science.PeakDetectOilActive = 0 bool
2026-01-21T01:45:10.905Z,1768959910.905 [MissionManager](INFO): DefineArg sci2:Science.PeakDetectFDOMActive = 0 bool
2026-01-21T01:45:10.912Z,1768959910.912 [MissionManager](INFO): DefineArg sci2:Science.PeakDetectSalinityActive = 0 bool
2026-01-21T01:45:10.915Z,1768959910.915 [MissionManager](INFO): DefineArg sci2:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2026-01-21T01:45:10.928Z,1768959910.928 [MissionManager](INFO): DefineArg sci2:Science.PeakDepthAvgProfilesPlanktivoreLMavgROIActive = 0 bool
2026-01-21T01:45:10.931Z,1768959910.931 [MissionManager](INFO): DefineArg sci2:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2026-01-21T01:45:10.944Z,1768959910.944 [MissionManager](INFO): DefineArg sci2:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2026-01-21T01:45:10.947Z,1768959910.947 [MissionManager](INFO): DefineArg sci2:Science.EdgeDetectPlanktivoreHMavgROIActive = 0 bool
2026-01-21T01:45:10.954Z,1768959910.954 [MissionManager](INFO): DefineArg sci2:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2026-01-21T01:45:10.959Z,1768959910.959 [MissionManager](INFO): DefineArg sci2:Science.EdgeDetectPlanktivoreDiatomsActive = 0 bool
2026-01-21T01:45:11.006Z,1768959911.006 [MissionManager](INFO): DefineArg sci2:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2026-01-21T01:45:11.013Z,1768959911.013 [MissionManager](INFO): DefineArg sci2:Science.EdgeDetectPlanktivoreDinoflagellatesActive = 0 bool
2026-01-21T01:45:11.029Z,1768959911.029 [MissionManager](INFO): DefineArg sci2:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2026-01-21T01:45:11.043Z,1768959911.043 [MissionManager](INFO): DefineArg sci2:Science.EnabledAanderaaO2 = 0 bool
2026-01-21T01:45:11.047Z,1768959911.047 [MissionManager](INFO): DefineArg sci2:Science.EnabledNeilBrown = 0 bool
2026-01-21T01:45:11.070Z,1768959911.070 [MissionManager](INFO): DefineArg sci2:Science.EnabledRBRTridente = 0 bool
2026-01-21T01:45:11.079Z,1768959911.079 [MissionManager](INFO): DefineArg sci2:Science.EnabledSeabird = 1 bool
2026-01-21T01:45:11.096Z,1768959911.096 [MissionManager](INFO): DefineArg sci2:Science.EnabledWetLabsBB2FL = 1 bool
2026-01-21T01:45:11.105Z,1768959911.105 [MissionManager](INFO): DefineArg sci2:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2026-01-21T01:45:11.118Z,1768959911.118 [MissionManager](INFO): DefineArg sci2:Science.EnabledWetLabsUBAT = 0 bool
2026-01-21T01:45:11.121Z,1768959911.121 [MissionManager](INFO): DefineArg sci2:Science.LowPassWindowLength = 20.000000 count
2026-01-21T01:45:11.125Z,1768959911.125 [MissionManager](INFO): DefineArg sci2:Science.MedianFilterLen = 5.000000 count
2026-01-21T01:45:11.141Z,1768959911.141 [MissionManager](INFO): DefineArg sci2:Science.ShallowBound = nan m
2026-01-21T01:45:11.148Z,1768959911.148 [MissionManager](INFO): DefineArg sci2:Science.DeepBound = nan m
2026-01-21T01:45:11.154Z,1768959911.154 [MissionManager](INFO): DefineArg sci2:Science.DeepThreshValidLeg = nan m
2026-01-21T01:45:11.158Z,1768959911.158 [MissionManager](INFO): DefineArg sci2:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2026-01-21T01:45:11.165Z,1768959911.165 [MissionManager](INFO): DefineArg sci2:Science.OffPeakFractionVerticalAscent = nan %
2026-01-21T01:45:11.169Z,1768959911.169 [MissionManager](INFO): DefineArg sci2:Science.OffPeakFractionVerticalDescent = nan %
2026-01-21T01:45:11.192Z,1768959911.192 [MissionManager](INFO): DefineArg sci2:Science.ChlPeakThresh = 0.000000 ug/l
2026-01-21T01:45:11.206Z,1768959911.206 [MissionManager](INFO): DefineArg sci2:Science.NumberOfLayers = 1.000000 count
2026-01-21T01:45:11.210Z,1768959911.210 [MissionManager](INFO): DefineArg sci2:Science.ChlThreshTriggerActive = 0 bool
2026-01-21T01:45:11.213Z,1768959911.213 [MissionManager](INFO): DefineArg sci2:Science.ChlLowerThresh = nan ug/l
2026-01-21T01:45:11.217Z,1768959911.217 [MissionManager](INFO): DefineArg sci2:Science.ChlUpperThresh = nan ug/l
2026-01-21T01:45:11.229Z,1768959911.229 [MissionManager](INFO): DefineArg sci2:Science.NumProfilesThresh = 5.000000 count
2026-01-21T01:45:11.236Z,1768959911.236 [MissionManager](INFO): DefineArg sci2:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2026-01-21T01:45:11.239Z,1768959911.239 [MissionManager](INFO): DefineArg sci2:Science.PlanktivoreHMavgROIPeakThresh = 0.000000 count/s
2026-01-21T01:45:11.246Z,1768959911.246 [MissionManager](INFO): DefineArg sci2:Science.PlanktivoreDiatomsPeakThresh = 0.000000 count/ml
2026-01-21T01:45:11.264Z,1768959911.264 [MissionManager](INFO): DefineArg sci2:Science.PlanktivoreDinoflagellatesPeakThresh = 0.000000 count/ml
2026-01-21T01:45:11.276Z,1768959911.276 [MissionManager](INFO): DefineOutput sci2:Science.GoDown = 1 bool
2026-01-21T01:45:11.279Z,1768959911.279 [MissionManager](INFO): DefineOutput sci2:Science.PeakChl = nan ug/l
2026-01-21T01:45:11.288Z,1768959911.288 [MissionManager](INFO): DefineOutput sci2:Science.PeakChlDepth = nan m
2026-01-21T01:45:11.291Z,1768959911.291 [MissionManager](INFO): DefineOutput sci2:Science.PeakChlTemperature = nan degC
2026-01-21T01:45:11.299Z,1768959911.299 [MissionManager](INFO): DefineOutput sci2:Science.PeakChlLatitude = nan arcdeg
2026-01-21T01:45:11.307Z,1768959911.307 [MissionManager](INFO): DefineOutput sci2:Science.PeakChlLongitude = nan arcdeg
2026-01-21T01:45:11.327Z,1768959911.327 [MissionManager](INFO): DefineOutput sci2:Science.PeakChlAvgProfiles = nan ug/l
2026-01-21T01:45:11.339Z,1768959911.339 [MissionManager](INFO): DefineOutput sci2:Science.PeakChlDepthAvgProfiles = nan m
2026-01-21T01:45:11.347Z,1768959911.347 [MissionManager](INFO): DefineOutput sci2:Science.EdgeChl = nan ug/l
2026-01-21T01:45:11.362Z,1768959911.362 [MissionManager](INFO): DefineOutput sci2:Science.EdgeChlDepth = nan m
2026-01-21T01:45:11.366Z,1768959911.366 [MissionManager](INFO): DefineOutput sci2:Science.EdgeChlTemperature = nan degC
2026-01-21T01:45:11.410Z,1768959911.410 [MissionManager](INFO): DefineOutput sci2:Science.EdgeChlLatitude = nan arcdeg
2026-01-21T01:45:11.417Z,1768959911.417 [MissionManager](INFO): DefineOutput sci2:Science.EdgeChlLongitude = nan arcdeg
2026-01-21T01:45:11.433Z,1768959911.433 [MissionManager](INFO): DefineOutput sci2:Science.PeakNO3 = nan umol/l
2026-01-21T01:45:11.445Z,1768959911.445 [MissionManager](INFO): DefineOutput sci2:Science.PeakNO3Depth = nan m
2026-01-21T01:45:11.454Z,1768959911.454 [MissionManager](INFO): DefineOutput sci2:Science.PeakNO3Latitude = nan arcdeg
2026-01-21T01:45:11.462Z,1768959911.462 [MissionManager](INFO): DefineOutput sci2:Science.PeakNO3Longitude = nan arcdeg
2026-01-21T01:45:11.485Z,1768959911.485 [MissionManager](INFO): DefineOutput sci2:Science.PeakOil = nan kg/m3
2026-01-21T01:45:11.494Z,1768959911.494 [MissionManager](INFO): DefineOutput sci2:Science.PeakOilDepth = nan m
2026-01-21T01:45:11.502Z,1768959911.502 [MissionManager](INFO): DefineOutput sci2:Science.PeakOilLatitude = nan arcdeg
2026-01-21T01:45:11.506Z,1768959911.506 [MissionManager](INFO): DefineOutput sci2:Science.PeakOilLongitude = nan arcdeg
2026-01-21T01:45:11.523Z,1768959911.523 [MissionManager](INFO): DefineOutput sci2:Science.PeakFDOM = nan ppb
2026-01-21T01:45:11.531Z,1768959911.531 [MissionManager](INFO): DefineOutput sci2:Science.PeakFDOMDepth = nan m
2026-01-21T01:45:11.539Z,1768959911.539 [MissionManager](INFO): DefineOutput sci2:Science.PeakFDOMTemperature = nan degC
2026-01-21T01:45:11.543Z,1768959911.543 [MissionManager](INFO): DefineOutput sci2:Science.PeakFDOMLatitude = nan arcdeg
2026-01-21T01:45:11.555Z,1768959911.555 [MissionManager](INFO): DefineOutput sci2:Science.PeakFDOMLongitude = nan arcdeg
2026-01-21T01:45:11.562Z,1768959911.562 [MissionManager](INFO): DefineOutput sci2:Science.PeakSalt = nan psu
2026-01-21T01:45:11.567Z,1768959911.567 [MissionManager](INFO): DefineOutput sci2:Science.PeakSaltDepth = nan m
2026-01-21T01:45:11.582Z,1768959911.582 [MissionManager](INFO): DefineOutput sci2:Science.PeakSaltTemperature = nan degC
2026-01-21T01:45:11.597Z,1768959911.597 [MissionManager](INFO): DefineOutput sci2:Science.PeakSaltLatitude = nan arcdeg
2026-01-21T01:45:11.601Z,1768959911.601 [MissionManager](INFO): DefineOutput sci2:Science.PeakSaltLongitude = nan arcdeg
2026-01-21T01:45:11.621Z,1768959911.621 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreLMavgROI = nan count/s
2026-01-21T01:45:11.628Z,1768959911.628 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreLMavgROIDepth = nan m
2026-01-21T01:45:11.640Z,1768959911.640 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2026-01-21T01:45:11.649Z,1768959911.649 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2026-01-21T01:45:11.655Z,1768959911.655 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2026-01-21T01:45:11.658Z,1768959911.658 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreLMavgROIAvgProfiles = nan count/s
2026-01-21T01:45:11.661Z,1768959911.661 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreLMavgROIDepthAvgProfiles = nan m
2026-01-21T01:45:11.696Z,1768959911.696 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreLMavgROI = nan count/s
2026-01-21T01:45:11.700Z,1768959911.700 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreLMavgROIDepth = nan m
2026-01-21T01:45:11.703Z,1768959911.703 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2026-01-21T01:45:11.720Z,1768959911.720 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2026-01-21T01:45:11.727Z,1768959911.727 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2026-01-21T01:45:11.745Z,1768959911.745 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreHMavgROI = nan count/s
2026-01-21T01:45:11.748Z,1768959911.748 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreHMavgROIDepth = nan m
2026-01-21T01:45:11.751Z,1768959911.751 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2026-01-21T01:45:11.772Z,1768959911.772 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2026-01-21T01:45:11.776Z,1768959911.776 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2026-01-21T01:45:11.779Z,1768959911.779 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreHMavgROI = nan count/s
2026-01-21T01:45:11.819Z,1768959911.819 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreHMavgROIDepth = nan m
2026-01-21T01:45:11.846Z,1768959911.846 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreHMavgROITemperature = nan degC
2026-01-21T01:45:11.850Z,1768959911.850 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreHMavgROILatitude = nan arcdeg
2026-01-21T01:45:11.859Z,1768959911.859 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreHMavgROILongitude = nan arcdeg
2026-01-21T01:45:11.876Z,1768959911.876 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreDiatoms = nan count/ml
2026-01-21T01:45:11.884Z,1768959911.884 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreDiatomsDepth = nan m
2026-01-21T01:45:11.893Z,1768959911.893 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2026-01-21T01:45:11.903Z,1768959911.903 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2026-01-21T01:45:11.919Z,1768959911.919 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2026-01-21T01:45:11.931Z,1768959911.931 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreDiatoms = nan count/ml
2026-01-21T01:45:11.934Z,1768959911.934 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreDiatomsDepth = nan m
2026-01-21T01:45:11.950Z,1768959911.950 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreDiatomsTemperature = nan degC
2026-01-21T01:45:11.958Z,1768959911.958 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreDiatomsLatitude = nan arcdeg
2026-01-21T01:45:11.970Z,1768959911.970 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreDiatomsLongitude = nan arcdeg
2026-01-21T01:45:11.975Z,1768959911.975 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2026-01-21T01:45:11.987Z,1768959911.987 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2026-01-21T01:45:11.995Z,1768959911.995 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2026-01-21T01:45:12.011Z,1768959912.011 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2026-01-21T01:45:12.026Z,1768959912.026 [MissionManager](INFO): DefineOutput sci2:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2026-01-21T01:45:12.030Z,1768959912.030 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreDinoflagellates = nan count/ml
2026-01-21T01:45:12.042Z,1768959912.042 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreDinoflagellatesDepth = nan m
2026-01-21T01:45:12.046Z,1768959912.046 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreDinoflagellatesTemperature = nan degC
2026-01-21T01:45:12.058Z,1768959912.058 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreDinoflagellatesLatitude = nan arcdeg
2026-01-21T01:45:12.063Z,1768959912.063 [MissionManager](INFO): DefineOutput sci2:Science.EdgePlanktivoreDinoflagellatesLongitude = nan arcdeg
2026-01-21T01:45:12.074Z,1768959912.074 [MissionManager](INFO): DefineOutput sci2:Science.PatchChl = nan ug/l
2026-01-21T01:45:12.082Z,1768959912.082 [MissionManager](INFO): DefineOutput sci2:Science.PatchChlDepth = nan m
2026-01-21T01:45:12.086Z,1768959912.086 [MissionManager](INFO): DefineOutput sci2:Science.PatchChlLatitude = nan arcdeg
2026-01-21T01:45:12.101Z,1768959912.101 [MissionManager](INFO): DefineOutput sci2:Science.PatchChlLongitude = nan arcdeg
2026-01-21T01:45:12.107Z,1768959912.107 [MissionManager](INFO): DefineOutput sci2:Science.PatchChlDistance = nan m
2026-01-21T01:45:12.130Z,1768959912.130 [MissionManager](INFO): DefineOutput sci2:Science.PatchSalt = nan psu
2026-01-21T01:45:12.134Z,1768959912.134 [MissionManager](INFO): DefineOutput sci2:Science.PatchSaltDepth = nan m
2026-01-21T01:45:12.149Z,1768959912.149 [MissionManager](INFO): DefineOutput sci2:Science.PatchSaltLatitude = nan arcdeg
2026-01-21T01:45:12.154Z,1768959912.154 [MissionManager](INFO): DefineOutput sci2:Science.PatchSaltLongitude = nan arcdeg
2026-01-21T01:45:12.166Z,1768959912.166 [MissionManager](INFO): DefineOutput sci2:Science.PatchSaltDistance = nan m
2026-01-21T01:45:12.170Z,1768959912.170 [MissionManager](INFO): DefineOutput sci2:Science.PatchOil = nan psu
2026-01-21T01:45:12.174Z,1768959912.174 [MissionManager](INFO): DefineOutput sci2:Science.PatchOilDepth = nan m
2026-01-21T01:45:12.186Z,1768959912.186 [MissionManager](INFO): DefineOutput sci2:Science.PatchOilLatitude = nan arcdeg
2026-01-21T01:45:12.217Z,1768959912.217 [MissionManager](INFO): DefineOutput sci2:Science.PatchOilLongitude = nan arcdeg
2026-01-21T01:45:12.237Z,1768959912.237 [MissionManager](INFO): DefineOutput sci2:Science.PatchOilDistance = nan m
2026-01-21T01:45:12.251Z,1768959912.251 [MissionManager](INFO): DefineOutput sci2:Science.TriggeredOnChl = 0 bool
2026-01-21T01:45:12.259Z,1768959912.259 [MissionManager](INFO): DefineOutput sci2:Science.ChlTriggering = nan ug/l
2026-01-21T01:45:12.322Z,1768959912.322 [sci2:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2026-01-21T01:45:12.380Z,1768959912.380 [sci2:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2026-01-21T01:45:12.443Z,1768959912.443 [sci2:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2026-01-21T01:45:12.478Z,1768959912.478 [sci2:Science:PeakDepthAvgProfilesChl:B.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2026-01-21T01:45:12.506Z,1768959912.506 [sci2:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2026-01-21T01:45:12.549Z,1768959912.549 [sci2:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2026-01-21T01:45:12.577Z,1768959912.577 [sci2:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2026-01-21T01:45:12.653Z,1768959912.653 [sci2:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2026-01-21T01:45:12.685Z,1768959912.685 [sci2:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2026-01-21T01:45:12.717Z,1768959912.717 [sci2:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2026-01-21T01:45:12.764Z,1768959912.764 [sci2:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2026-01-21T01:45:12.829Z,1768959912.829 [sci2:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2026-01-21T01:45:12.882Z,1768959912.882 [sci2:Science:PeakDepthAvgProfilesPlanktivoreLMavgROI:B.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2026-01-21T01:45:12.911Z,1768959912.911 [sci2:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2026-01-21T01:45:12.949Z,1768959912.949 [sci2:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2026-01-21T01:45:13.031Z,1768959913.031 [sci2:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2026-01-21T01:45:13.073Z,1768959913.073 [sci2:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2026-01-21T01:45:13.146Z,1768959913.146 [sci2:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2026-01-21T01:45:13.186Z,1768959913.186 [sci2:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2026-01-21T01:45:13.232Z,1768959913.232 [sci2:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2026-01-21T01:45:13.256Z,1768959913.256 [MissionManager](INFO): RedefineArg sci2:Science.PeakDetectChlActive = reader:sci2.PeakDetectChl
2026-01-21T01:45:13.259Z,1768959913.259 [MissionManager](INFO): RedefineArg sci2:Science.ShallowBound = reader:sci2.ShallowBoundChl
2026-01-21T01:45:13.271Z,1768959913.271 [MissionManager](INFO): RedefineArg sci2:Science.DeepBound = reader:sci2.DeepBoundChl
2026-01-21T01:45:13.277Z,1768959913.277 [MissionManager](INFO): RedefineArg sci2:Science.ChlThreshTriggerActive = reader:sci2.ChlThreshTrigger
2026-01-21T01:45:13.279Z,1768959913.279 [MissionManager](INFO): RedefineArg sci2:Science.ChlLowerThresh = reader:sci2.ChlLowerThreshold
2026-01-21T01:45:13.285Z,1768959913.285 [MissionManager](INFO): RedefineArg sci2:Science.ChlUpperThresh = reader:sci2.ChlUpperThreshold
2026-01-21T01:45:13.287Z,1768959913.287 [MissionManager](INFO): RedefineArg sci2:Science.NumProfilesThresh = reader:sci2.NumProfilesThreshold
2026-01-21T01:45:13.292Z,1768959913.292 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2026-01-21T01:45:13.292Z,1768959913.292 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2026-01-21T01:45:13.293Z,1768959913.293 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2026-01-21T01:45:13.984Z,1768959913.984 [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>1500</Value>
    </DefineArg>
    <DefineArg Name="GPSTimeout">
        <Units:minute />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="CommsTimeout">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="DoingCommsMode">
        <Units:count />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="RestoreMode">
        <Units:count />
        <Value>0</Value>
    </DefineArg>
    <DefineOutput Name="IsActive">
        <False />
    </DefineOutput>
    <DefineOutput Name="RequiredDiveMode">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <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>
    <Aggregate Id="setActive">
        <Sequence />
        <Assign>
            <Sequence />
            <Arg Name="RequiredDiveMode" />
            <Arg Name="DoingCommsMode" />
        </Assign>
        <Assign>
            <Sequence />
            <Arg Name="IsActive" />
            <True />
        </Assign>
    </Aggregate>
    <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 Id="setRestoreMode">
        <Sequence />
        <Assign>
            <Sequence />
            <Arg Name="RequiredDiveMode" />
            <Arg Name="RestoreMode" />
        </Assign>
    </Aggregate>
    <Aggregate Id="setInactive">
        <Sequence />
        <Assign>
            <Sequence />
            <Arg Name="IsActive" />
            <False />
        </Assign>
    </Aggregate>
</Aggregate>

2026-01-21T01:45:13.991Z,1768959913.991 [MissionManager](INFO): DefineArg sci2:NeedComms.DiveInterval = 1.000000 h
2026-01-21T01:45:13.994Z,1768959913.994 [MissionManager](INFO): DefineArg sci2:NeedComms.WaitForPitchUp = 10.000000 min
2026-01-21T01:45:14.016Z,1768959914.016 [MissionManager](INFO): DefineArg sci2:NeedComms.SurfacePitch = 20.000000 arcdeg
2026-01-21T01:45:14.019Z,1768959914.019 [MissionManager](INFO): DefineArg sci2:NeedComms.SurfaceDepthRate = nan m/s
2026-01-21T01:45:14.040Z,1768959914.040 [MissionManager](INFO): DefineArg sci2:NeedComms.SurfaceSpeed = 1.000000 m/s
2026-01-21T01:45:14.043Z,1768959914.043 [MissionManager](INFO): DefineArg sci2:NeedComms.SurfacingTimeout = 1500.000000 s
2026-01-21T01:45:14.047Z,1768959914.047 [MissionManager](INFO): DefineArg sci2:NeedComms.GPSTimeout = 7.000000 min
2026-01-21T01:45:14.066Z,1768959914.066 [MissionManager](INFO): DefineArg sci2:NeedComms.CommsTimeout = 30.000000 min
2026-01-21T01:45:14.069Z,1768959914.069 [MissionManager](INFO): DefineArg sci2:NeedComms.DoingCommsMode = 0.000000 count
2026-01-21T01:45:14.072Z,1768959914.072 [MissionManager](INFO): DefineArg sci2:NeedComms.RestoreMode = 0.000000 count
2026-01-21T01:45:14.075Z,1768959914.075 [MissionManager](INFO): DefineOutput sci2:NeedComms.IsActive = 0 bool
2026-01-21T01:45:14.091Z,1768959914.091 [MissionManager](INFO): DefineOutput sci2:NeedComms.RequiredDiveMode = 0.000000 count
2026-01-21T01:45:14.115Z,1768959914.115 [sci2:NeedComms:C.GoToSurface](DEBUG): Construct GoToSurface.
2026-01-21T01:45:14.179Z,1768959914.179 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2026-01-21T01:45:14.179Z,1768959914.179 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2026-01-21T01:45:14.185Z,1768959914.185 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2026-01-21T01:45:14.368Z,1768959914.368 [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>

2026-01-21T01:45:14.377Z,1768959914.377 [MissionManager](INFO): DefineArg sci2:StandardEnvelopes.MinAltitude = 5.000000 m
2026-01-21T01:45:14.382Z,1768959914.382 [MissionManager](INFO): DefineArg sci2:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2026-01-21T01:45:14.393Z,1768959914.393 [MissionManager](INFO): DefineArg sci2:StandardEnvelopes.MaxDepth = 200.000000 m
2026-01-21T01:45:14.400Z,1768959914.400 [MissionManager](INFO): DefineArg sci2:StandardEnvelopes.MinOffshore = 2000.000000 m
2026-01-21T01:45:14.402Z,1768959914.402 [sci2:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2026-01-21T01:45:14.414Z,1768959914.414 [sci2:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2026-01-21T01:45:14.451Z,1768959914.451 [sci2:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2026-01-21T01:45:14.493Z,1768959914.493 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2026-01-21T01:45:14.493Z,1768959914.493 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2026-01-21T01:45:14.494Z,1768959914.494 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2026-01-21T01:45:14.535Z,1768959914.535 [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>

2026-01-21T01:45:14.548Z,1768959914.548 [MissionManager](INFO): DefineArg sci2:BackseatDriver.EnableBackseat = 0 bool
2026-01-21T01:45:14.554Z,1768959914.554 [sci2:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2026-01-21T01:45:14.557Z,1768959914.557 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2026-01-21T01:45:14.558Z,1768959914.558 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2026-01-21T01:45:14.559Z,1768959914.559 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2026-01-21T01:45:14.872Z,1768959914.872 [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>

2026-01-21T01:45:14.878Z,1768959914.878 [MissionManager](INFO): DefineArg sci2:PowerOnly.SampleAll = 0 bool
2026-01-21T01:45:14.889Z,1768959914.889 [MissionManager](INFO): DefineArg sci2:PowerOnly.SampleLoad1 = 0 bool
2026-01-21T01:45:14.896Z,1768959914.896 [MissionManager](INFO): DefineArg sci2:PowerOnly.SampleLoad2 = 0 bool
2026-01-21T01:45:14.899Z,1768959914.899 [MissionManager](INFO): DefineArg sci2:PowerOnly.SampleLoad3 = 0 bool
2026-01-21T01:45:14.907Z,1768959914.907 [MissionManager](INFO): DefineArg sci2:PowerOnly.EnabledPowerOnly = 1 bool
2026-01-21T01:45:14.931Z,1768959914.931 [sci2:PowerOnly:E.Wait](DEBUG): Construct Wait.
2026-01-21T01:45:14.981Z,1768959914.981 [sci2:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2026-01-21T01:45:14.989Z,1768959914.989 [sci2:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Construct.
2026-01-21T01:45:14.997Z,1768959914.997 [sci2:DiveCmd:SurfaceSink:sink:D.Pitch](DEBUG): Construct.
2026-01-21T01:45:15.061Z,1768959915.061 [sci2:DiveCmd:YoYoDive:dive:A.Pitch](DEBUG): Construct.
2026-01-21T01:45:15.071Z,1768959915.071 [sci2:DiveCmd:YoYoDive:dive:B.Buoyancy](DEBUG): Construct Buoyancy.
2026-01-21T01:45:15.101Z,1768959915.101 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:SurfaceDive:SurfaceSpeed:A.SetSpeed](DEBUG): Construct.
2026-01-21T01:45:15.117Z,1768959915.117 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:ProfileSpeed:A.SetSpeed](DEBUG): Construct.
2026-01-21T01:45:15.122Z,1768959915.122 [sci2:DiveCmd:YoYoDive:dive:D.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2026-01-21T01:45:15.153Z,1768959915.153 [sci2:DiveCmd:YoYoDive:dive:E.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2026-01-21T01:45:15.175Z,1768959915.175 [sci2:DiveCmd:YoYoDive:dive:F.YoYo](DEBUG): Construct YoYo.
2026-01-21T01:45:15.195Z,1768959915.195 [sci2:DiveCmd:YoYoDive:dive:YoYoFlip:A.Pitch](DEBUG): Construct.
2026-01-21T01:45:15.219Z,1768959915.219 [sci2:DiveCmd:YoYoDive:dive:StopIfTriggered:A.Execute](DEBUG): Construct Execute.
2026-01-21T01:45:15.242Z,1768959915.242 [sci2:Lap:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2026-01-21T01:45:15.270Z,1768959915.270 [sci2:Lap:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2026-01-21T01:45:15.287Z,1768959915.287 [sci2:Lap:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2026-01-21T01:45:15.307Z,1768959915.307 [sci2:Lap:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2026-01-21T01:45:15.317Z,1768959915.317 [sci2:Lap:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2026-01-21T01:45:15.349Z,1768959915.349 [sci2:Lap:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2026-01-21T01:45:15.356Z,1768959915.356 [sci2:Lap:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2026-01-21T01:45:15.573Z,1768959915.573 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

  timeout duration=MissionTimeout

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

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

  insert id="NeedComms" Insert/NeedComms.tl

  assign in sequence NeedComms:DiveInterval = NeedCommsTime
  assign in sequence NeedComms:DoingCommsMode = DoingComms

  # Setting the restoreMode based on SurfaceSink once like this means that a runtime set
  # of SinkOffSurface will not be honored. I think it's worth the tradeoff to avoid having a
  # parallel assign sitting on the stack the whole time. But user beware.
  aggregate setRestoreMode {
    run in sequence

    break if ( SinkOffSurface )

    assign in sequence NeedComms:RestoreMode = YoYo
  }

  aggregate setSinkRestore {
    run in sequence

    break if ( not SinkOffSurface )

    assign in sequence NeedComms:RestoreMode = SurfaceSink
  }

  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 manageDiveMode {
    run when ( NeedComms:IsActive )

    aggregate syncWhileActive {
      run while ( NeedComms:IsActive )

      assign in parallel DiveMode = NeedComms:RequiredDiveMode
    }
  }

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

  aggregate DiveCmd {
    run when ( called )

    aggregate SurfaceSink {
      run while ( DiveMode == SurfaceSink )

      aggregate sink {
        run in sequence

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

          set position = NaN cc
        }

        behavior Guidance:SetSpeed {
          run in parallel

          set speed = 0 m/s
        }

        syslog info "Sinking to " + SinkDepth~meter

        behavior Guidance:Pitch {
          run in sequence

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

          set depth = SinkDepth
        }

        assign in sequence DiveMode = YoYo
      }
    }

    aggregate YoYoDive {
      run while ( DiveMode == YoYo )

      aggregate dive {
        run in sequence

        behavior Guidance:Pitch {
          run in parallel

          set massPosition = MassDefault
        }

        behavior Guidance:Buoyancy {
          run in parallel

          set position = BuoyancyNeutral
        }

        aggregate SetSpeed {
          run in parallel

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

            aggregate SurfaceSpeed {
              run in parallel

              behavior Guidance:SetSpeed {
                run in parallel

                set speed = SurfaceDiveSpeed
              }
            }
          }

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

            behavior Guidance:SetSpeed {
              run in parallel

              set speed = Speed
            }
          }
        }

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

          run in parallel

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

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

          run in parallel

          set minAltitude = YoYoMinAltitude
        }

        behavior Guidance:YoYo {
          run in parallel

          set downPitch = YoYoDownPitch
          set upPitch = YoYoUpPitch
        }

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

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

          behavior Guidance:Pitch {
            run in parallel

            set pitch = YoYoUpPitch
          }
        }

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

          run when ( Science:TriggeredOnChl )

          behavior Guidance:Execute {
            run in sequence

            set command = "stop"
          }
        }
      }
    }
  }

  aggregate Lap {
    run in sequence repeat=Repeat

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

      call priorityHere=false refId="DiveCmd"
    }

    aggregate Wpt1 {
      run in sequence

      behavior Guidance:Waypoint {
        run in sequence

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

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

        behavior Guidance:Waypoint {
          run in sequence

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


2026-01-21T01:45:15.574Z,1768959915.574 [CommandExec](IMPORTANT): Loaded ./Missions/Science/sci2.tl id=sci2
2026-01-21T01:45:15.875Z,1768959915.875 [MissionManager](IMPORTANT): Started mission Default
2026-01-21T01:45:15.875Z,1768959915.875 [Default] Running Loop=1
2026-01-21T01:45:15.875Z,1768959915.875 [Default](DEBUG): Aggregate::initialize Default
2026-01-21T01:45:15.875Z,1768959915.875 [Default:B.GoToSurface] Running Loop=1
2026-01-21T01:45:15.875Z,1768959915.875 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2026-01-21T01:45:15.875Z,1768959915.875 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2026-01-21T01:45:15.884Z,1768959915.884 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2026-01-21T01:45:15.884Z,1768959915.884 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2026-01-21T01:45:15.885Z,1768959915.885 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2026-01-21T01:45:15.885Z,1768959915.885 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2026-01-21T01:45:15.885Z,1768959915.885 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2026-01-21T01:45:15.885Z,1768959915.885 [Default:A.Wait] Running Loop=1
2026-01-21T01:45:15.886Z,1768959915.886 [Default:A.Wait](DEBUG): Initialize Wait Component.
2026-01-21T01:45:16.277Z,1768959916.277 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -13.00 mm (3 active estimators).
2026-01-21T01:45:16.537Z,1768959916.537 [Radio_Surface](INFO): Powering up
2026-01-21T01:45:19.816Z,1768959919.816 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec).
2026-01-21T01:45:19.817Z,1768959919.817 [BackseatComponent](INFO): Unsubscribing from LCM channels.
2026-01-21T01:45:19.817Z,1768959919.817 [LcmPublisher](INFO): Deactivating messaging.
2026-01-21T01:45:22.132Z,1768959922.132 [DataOverHttps](INFO): Radio surface powered ON.
2026-01-21T01:45:29.257Z,1768959929.257 [Default:A.Wait](INFO): Done Waiting.
2026-01-21T01:45:29.257Z,1768959929.257 [Default:A.Wait] Stopped
2026-01-21T01:45:29.257Z,1768959929.257 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2026-01-21T01:45:35.921Z,1768959935.921 [CommandExec](IMPORTANT): got command set sci2.MissionTimeout 14 hour
2026-01-21T01:45:35.922Z,1768959935.922 [CommandExec](IMPORTANT): got command set sci2.NeedCommsTime 90 minute
2026-01-21T01:45:35.922Z,1768959935.922 [CommandExec](IMPORTANT): got command set sci2.Lat1 36.797 degree
2026-01-21T01:45:35.923Z,1768959935.923 [CommandExec](IMPORTANT): got command set sci2.Lon1 -121.847 degree
2026-01-21T01:45:35.929Z,1768959935.929 [CommandExec](IMPORTANT): got command set sci2.Speed .7 meter_per_second
2026-01-21T01:45:35.929Z,1768959935.930 [CommandExec](IMPORTANT): got command set sci2.YoYoMinDepth 4 meter
2026-01-21T01:45:35.930Z,1768959935.930 [CommandExec](IMPORTANT): got command set sci2.YoYoMaxDepth 70 meter