2026-01-21T14:45:00.013Z,1769006700.013 [CommandExec](IMPORTANT): got command restart logs
2026-01-21T14:45:09.211Z,1769006709.211 [CommandExec](IMPORTANT): got command load ./Missions/Science/sci2_vtyoyo.tl
2026-01-21T14:45:09.211Z,1769006709.211 [MissionManager](INFO): Uninitializing Mission sci2
2026-01-21T14:45:09.211Z,1769006709.211 [sci2] Stopped
2026-01-21T14:45:09.211Z,1769006709.211 [sci2](DEBUG): Aggregate::uninitialize sci2
2026-01-21T14:45:09.211Z,1769006709.211 [sci2:Science] Stopped
2026-01-21T14:45:09.211Z,1769006709.211 [sci2:Science](DEBUG): Aggregate::uninitialize sci2:Science
2026-01-21T14:45:09.216Z,1769006709.216 [sci2:Science:B] Stopped
2026-01-21T14:45:09.216Z,1769006709.216 [sci2:Science:C] Stopped
2026-01-21T14:45:09.216Z,1769006709.216 [sci2:Science:E] Stopped
2026-01-21T14:45:09.216Z,1769006709.216 [sci2:Science:OceanCurrent] Stopped
2026-01-21T14:45:09.216Z,1769006709.216 [sci2:Science:OceanCurrent](DEBUG): Aggregate::uninitialize sci2:Science:OceanCurrent
2026-01-21T14:45:09.216Z,1769006709.216 [sci2:Science:OceanCurrent:A.] Stopped
2026-01-21T14:45:09.216Z,1769006709.216 [sci2:StandardEnvelopes] Stopped
2026-01-21T14:45:09.216Z,1769006709.216 [sci2:StandardEnvelopes](DEBUG): Aggregate::uninitialize sci2:StandardEnvelopes
2026-01-21T14:45:09.216Z,1769006709.216 [sci2:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2026-01-21T14:45:09.217Z,1769006709.217 [sci2:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2026-01-21T14:45:09.217Z,1769006709.217 [sci2:StandardEnvelopes:B.DepthEnvelope] Stopped
2026-01-21T14:45:09.217Z,1769006709.217 [sci2:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2026-01-21T14:45:09.217Z,1769006709.217 [sci2:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2026-01-21T14:45:09.217Z,1769006709.217 [sci2:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2026-01-21T14:45:09.217Z,1769006709.217 [sci2:BackseatDriver] Stopped
2026-01-21T14:45:09.217Z,1769006709.217 [sci2:BackseatDriver](DEBUG): Aggregate::uninitialize sci2:BackseatDriver
2026-01-21T14:45:09.217Z,1769006709.217 [sci2:BackseatDriver:A.BackseatDriver] Stopped
2026-01-21T14:45:09.217Z,1769006709.217 [sci2:PowerOnly] Stopped
2026-01-21T14:45:09.217Z,1769006709.217 [sci2:PowerOnly](DEBUG): Aggregate::uninitialize sci2:PowerOnly
2026-01-21T14:45:09.217Z,1769006709.217 [sci2:PowerOnly:E.Wait] Stopped
2026-01-21T14:45:09.217Z,1769006709.217 [sci2:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2026-01-21T14:45:09.217Z,1769006709.217 [sci2:manageDiveMode] Stopped
2026-01-21T14:45:09.218Z,1769006709.218 [sci2:manageDiveMode](DEBUG): Aggregate::uninitialize sci2:manageDiveMode
2026-01-21T14:45:09.218Z,1769006709.218 [sci2:DiveCmd] Stopped
2026-01-21T14:45:09.218Z,1769006709.218 [sci2:DiveCmd](DEBUG): Aggregate::uninitialize sci2:DiveCmd
2026-01-21T14:45:09.218Z,1769006709.218 [sci2:DiveCmd:SurfaceSink] Stopped
2026-01-21T14:45:09.218Z,1769006709.218 [sci2:DiveCmd:SurfaceSink](DEBUG): Aggregate::uninitialize sci2:DiveCmd:SurfaceSink
2026-01-21T14:45:09.218Z,1769006709.218 [sci2:DiveCmd:YoYoDive] Stopped
2026-01-21T14:45:09.218Z,1769006709.218 [sci2:DiveCmd:YoYoDive](DEBUG): Aggregate::uninitialize sci2:DiveCmd:YoYoDive
2026-01-21T14:45:09.218Z,1769006709.218 [sci2:DiveCmd:YoYoDive:dive] Stopped
2026-01-21T14:45:09.218Z,1769006709.218 [sci2:DiveCmd:YoYoDive:dive](DEBUG): Aggregate::uninitialize sci2:DiveCmd:YoYoDive:dive
2026-01-21T14:45:09.218Z,1769006709.218 [sci2:DiveCmd:YoYoDive:dive:A.Pitch] Stopped
2026-01-21T14:45:09.218Z,1769006709.218 [sci2:DiveCmd:YoYoDive:dive:B.Buoyancy] Stopped
2026-01-21T14:45:09.218Z,1769006709.218 [sci2:DiveCmd:YoYoDive:dive:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2026-01-21T14:45:09.219Z,1769006709.219 [sci2:DiveCmd:YoYoDive:dive:SetSpeed] Stopped
2026-01-21T14:45:09.219Z,1769006709.219 [sci2:DiveCmd:YoYoDive:dive:SetSpeed](DEBUG): Aggregate::uninitialize sci2:DiveCmd:YoYoDive:dive:SetSpeed
2026-01-21T14:45:09.219Z,1769006709.219 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:ProfileSpeed] Stopped
2026-01-21T14:45:09.219Z,1769006709.219 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:ProfileSpeed](DEBUG): Aggregate::uninitialize sci2:DiveCmd:YoYoDive:dive:SetSpeed:ProfileSpeed
2026-01-21T14:45:09.219Z,1769006709.219 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:ProfileSpeed:A.SetSpeed] Stopped
2026-01-21T14:45:09.219Z,1769006709.219 [sci2:DiveCmd:YoYoDive:dive:SetSpeed:ProfileSpeed:A.SetSpeed](DEBUG): Uninitialize.
2026-01-21T14:45:09.219Z,1769006709.219 [sci2:DiveCmd:YoYoDive:dive:D.DepthEnvelope] Stopped
2026-01-21T14:45:09.219Z,1769006709.219 [sci2:DiveCmd:YoYoDive:dive:D.DepthEnvelope](DEBUG): Uninitialize.
2026-01-21T14:45:09.219Z,1769006709.219 [sci2:DiveCmd:YoYoDive:dive:E.AltitudeEnvelope] Stopped
2026-01-21T14:45:09.219Z,1769006709.219 [sci2:DiveCmd:YoYoDive:dive:E.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2026-01-21T14:45:09.219Z,1769006709.219 [sci2:DiveCmd:YoYoDive:dive:F.YoYo] Stopped
2026-01-21T14:45:09.219Z,1769006709.219 [sci2:DiveCmd:YoYoDive:dive:F.YoYo](DEBUG): Uninitialize YoYoComponent.
2026-01-21T14:45:09.219Z,1769006709.219 [sci2:Lap] Stopped
2026-01-21T14:45:09.224Z,1769006709.224 [sci2:Lap](DEBUG): Aggregate::uninitialize sci2:Lap
2026-01-21T14:45:09.228Z,1769006709.228 [sci2:Lap:Dive] Stopped
2026-01-21T14:45:09.228Z,1769006709.228 [sci2:Lap:Dive](DEBUG): Aggregate::uninitialize sci2:Lap:Dive
2026-01-21T14:45:09.228Z,1769006709.228 [sci2:Lap:Dive:A] Stopped
2026-01-21T14:45:09.228Z,1769006709.228 [sci2:Lap:Dive:A](DEBUG): Aggregate::uninitialize sci2:Lap:Dive:A
2026-01-21T14:45:09.228Z,1769006709.228 [sci2:Lap:Wpt1] Stopped
2026-01-21T14:45:09.228Z,1769006709.228 [sci2:Lap:Wpt1](DEBUG): Aggregate::uninitialize sci2:Lap:Wpt1
2026-01-21T14:45:09.228Z,1769006709.228 [sci2:Lap:Wpt1:A.Waypoint] Stopped
2026-01-21T14:45:09.228Z,1769006709.228 [sci2:Lap:Wpt1:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2026-01-21T14:45:09.487Z,1769006709.487 [MissionManager](INFO): Loading Mission from file: ./Missions/Science/sci2_vtyoyo.tl
2026-01-21T14:45:09.487Z,1769006709.487 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Science/sci2_vtyoyo.tl
2026-01-21T14:45:09.501Z,1769006709.501 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Science/sci2_vtyoyo.tl
2026-01-21T14:45:09.512Z,1769006709.512 [WetLabsBB2FL](INFO): Powering down
2026-01-21T14:45:16.295Z,1769006716.295 [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>

2026-01-21T14:45:16.340Z,1769006716.340 [MissionManager](INFO): DefineArg sci2_vtyoyo.MissionTimeout = 2.000000 h
2026-01-21T14:45:16.342Z,1769006716.342 [MissionManager](INFO): DefineArg sci2_vtyoyo.NeedCommsTime = 60.000000 min
2026-01-21T14:45:16.345Z,1769006716.345 [MissionManager](INFO): DefineArg sci2_vtyoyo.Repeat = 1.000000 count
2026-01-21T14:45:16.347Z,1769006716.347 [MissionManager](INFO): DefineArg sci2_vtyoyo.Lat1 = nan arcdeg
2026-01-21T14:45:16.350Z,1769006716.350 [MissionManager](INFO): DefineArg sci2_vtyoyo.Lat2 = nan arcdeg
2026-01-21T14:45:16.353Z,1769006716.353 [MissionManager](INFO): DefineArg sci2_vtyoyo.Lat3 = nan arcdeg
2026-01-21T14:45:16.376Z,1769006716.376 [MissionManager](INFO): DefineArg sci2_vtyoyo.Lat4 = nan arcdeg
2026-01-21T14:45:16.378Z,1769006716.378 [MissionManager](INFO): DefineArg sci2_vtyoyo.Lat5 = nan arcdeg
2026-01-21T14:45:16.396Z,1769006716.396 [MissionManager](INFO): DefineArg sci2_vtyoyo.Lat6 = nan arcdeg
2026-01-21T14:45:16.399Z,1769006716.399 [MissionManager](INFO): DefineArg sci2_vtyoyo.Lat7 = nan arcdeg
2026-01-21T14:45:16.403Z,1769006716.403 [MissionManager](INFO): DefineArg sci2_vtyoyo.Lon1 = nan arcdeg
2026-01-21T14:45:16.418Z,1769006716.418 [MissionManager](INFO): DefineArg sci2_vtyoyo.Lon2 = nan arcdeg
2026-01-21T14:45:16.425Z,1769006716.425 [MissionManager](INFO): DefineArg sci2_vtyoyo.Lon3 = nan arcdeg
2026-01-21T14:45:16.427Z,1769006716.427 [MissionManager](INFO): DefineArg sci2_vtyoyo.Lon4 = nan arcdeg
2026-01-21T14:45:16.434Z,1769006716.434 [MissionManager](INFO): DefineArg sci2_vtyoyo.Lon5 = nan arcdeg
2026-01-21T14:45:16.441Z,1769006716.441 [MissionManager](INFO): DefineArg sci2_vtyoyo.Lon6 = nan arcdeg
2026-01-21T14:45:16.446Z,1769006716.446 [MissionManager](INFO): DefineArg sci2_vtyoyo.Lon7 = nan arcdeg
2026-01-21T14:45:16.469Z,1769006716.469 [MissionManager](INFO): DefineArg sci2_vtyoyo.Speed = 1.000000 m/s
2026-01-21T14:45:16.471Z,1769006716.471 [MissionManager](INFO): DefineArg sci2_vtyoyo.CaptureRadius = nan m
2026-01-21T14:45:16.477Z,1769006716.477 [MissionManager](INFO): DefineArg sci2_vtyoyo.YoYoMinDepth = 2.000000 m
2026-01-21T14:45:16.479Z,1769006716.479 [MissionManager](INFO): DefineArg sci2_vtyoyo.YoYoMaxDepth = 250.000000 m
2026-01-21T14:45:16.486Z,1769006716.486 [MissionManager](INFO): DefineArg sci2_vtyoyo.YoYoMinAltitude = 9.000000 m
2026-01-21T14:45:16.493Z,1769006716.493 [MissionManager](INFO): DefineArg sci2_vtyoyo.YoYoUpPitch = 20.000000 arcdeg
2026-01-21T14:45:16.495Z,1769006716.495 [MissionManager](INFO): DefineArg sci2_vtyoyo.YoYoDownPitch = -20.000000 arcdeg
2026-01-21T14:45:16.506Z,1769006716.506 [MissionManager](INFO): DefineArg sci2_vtyoyo.YoYoLightTerminateThreshold = 0.100000 umol/s/m2
2026-01-21T14:45:16.512Z,1769006716.512 [MissionManager](INFO): DefineArg sci2_vtyoyo.PeakDetectChl = 0 bool
2026-01-21T14:45:16.514Z,1769006716.514 [MissionManager](INFO): DefineArg sci2_vtyoyo.ShallowBoundChl = nan m
2026-01-21T14:45:16.520Z,1769006716.520 [MissionManager](INFO): DefineArg sci2_vtyoyo.DeepBoundChl = nan m
2026-01-21T14:45:16.522Z,1769006716.522 [MissionManager](INFO): DefineArg sci2_vtyoyo.ChlThreshTrigger = 0 bool
2026-01-21T14:45:16.525Z,1769006716.525 [MissionManager](INFO): DefineArg sci2_vtyoyo.ChlLowerThreshold = nan ug/l
2026-01-21T14:45:16.544Z,1769006716.544 [MissionManager](INFO): DefineArg sci2_vtyoyo.ChlUpperThreshold = nan ug/l
2026-01-21T14:45:16.546Z,1769006716.546 [MissionManager](INFO): DefineArg sci2_vtyoyo.NumProfilesThreshold = 5.000000 count
2026-01-21T14:45:16.549Z,1769006716.549 [MissionManager](INFO): DefineArg sci2_vtyoyo.BuoyancyNeutral = 398.675323 cc
2026-01-21T14:45:16.600Z,1769006716.600 [MissionManager](INFO): DefineArg sci2_vtyoyo.MassDefault = 3.064898 cm
2026-01-21T14:45:16.602Z,1769006716.602 [MissionManager](INFO): DefineArg sci2_vtyoyo.MinAltitude = 5.000000 m
2026-01-21T14:45:16.609Z,1769006716.609 [MissionManager](INFO): DefineArg sci2_vtyoyo.MaxDepth = 405.000000 m
2026-01-21T14:45:16.611Z,1769006716.611 [MissionManager](INFO): DefineArg sci2_vtyoyo.MinOffshore = 2.000000 km
2026-01-21T14:45:16.643Z,1769006716.643 [MissionManager](INFO): DefineArg sci2_vtyoyo.SinkOffSurface = 0 bool
2026-01-21T14:45:16.658Z,1769006716.658 [MissionManager](INFO): DefineArg sci2_vtyoyo.SinkDepth = 10.000000 m
2026-01-21T14:45:16.666Z,1769006716.666 [MissionManager](INFO): DefineArg sci2_vtyoyo.SinkDepthTimeout = 10.000000 min
2026-01-21T14:45:16.681Z,1769006716.681 [MissionManager](INFO): DefineOutput sci2_vtyoyo.DiveMode = 0.000000 count
2026-01-21T14:45:16.688Z,1769006716.688 [MissionManager](INFO): DefineOutput sci2_vtyoyo.DoingComms = 0.000000 count
2026-01-21T14:45:16.691Z,1769006716.691 [MissionManager](INFO): DefineOutput sci2_vtyoyo.SurfaceSink = 1.000000 count
2026-01-21T14:45:16.697Z,1769006716.697 [MissionManager](INFO): DefineOutput sci2_vtyoyo.YoYo = 2.000000 count
2026-01-21T14:45:16.698Z,1769006716.698 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2026-01-21T14:45:16.698Z,1769006716.698 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2026-01-21T14:45:16.712Z,1769006716.712 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2026-01-21T14:45:20.903Z,1769006720.903 [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>

2026-01-21T14:45:20.956Z,1769006720.956 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.PeakDetectChlActive = 0 bool
2026-01-21T14:45:20.958Z,1769006720.958 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.PeakDepthAvgProfilesChlActive = 0 bool
2026-01-21T14:45:20.960Z,1769006720.960 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.EdgeDetectChlActive = 0 bool
2026-01-21T14:45:20.962Z,1769006720.962 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.TimeWindowPeakReport = nan min
2026-01-21T14:45:20.977Z,1769006720.977 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.HighestChlPeakReportActive = 0 bool
2026-01-21T14:45:20.979Z,1769006720.979 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.HighestSaltPeakReportActive = 0 bool
2026-01-21T14:45:20.985Z,1769006720.985 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.HighestOilPeakReportActive = 0 bool
2026-01-21T14:45:20.987Z,1769006720.987 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.PatchTracking = 0 bool
2026-01-21T14:45:20.993Z,1769006720.993 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.FilterWidthHorizontal = 3.000000 count
2026-01-21T14:45:21.020Z,1769006721.020 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.NumProfilesSlidingwindow = 100.000000 count
2026-01-21T14:45:21.022Z,1769006721.022 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.OffPeakFractionHorizontal = 80.000000 %
2026-01-21T14:45:21.036Z,1769006721.036 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.PeakDetectNO3Active = 0 bool
2026-01-21T14:45:21.038Z,1769006721.038 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.PeakDetectOilActive = 0 bool
2026-01-21T14:45:21.048Z,1769006721.048 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.PeakDetectFDOMActive = 0 bool
2026-01-21T14:45:21.050Z,1769006721.050 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.PeakDetectSalinityActive = 0 bool
2026-01-21T14:45:21.060Z,1769006721.060 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2026-01-21T14:45:21.062Z,1769006721.062 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.PeakDepthAvgProfilesPlanktivoreLMavgROIActive = 0 bool
2026-01-21T14:45:21.075Z,1769006721.075 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2026-01-21T14:45:21.081Z,1769006721.081 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2026-01-21T14:45:21.083Z,1769006721.083 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.EdgeDetectPlanktivoreHMavgROIActive = 0 bool
2026-01-21T14:45:21.090Z,1769006721.090 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2026-01-21T14:45:21.097Z,1769006721.097 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.EdgeDetectPlanktivoreDiatomsActive = 0 bool
2026-01-21T14:45:21.099Z,1769006721.099 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2026-01-21T14:45:21.113Z,1769006721.113 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.EdgeDetectPlanktivoreDinoflagellatesActive = 0 bool
2026-01-21T14:45:21.115Z,1769006721.115 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2026-01-21T14:45:21.122Z,1769006721.122 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.EnabledAanderaaO2 = 0 bool
2026-01-21T14:45:21.137Z,1769006721.137 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.EnabledNeilBrown = 0 bool
2026-01-21T14:45:21.139Z,1769006721.139 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.EnabledRBRTridente = 0 bool
2026-01-21T14:45:21.146Z,1769006721.146 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.EnabledSeabird = 1 bool
2026-01-21T14:45:21.153Z,1769006721.153 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.EnabledWetLabsBB2FL = 1 bool
2026-01-21T14:45:21.155Z,1769006721.155 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2026-01-21T14:45:21.176Z,1769006721.176 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.EnabledWetLabsUBAT = 0 bool
2026-01-21T14:45:21.178Z,1769006721.178 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.LowPassWindowLength = 20.000000 count
2026-01-21T14:45:21.185Z,1769006721.185 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.MedianFilterLen = 5.000000 count
2026-01-21T14:45:21.187Z,1769006721.187 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.ShallowBound = nan m
2026-01-21T14:45:21.193Z,1769006721.193 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.DeepBound = nan m
2026-01-21T14:45:21.195Z,1769006721.195 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.DeepThreshValidLeg = nan m
2026-01-21T14:45:21.202Z,1769006721.202 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2026-01-21T14:45:21.209Z,1769006721.209 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.OffPeakFractionVerticalAscent = nan %
2026-01-21T14:45:21.211Z,1769006721.211 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.OffPeakFractionVerticalDescent = nan %
2026-01-21T14:45:21.242Z,1769006721.242 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.ChlPeakThresh = 0.000000 ug/l
2026-01-21T14:45:21.249Z,1769006721.249 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.NumberOfLayers = 1.000000 count
2026-01-21T14:45:21.251Z,1769006721.251 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.ChlThreshTriggerActive = 0 bool
2026-01-21T14:45:21.266Z,1769006721.266 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.ChlLowerThresh = nan ug/l
2026-01-21T14:45:21.272Z,1769006721.272 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.ChlUpperThresh = nan ug/l
2026-01-21T14:45:21.275Z,1769006721.275 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.NumProfilesThresh = 5.000000 count
2026-01-21T14:45:21.281Z,1769006721.281 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2026-01-21T14:45:21.283Z,1769006721.283 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.PlanktivoreHMavgROIPeakThresh = 0.000000 count/s
2026-01-21T14:45:21.290Z,1769006721.290 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.PlanktivoreDiatomsPeakThresh = 0.000000 count/ml
2026-01-21T14:45:21.301Z,1769006721.301 [MissionManager](INFO): DefineArg sci2_vtyoyo:Science.PlanktivoreDinoflagellatesPeakThresh = 0.000000 count/ml
2026-01-21T14:45:21.303Z,1769006721.303 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.GoDown = 1 bool
2026-01-21T14:45:21.310Z,1769006721.310 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakChl = nan ug/l
2026-01-21T14:45:21.315Z,1769006721.315 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakChlDepth = nan m
2026-01-21T14:45:21.333Z,1769006721.333 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakChlTemperature = nan degC
2026-01-21T14:45:21.340Z,1769006721.340 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakChlLatitude = nan arcdeg
2026-01-21T14:45:21.342Z,1769006721.342 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakChlLongitude = nan arcdeg
2026-01-21T14:45:21.353Z,1769006721.353 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakChlAvgProfiles = nan ug/l
2026-01-21T14:45:21.364Z,1769006721.364 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakChlDepthAvgProfiles = nan m
2026-01-21T14:45:21.366Z,1769006721.366 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.EdgeChl = nan ug/l
2026-01-21T14:45:21.373Z,1769006721.373 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.EdgeChlDepth = nan m
2026-01-21T14:45:21.375Z,1769006721.375 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.EdgeChlTemperature = nan degC
2026-01-21T14:45:21.382Z,1769006721.382 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.EdgeChlLatitude = nan arcdeg
2026-01-21T14:45:21.392Z,1769006721.392 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.EdgeChlLongitude = nan arcdeg
2026-01-21T14:45:21.395Z,1769006721.395 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakNO3 = nan umol/l
2026-01-21T14:45:21.429Z,1769006721.429 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakNO3Depth = nan m
2026-01-21T14:45:21.440Z,1769006721.440 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakNO3Latitude = nan arcdeg
2026-01-21T14:45:21.443Z,1769006721.443 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakNO3Longitude = nan arcdeg
2026-01-21T14:45:21.457Z,1769006721.457 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakOil = nan kg/m3
2026-01-21T14:45:21.459Z,1769006721.459 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakOilDepth = nan m
2026-01-21T14:45:21.470Z,1769006721.470 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakOilLatitude = nan arcdeg
2026-01-21T14:45:21.477Z,1769006721.477 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakOilLongitude = nan arcdeg
2026-01-21T14:45:21.479Z,1769006721.479 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakFDOM = nan ppb
2026-01-21T14:45:21.498Z,1769006721.498 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakFDOMDepth = nan m
2026-01-21T14:45:21.512Z,1769006721.512 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakFDOMTemperature = nan degC
2026-01-21T14:45:21.514Z,1769006721.514 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakFDOMLatitude = nan arcdeg
2026-01-21T14:45:21.519Z,1769006721.519 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakFDOMLongitude = nan arcdeg
2026-01-21T14:45:21.542Z,1769006721.542 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakSalt = nan psu
2026-01-21T14:45:21.545Z,1769006721.545 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakSaltDepth = nan m
2026-01-21T14:45:21.557Z,1769006721.557 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakSaltTemperature = nan degC
2026-01-21T14:45:21.559Z,1769006721.559 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakSaltLatitude = nan arcdeg
2026-01-21T14:45:21.566Z,1769006721.566 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakSaltLongitude = nan arcdeg
2026-01-21T14:45:21.569Z,1769006721.569 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakPlanktivoreLMavgROI = nan count/s
2026-01-21T14:45:21.588Z,1769006721.588 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakPlanktivoreLMavgROIDepth = nan m
2026-01-21T14:45:21.590Z,1769006721.590 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2026-01-21T14:45:21.612Z,1769006721.612 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2026-01-21T14:45:21.615Z,1769006721.615 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2026-01-21T14:45:21.622Z,1769006721.622 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakPlanktivoreLMavgROIAvgProfiles = nan count/s
2026-01-21T14:45:21.625Z,1769006721.625 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakPlanktivoreLMavgROIDepthAvgProfiles = nan m
2026-01-21T14:45:21.640Z,1769006721.640 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.EdgePlanktivoreLMavgROI = nan count/s
2026-01-21T14:45:21.642Z,1769006721.642 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.EdgePlanktivoreLMavgROIDepth = nan m
2026-01-21T14:45:21.653Z,1769006721.653 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2026-01-21T14:45:21.660Z,1769006721.660 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2026-01-21T14:45:21.663Z,1769006721.663 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2026-01-21T14:45:21.679Z,1769006721.679 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakPlanktivoreHMavgROI = nan count/s
2026-01-21T14:45:21.690Z,1769006721.690 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakPlanktivoreHMavgROIDepth = nan m
2026-01-21T14:45:21.701Z,1769006721.701 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2026-01-21T14:45:21.703Z,1769006721.703 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2026-01-21T14:45:21.714Z,1769006721.714 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2026-01-21T14:45:21.720Z,1769006721.720 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.EdgePlanktivoreHMavgROI = nan count/s
2026-01-21T14:45:21.723Z,1769006721.723 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.EdgePlanktivoreHMavgROIDepth = nan m
2026-01-21T14:45:21.729Z,1769006721.729 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.EdgePlanktivoreHMavgROITemperature = nan degC
2026-01-21T14:45:21.740Z,1769006721.740 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.EdgePlanktivoreHMavgROILatitude = nan arcdeg
2026-01-21T14:45:21.742Z,1769006721.742 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.EdgePlanktivoreHMavgROILongitude = nan arcdeg
2026-01-21T14:45:21.749Z,1769006721.749 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakPlanktivoreDiatoms = nan count/ml
2026-01-21T14:45:21.751Z,1769006721.751 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakPlanktivoreDiatomsDepth = nan m
2026-01-21T14:45:21.762Z,1769006721.762 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2026-01-21T14:45:21.768Z,1769006721.768 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2026-01-21T14:45:21.771Z,1769006721.771 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2026-01-21T14:45:21.781Z,1769006721.781 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.EdgePlanktivoreDiatoms = nan count/ml
2026-01-21T14:45:21.788Z,1769006721.788 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.EdgePlanktivoreDiatomsDepth = nan m
2026-01-21T14:45:21.790Z,1769006721.790 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.EdgePlanktivoreDiatomsTemperature = nan degC
2026-01-21T14:45:21.845Z,1769006721.845 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.EdgePlanktivoreDiatomsLatitude = nan arcdeg
2026-01-21T14:45:21.847Z,1769006721.847 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.EdgePlanktivoreDiatomsLongitude = nan arcdeg
2026-01-21T14:45:21.858Z,1769006721.858 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2026-01-21T14:45:21.868Z,1769006721.868 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2026-01-21T14:45:21.874Z,1769006721.874 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2026-01-21T14:45:21.877Z,1769006721.877 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2026-01-21T14:45:21.879Z,1769006721.879 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2026-01-21T14:45:21.906Z,1769006721.906 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.EdgePlanktivoreDinoflagellates = nan count/ml
2026-01-21T14:45:21.913Z,1769006721.913 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.EdgePlanktivoreDinoflagellatesDepth = nan m
2026-01-21T14:45:21.920Z,1769006721.920 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.EdgePlanktivoreDinoflagellatesTemperature = nan degC
2026-01-21T14:45:21.923Z,1769006721.923 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.EdgePlanktivoreDinoflagellatesLatitude = nan arcdeg
2026-01-21T14:45:21.930Z,1769006721.930 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.EdgePlanktivoreDinoflagellatesLongitude = nan arcdeg
2026-01-21T14:45:21.936Z,1769006721.936 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PatchChl = nan ug/l
2026-01-21T14:45:21.939Z,1769006721.939 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PatchChlDepth = nan m
2026-01-21T14:45:21.946Z,1769006721.946 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PatchChlLatitude = nan arcdeg
2026-01-21T14:45:21.949Z,1769006721.949 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PatchChlLongitude = nan arcdeg
2026-01-21T14:45:21.951Z,1769006721.951 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PatchChlDistance = nan m
2026-01-21T14:45:21.958Z,1769006721.958 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PatchSalt = nan psu
2026-01-21T14:45:21.965Z,1769006721.965 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PatchSaltDepth = nan m
2026-01-21T14:45:21.967Z,1769006721.967 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PatchSaltLatitude = nan arcdeg
2026-01-21T14:45:21.974Z,1769006721.974 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PatchSaltLongitude = nan arcdeg
2026-01-21T14:45:21.981Z,1769006721.981 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PatchSaltDistance = nan m
2026-01-21T14:45:21.983Z,1769006721.983 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PatchOil = nan psu
2026-01-21T14:45:21.994Z,1769006721.994 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PatchOilDepth = nan m
2026-01-21T14:45:22.001Z,1769006722.001 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PatchOilLatitude = nan arcdeg
2026-01-21T14:45:22.003Z,1769006722.003 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PatchOilLongitude = nan arcdeg
2026-01-21T14:45:22.024Z,1769006722.024 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.PatchOilDistance = nan m
2026-01-21T14:45:22.027Z,1769006722.027 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.TriggeredOnChl = 0 bool
2026-01-21T14:45:22.052Z,1769006722.052 [MissionManager](INFO): DefineOutput sci2_vtyoyo:Science.ChlTriggering = nan ug/l
2026-01-21T14:45:22.087Z,1769006722.087 [sci2_vtyoyo:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2026-01-21T14:45:22.139Z,1769006722.139 [sci2_vtyoyo:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2026-01-21T14:45:22.189Z,1769006722.189 [sci2_vtyoyo:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2026-01-21T14:45:22.238Z,1769006722.238 [sci2_vtyoyo:Science:PeakDepthAvgProfilesChl:B.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2026-01-21T14:45:22.279Z,1769006722.279 [sci2_vtyoyo:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2026-01-21T14:45:22.299Z,1769006722.299 [sci2_vtyoyo:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2026-01-21T14:45:22.335Z,1769006722.335 [sci2_vtyoyo:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2026-01-21T14:45:22.371Z,1769006722.371 [sci2_vtyoyo:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2026-01-21T14:45:22.403Z,1769006722.403 [sci2_vtyoyo:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2026-01-21T14:45:22.464Z,1769006722.464 [sci2_vtyoyo:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2026-01-21T14:45:22.493Z,1769006722.493 [sci2_vtyoyo:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2026-01-21T14:45:22.537Z,1769006722.537 [sci2_vtyoyo:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2026-01-21T14:45:22.583Z,1769006722.583 [sci2_vtyoyo:Science:PeakDepthAvgProfilesPlanktivoreLMavgROI:B.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2026-01-21T14:45:22.607Z,1769006722.607 [sci2_vtyoyo:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2026-01-21T14:45:22.656Z,1769006722.656 [sci2_vtyoyo:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2026-01-21T14:45:22.718Z,1769006722.718 [sci2_vtyoyo:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2026-01-21T14:45:22.738Z,1769006722.738 [sci2_vtyoyo:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2026-01-21T14:45:22.760Z,1769006722.760 [sci2_vtyoyo:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2026-01-21T14:45:22.773Z,1769006722.773 [sci2_vtyoyo:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2026-01-21T14:45:22.798Z,1769006722.798 [sci2_vtyoyo:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2026-01-21T14:45:22.806Z,1769006722.806 [MissionManager](INFO): RedefineArg sci2_vtyoyo:Science.PeakDetectChlActive = reader:sci2_vtyoyo.PeakDetectChl
2026-01-21T14:45:22.808Z,1769006722.808 [MissionManager](INFO): RedefineArg sci2_vtyoyo:Science.ShallowBound = reader:sci2_vtyoyo.ShallowBoundChl
2026-01-21T14:45:22.809Z,1769006722.809 [MissionManager](INFO): RedefineArg sci2_vtyoyo:Science.DeepBound = reader:sci2_vtyoyo.DeepBoundChl
2026-01-21T14:45:22.811Z,1769006722.811 [MissionManager](INFO): RedefineArg sci2_vtyoyo:Science.ChlThreshTriggerActive = reader:sci2_vtyoyo.ChlThreshTrigger
2026-01-21T14:45:22.812Z,1769006722.812 [MissionManager](INFO): RedefineArg sci2_vtyoyo:Science.ChlLowerThresh = reader:sci2_vtyoyo.ChlLowerThreshold
2026-01-21T14:45:22.814Z,1769006722.814 [MissionManager](INFO): RedefineArg sci2_vtyoyo:Science.ChlUpperThresh = reader:sci2_vtyoyo.ChlUpperThreshold
2026-01-21T14:45:22.815Z,1769006722.815 [MissionManager](INFO): RedefineArg sci2_vtyoyo:Science.NumProfilesThresh = reader:sci2_vtyoyo.NumProfilesThreshold
2026-01-21T14:45:22.815Z,1769006722.815 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2026-01-21T14:45:22.816Z,1769006722.816 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2026-01-21T14:45:22.822Z,1769006722.822 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2026-01-21T14:45:23.245Z,1769006723.245 [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>

2026-01-21T14:45:23.262Z,1769006723.262 [MissionManager](INFO): DefineArg sci2_vtyoyo:NeedComms.DiveInterval = 1.000000 h
2026-01-21T14:45:23.265Z,1769006723.265 [MissionManager](INFO): DefineArg sci2_vtyoyo:NeedComms.WaitForPitchUp = 10.000000 min
2026-01-21T14:45:23.267Z,1769006723.267 [MissionManager](INFO): DefineArg sci2_vtyoyo:NeedComms.SurfacePitch = 20.000000 arcdeg
2026-01-21T14:45:23.269Z,1769006723.269 [MissionManager](INFO): DefineArg sci2_vtyoyo:NeedComms.SurfaceDepthRate = nan m/s
2026-01-21T14:45:23.272Z,1769006723.272 [MissionManager](INFO): DefineArg sci2_vtyoyo:NeedComms.SurfaceSpeed = 1.000000 m/s
2026-01-21T14:45:23.274Z,1769006723.274 [MissionManager](INFO): DefineArg sci2_vtyoyo:NeedComms.SurfacingTimeout = 1500.000000 s
2026-01-21T14:45:23.276Z,1769006723.276 [MissionManager](INFO): DefineArg sci2_vtyoyo:NeedComms.GPSTimeout = 7.000000 min
2026-01-21T14:45:23.278Z,1769006723.278 [MissionManager](INFO): DefineArg sci2_vtyoyo:NeedComms.CommsTimeout = 30.000000 min
2026-01-21T14:45:23.281Z,1769006723.281 [MissionManager](INFO): DefineArg sci2_vtyoyo:NeedComms.DoingCommsMode = 0.000000 count
2026-01-21T14:45:23.283Z,1769006723.283 [MissionManager](INFO): DefineArg sci2_vtyoyo:NeedComms.RestoreMode = 0.000000 count
2026-01-21T14:45:23.285Z,1769006723.285 [MissionManager](INFO): DefineOutput sci2_vtyoyo:NeedComms.IsActive = 0 bool
2026-01-21T14:45:23.287Z,1769006723.287 [MissionManager](INFO): DefineOutput sci2_vtyoyo:NeedComms.RequiredDiveMode = 0.000000 count
2026-01-21T14:45:23.297Z,1769006723.297 [sci2_vtyoyo:NeedComms:C.GoToSurface](DEBUG): Construct GoToSurface.
2026-01-21T14:45:23.380Z,1769006723.380 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2026-01-21T14:45:23.380Z,1769006723.380 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2026-01-21T14:45:23.381Z,1769006723.381 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2026-01-21T14:45:23.534Z,1769006723.534 [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>

2026-01-21T14:45:23.538Z,1769006723.538 [MissionManager](INFO): DefineArg sci2_vtyoyo:StandardEnvelopes.MinAltitude = 5.000000 m
2026-01-21T14:45:23.541Z,1769006723.541 [MissionManager](INFO): DefineArg sci2_vtyoyo:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2026-01-21T14:45:23.544Z,1769006723.544 [MissionManager](INFO): DefineArg sci2_vtyoyo:StandardEnvelopes.MaxDepth = 200.000000 m
2026-01-21T14:45:23.547Z,1769006723.547 [MissionManager](INFO): DefineArg sci2_vtyoyo:StandardEnvelopes.MinOffshore = 2000.000000 m
2026-01-21T14:45:23.548Z,1769006723.548 [sci2_vtyoyo:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2026-01-21T14:45:23.554Z,1769006723.554 [sci2_vtyoyo:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2026-01-21T14:45:23.561Z,1769006723.561 [sci2_vtyoyo:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2026-01-21T14:45:23.570Z,1769006723.570 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2026-01-21T14:45:23.570Z,1769006723.570 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2026-01-21T14:45:23.596Z,1769006723.596 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2026-01-21T14:45:23.627Z,1769006723.627 [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>

2026-01-21T14:45:23.637Z,1769006723.637 [MissionManager](INFO): DefineArg sci2_vtyoyo:BackseatDriver.EnableBackseat = 0 bool
2026-01-21T14:45:23.639Z,1769006723.639 [sci2_vtyoyo:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2026-01-21T14:45:23.642Z,1769006723.642 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2026-01-21T14:45:23.642Z,1769006723.642 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2026-01-21T14:45:23.643Z,1769006723.643 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2026-01-21T14:45:23.775Z,1769006723.775 [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>

2026-01-21T14:45:23.779Z,1769006723.779 [MissionManager](INFO): DefineArg sci2_vtyoyo:PowerOnly.SampleAll = 0 bool
2026-01-21T14:45:23.788Z,1769006723.788 [MissionManager](INFO): DefineArg sci2_vtyoyo:PowerOnly.SampleLoad1 = 0 bool
2026-01-21T14:45:23.790Z,1769006723.790 [MissionManager](INFO): DefineArg sci2_vtyoyo:PowerOnly.SampleLoad2 = 0 bool
2026-01-21T14:45:23.792Z,1769006723.792 [MissionManager](INFO): DefineArg sci2_vtyoyo:PowerOnly.SampleLoad3 = 0 bool
2026-01-21T14:45:23.795Z,1769006723.795 [MissionManager](INFO): DefineArg sci2_vtyoyo:PowerOnly.EnabledPowerOnly = 1 bool
2026-01-21T14:45:23.801Z,1769006723.801 [sci2_vtyoyo:PowerOnly:E.Wait](DEBUG): Construct Wait.
2026-01-21T14:45:23.815Z,1769006723.815 [sci2_vtyoyo:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2026-01-21T14:45:23.818Z,1769006723.818 [sci2_vtyoyo:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Construct.
2026-01-21T14:45:23.822Z,1769006723.822 [sci2_vtyoyo:DiveCmd:SurfaceSink:sink:D.Pitch](DEBUG): Construct.
2026-01-21T14:45:23.883Z,1769006723.883 [sci2_vtyoyo:DiveCmd:YoYoDive:dive:A.Pitch](DEBUG): Construct.
2026-01-21T14:45:23.900Z,1769006723.900 [sci2_vtyoyo:DiveCmd:YoYoDive:dive:B.Buoyancy](DEBUG): Construct Buoyancy.
2026-01-21T14:45:23.903Z,1769006723.903 [sci2_vtyoyo:DiveCmd:YoYoDive:dive:C.SetSpeed](DEBUG): Construct.
2026-01-21T14:45:23.909Z,1769006723.909 [sci2_vtyoyo:DiveCmd:YoYoDive:dive:D.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2026-01-21T14:45:23.927Z,1769006723.927 [sci2_vtyoyo:DiveCmd:YoYoDive:dive:E.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2026-01-21T14:45:23.934Z,1769006723.934 [sci2_vtyoyo:DiveCmd:YoYoDive:dive:F.YoYoPARLicor](DEBUG): Construct Value-Terminated YoYo.
2026-01-21T14:45:23.949Z,1769006723.949 [sci2_vtyoyo:DiveCmd:YoYoDive:dive:G.YoYo](DEBUG): Construct YoYo.
2026-01-21T14:45:23.968Z,1769006723.968 [sci2_vtyoyo:DiveCmd:YoYoDive:dive:StopIfTriggered:A.Execute](DEBUG): Construct Execute.
2026-01-21T14:45:23.985Z,1769006723.985 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2026-01-21T14:45:23.987Z,1769006723.987 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:B.SetSpeed](DEBUG): Construct.
2026-01-21T14:45:23.995Z,1769006723.995 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:D.Pitch](DEBUG): Construct.
2026-01-21T14:45:24.008Z,1769006724.008 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:A.Pitch](DEBUG): Construct.
2026-01-21T14:45:24.013Z,1769006724.013 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:B.Buoyancy](DEBUG): Construct Buoyancy.
2026-01-21T14:45:24.015Z,1769006724.015 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:C.SetSpeed](DEBUG): Construct.
2026-01-21T14:45:24.018Z,1769006724.018 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:D.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2026-01-21T14:45:24.026Z,1769006724.026 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:E.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2026-01-21T14:45:24.031Z,1769006724.031 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:F.YoYoPARLicor](DEBUG): Construct Value-Terminated YoYo.
2026-01-21T14:45:24.037Z,1769006724.037 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:G.YoYo](DEBUG): Construct YoYo.
2026-01-21T14:45:24.055Z,1769006724.055 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:StopIfTriggered:A.Execute](DEBUG): Construct Execute.
2026-01-21T14:45:24.058Z,1769006724.058 [sci2_vtyoyo:Lap:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2026-01-21T14:45:24.083Z,1769006724.083 [sci2_vtyoyo:Lap:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2026-01-21T14:45:24.103Z,1769006724.103 [sci2_vtyoyo:Lap:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2026-01-21T14:45:24.109Z,1769006724.109 [sci2_vtyoyo:Lap:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2026-01-21T14:45:24.115Z,1769006724.115 [sci2_vtyoyo:Lap:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2026-01-21T14:45:24.121Z,1769006724.121 [sci2_vtyoyo:Lap:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2026-01-21T14:45:24.127Z,1769006724.127 [sci2_vtyoyo:Lap:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2026-01-21T14:45:24.269Z,1769006724.269 [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]
        }
      }
    }
  }
}


2026-01-21T14:45:24.270Z,1769006724.270 [CommandExec](IMPORTANT): Loaded ./Missions/Science/sci2_vtyoyo.tl id=sci2_vtyoyo
2026-01-21T14:45:24.280Z,1769006724.280 [MissionManager](IMPORTANT): Started mission Default
2026-01-21T14:45:24.280Z,1769006724.280 [Default] Running Loop=1
2026-01-21T14:45:24.280Z,1769006724.280 [Default](DEBUG): Aggregate::initialize Default
2026-01-21T14:45:24.280Z,1769006724.280 [Default:B.GoToSurface] Running Loop=1
2026-01-21T14:45:24.280Z,1769006724.280 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2026-01-21T14:45:24.281Z,1769006724.281 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2026-01-21T14:45:24.281Z,1769006724.281 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2026-01-21T14:45:24.281Z,1769006724.281 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2026-01-21T14:45:24.281Z,1769006724.281 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2026-01-21T14:45:24.282Z,1769006724.282 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2026-01-21T14:45:24.282Z,1769006724.282 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2026-01-21T14:45:24.282Z,1769006724.282 [Default:A.Wait] Running Loop=1
2026-01-21T14:45:24.282Z,1769006724.282 [Default:A.Wait](DEBUG): Initialize Wait Component.
2026-01-21T14:45:24.904Z,1769006724.904 [Radio_Surface](INFO): Powering up
2026-01-21T14:45:30.592Z,1769006730.592 [DataOverHttps](INFO): Radio surface powered ON.
2026-01-21T14:45:37.369Z,1769006737.369 [Default:A.Wait](INFO): Done Waiting.
2026-01-21T14:45:37.369Z,1769006737.369 [Default:A.Wait] Stopped
2026-01-21T14:45:37.369Z,1769006737.369 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2026-01-21T14:45:45.175Z,1769006745.175 [CommandExec](IMPORTANT): got command set sci2_vtyoyo.MissionTimeout 14 hour
2026-01-21T14:45:45.176Z,1769006745.176 [CommandExec](IMPORTANT): got command set sci2_vtyoyo.NeedCommsTime 90 minute
2026-01-21T14:45:45.177Z,1769006745.177 [CommandExec](IMPORTANT): got command set sci2_vtyoyo.Lat1 36.797 degree
2026-01-21T14:45:45.178Z,1769006745.178 [CommandExec](IMPORTANT): got command set sci2_vtyoyo.Lon1 -121.847 degree
2026-01-21T14:45:45.178Z,1769006745.178 [CommandExec](IMPORTANT): got command set sci2_vtyoyo.Speed .8 meter_per_second
2026-01-21T14:46:00.720Z,1769006760.720 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-21T14:46:09.092Z,1769006769.092 [CommandExec](IMPORTANT): got command set sci2_vtyoyo.YoYoMinDepth 4 meter
2026-01-21T14:46:09.093Z,1769006769.093 [CommandExec](IMPORTANT): got command set sci2_vtyoyo.YoYoMaxDepth 70 meter
2026-01-21T14:46:09.094Z,1769006769.094 [CommandExec](IMPORTANT): got command set sci2_vtyoyo.MaxDepth 80 meter
2026-01-21T14:46:09.095Z,1769006769.095 [CommandExec](IMPORTANT): got command set sci2_vtyoyo.SinkOffSurface 1 bool
2026-01-21T14:46:09.095Z,1769006769.095 [CommandExec](IMPORTANT): got command set sci2_vtyoyo.SinkDepthTimeout 2 minute
2026-01-21T14:46:17.572Z,1769006777.572 [CommandExec](IMPORTANT): got command set sci2_vtyoyo:BackseatDriver.EnableBackseat 1 bool
2026-01-21T14:46:17.573Z,1769006777.573 [CommandExec](IMPORTANT): got command run
2026-01-21T14:46:17.575Z,1769006777.575 [CommandExec](IMPORTANT): Running 
2026-01-21T14:46:17.859Z,1769006777.859 [Default] Stopped
2026-01-21T14:46:17.860Z,1769006777.860 [Default](DEBUG): Aggregate::uninitialize Default
2026-01-21T14:46:17.860Z,1769006777.860 [Default:B.GoToSurface] Stopped
2026-01-21T14:46:17.860Z,1769006777.860 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2026-01-21T14:46:17.860Z,1769006777.860 [MissionManager](IMPORTANT): Started mission sci2_vtyoyo
2026-01-21T14:46:17.860Z,1769006777.860 [sci2_vtyoyo] Running Loop=1
2026-01-21T14:46:17.860Z,1769006777.860 [sci2_vtyoyo](DEBUG): Aggregate::initialize sci2_vtyoyo
2026-01-21T14:46:17.861Z,1769006777.861 [sci2_vtyoyo:Science] Running Loop=1
2026-01-21T14:46:17.861Z,1769006777.861 [sci2_vtyoyo:Science](DEBUG): Aggregate::initialize sci2_vtyoyo:Science
2026-01-21T14:46:17.861Z,1769006777.861 [sci2_vtyoyo:Science:A] Running Loop=1
2026-01-21T14:46:17.861Z,1769006777.861 [sci2_vtyoyo:Science:B] Running Loop=1
2026-01-21T14:46:17.861Z,1769006777.861 [sci2_vtyoyo:Science:C] Running Loop=1
2026-01-21T14:46:17.861Z,1769006777.861 [sci2_vtyoyo:Science:D] Running Loop=1
2026-01-21T14:46:17.861Z,1769006777.861 [sci2_vtyoyo:Science:E] Running Loop=1
2026-01-21T14:46:17.861Z,1769006777.861 [sci2_vtyoyo:Science:F] Running Loop=1
2026-01-21T14:46:17.861Z,1769006777.861 [sci2_vtyoyo:Science:Read_Oil] Running Loop=1
2026-01-21T14:46:17.861Z,1769006777.861 [sci2_vtyoyo:Science:PeakDetectChl] Running Loop=1
2026-01-21T14:46:17.861Z,1769006777.861 [sci2_vtyoyo:Science:PeakDetectChl](DEBUG): Aggregate::initialize sci2_vtyoyo:Science:PeakDetectChl
2026-01-21T14:46:17.861Z,1769006777.861 [sci2_vtyoyo:Science:PeakDetectChl:A] Running Loop=1
2026-01-21T14:46:17.862Z,1769006777.862 [sci2_vtyoyo:Science:EdgeDetectChl] Running Loop=1
2026-01-21T14:46:17.862Z,1769006777.862 [sci2_vtyoyo:Science:EdgeDetectChl](DEBUG): Aggregate::initialize sci2_vtyoyo:Science:EdgeDetectChl
2026-01-21T14:46:17.862Z,1769006777.862 [sci2_vtyoyo:Science:EdgeDetectChl:A] Running Loop=1
2026-01-21T14:46:17.862Z,1769006777.862 [sci2_vtyoyo:Science:HighestChlPeakReport] Running Loop=1
2026-01-21T14:46:17.862Z,1769006777.862 [sci2_vtyoyo:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize sci2_vtyoyo:Science:HighestChlPeakReport
2026-01-21T14:46:17.862Z,1769006777.862 [sci2_vtyoyo:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2026-01-21T14:46:17.862Z,1769006777.862 [sci2_vtyoyo:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2026-01-21T14:46:17.863Z,1769006777.863 [sci2_vtyoyo:Science:PeakDepthAvgProfilesChl] Running Loop=1
2026-01-21T14:46:17.863Z,1769006777.863 [sci2_vtyoyo:Science:PeakDepthAvgProfilesChl](DEBUG): Aggregate::initialize sci2_vtyoyo:Science:PeakDepthAvgProfilesChl
2026-01-21T14:46:17.863Z,1769006777.863 [sci2_vtyoyo:Science:PeakDepthAvgProfilesChl:A] Running Loop=1
2026-01-21T14:46:17.863Z,1769006777.863 [sci2_vtyoyo:Science:PeakDetectNO3] Running Loop=1
2026-01-21T14:46:17.863Z,1769006777.863 [sci2_vtyoyo:Science:PeakDetectNO3](DEBUG): Aggregate::initialize sci2_vtyoyo:Science:PeakDetectNO3
2026-01-21T14:46:17.863Z,1769006777.863 [sci2_vtyoyo:Science:PeakDetectNO3:A] Running Loop=1
2026-01-21T14:46:17.863Z,1769006777.863 [sci2_vtyoyo:Science:PeakDetectOil] Running Loop=1
2026-01-21T14:46:17.863Z,1769006777.863 [sci2_vtyoyo:Science:PeakDetectOil](DEBUG): Aggregate::initialize sci2_vtyoyo:Science:PeakDetectOil
2026-01-21T14:46:17.863Z,1769006777.863 [sci2_vtyoyo:Science:PeakDetectOil:A] Running Loop=1
2026-01-21T14:46:17.863Z,1769006777.863 [sci2_vtyoyo:Science:HighestOilPeakReport] Running Loop=1
2026-01-21T14:46:17.864Z,1769006777.864 [sci2_vtyoyo:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize sci2_vtyoyo:Science:HighestOilPeakReport
2026-01-21T14:46:17.864Z,1769006777.864 [sci2_vtyoyo:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2026-01-21T14:46:17.864Z,1769006777.864 [sci2_vtyoyo:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2026-01-21T14:46:17.864Z,1769006777.864 [sci2_vtyoyo:Science:PeakDetectFDOM] Running Loop=1
2026-01-21T14:46:17.865Z,1769006777.865 [sci2_vtyoyo:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize sci2_vtyoyo:Science:PeakDetectFDOM
2026-01-21T14:46:17.865Z,1769006777.865 [sci2_vtyoyo:Science:PeakDetectFDOM:A] Running Loop=1
2026-01-21T14:46:17.865Z,1769006777.865 [sci2_vtyoyo:Science:PeakDetectSalinity] Running Loop=1
2026-01-21T14:46:17.865Z,1769006777.865 [sci2_vtyoyo:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize sci2_vtyoyo:Science:PeakDetectSalinity
2026-01-21T14:46:17.865Z,1769006777.865 [sci2_vtyoyo:Science:PeakDetectSalinity:A] Running Loop=1
2026-01-21T14:46:17.865Z,1769006777.865 [sci2_vtyoyo:Science:HighestSaltPeakReport] Running Loop=1
2026-01-21T14:46:17.865Z,1769006777.865 [sci2_vtyoyo:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize sci2_vtyoyo:Science:HighestSaltPeakReport
2026-01-21T14:46:17.865Z,1769006777.865 [sci2_vtyoyo:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2026-01-21T14:46:17.865Z,1769006777.865 [sci2_vtyoyo:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2026-01-21T14:46:17.866Z,1769006777.866 [sci2_vtyoyo:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2026-01-21T14:46:17.866Z,1769006777.866 [sci2_vtyoyo:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize sci2_vtyoyo:Science:PeakDetectPlanktivoreLMavgROI
2026-01-21T14:46:17.866Z,1769006777.866 [sci2_vtyoyo:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2026-01-21T14:46:17.866Z,1769006777.866 [sci2_vtyoyo:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2026-01-21T14:46:17.866Z,1769006777.866 [sci2_vtyoyo:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize sci2_vtyoyo:Science:EdgeDetectPlanktivoreLMavgROI
2026-01-21T14:46:17.866Z,1769006777.866 [sci2_vtyoyo:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2026-01-21T14:46:17.866Z,1769006777.866 [sci2_vtyoyo:Science:PeakDepthAvgProfilesPlanktivoreLMavgROI] Running Loop=1
2026-01-21T14:46:17.867Z,1769006777.867 [sci2_vtyoyo:Science:PeakDepthAvgProfilesPlanktivoreLMavgROI](DEBUG): Aggregate::initialize sci2_vtyoyo:Science:PeakDepthAvgProfilesPlanktivoreLMavgROI
2026-01-21T14:46:17.867Z,1769006777.867 [sci2_vtyoyo:Science:PeakDepthAvgProfilesPlanktivoreLMavgROI:A] Running Loop=1
2026-01-21T14:46:17.867Z,1769006777.867 [sci2_vtyoyo:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2026-01-21T14:46:17.867Z,1769006777.867 [sci2_vtyoyo:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize sci2_vtyoyo:Science:PeakDetectPlanktivoreHMavgROI
2026-01-21T14:46:17.867Z,1769006777.867 [sci2_vtyoyo:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2026-01-21T14:46:17.867Z,1769006777.867 [sci2_vtyoyo:Science:EdgeDetectPlanktivoreHMavgROI] Running Loop=1
2026-01-21T14:46:17.867Z,1769006777.867 [sci2_vtyoyo:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize sci2_vtyoyo:Science:EdgeDetectPlanktivoreHMavgROI
2026-01-21T14:46:17.868Z,1769006777.868 [sci2_vtyoyo:Science:EdgeDetectPlanktivoreHMavgROI:A] Running Loop=1
2026-01-21T14:46:17.868Z,1769006777.868 [sci2_vtyoyo:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2026-01-21T14:46:17.868Z,1769006777.868 [sci2_vtyoyo:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize sci2_vtyoyo:Science:PeakDetectPlanktivoreDiatoms
2026-01-21T14:46:17.868Z,1769006777.868 [sci2_vtyoyo:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2026-01-21T14:46:17.868Z,1769006777.868 [sci2_vtyoyo:Science:EdgeDetectPlanktivoreDiatoms] Running Loop=1
2026-01-21T14:46:17.868Z,1769006777.868 [sci2_vtyoyo:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize sci2_vtyoyo:Science:EdgeDetectPlanktivoreDiatoms
2026-01-21T14:46:17.869Z,1769006777.869 [sci2_vtyoyo:Science:EdgeDetectPlanktivoreDiatoms:A] Running Loop=1
2026-01-21T14:46:17.869Z,1769006777.869 [sci2_vtyoyo:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2026-01-21T14:46:17.869Z,1769006777.869 [sci2_vtyoyo:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize sci2_vtyoyo:Science:PeakDetectPlanktivoreDinoflagellates
2026-01-21T14:46:17.869Z,1769006777.869 [sci2_vtyoyo:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2026-01-21T14:46:17.869Z,1769006777.869 [sci2_vtyoyo:Science:EdgeDetectPlanktivoreDinoflagellates] Running Loop=1
2026-01-21T14:46:17.869Z,1769006777.869 [sci2_vtyoyo:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize sci2_vtyoyo:Science:EdgeDetectPlanktivoreDinoflagellates
2026-01-21T14:46:17.869Z,1769006777.869 [sci2_vtyoyo:Science:EdgeDetectPlanktivoreDinoflagellates:A] Running Loop=1
2026-01-21T14:46:17.869Z,1769006777.869 [sci2_vtyoyo:Science:ChlThreshTrigger] Running Loop=1
2026-01-21T14:46:17.869Z,1769006777.869 [sci2_vtyoyo:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize sci2_vtyoyo:Science:ChlThreshTrigger
2026-01-21T14:46:17.869Z,1769006777.869 [sci2_vtyoyo:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2026-01-21T14:46:17.870Z,1769006777.870 [sci2_vtyoyo:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2026-01-21T14:46:17.870Z,1769006777.870 [sci2_vtyoyo:Science:OceanCurrent] Running Loop=1
2026-01-21T14:46:17.870Z,1769006777.870 [sci2_vtyoyo:Science:OceanCurrent](DEBUG): Aggregate::initialize sci2_vtyoyo:Science:OceanCurrent
2026-01-21T14:46:17.870Z,1769006777.870 [sci2_vtyoyo:Science:OceanCurrent:A.] Running Loop=1
2026-01-21T14:46:17.870Z,1769006777.870 [sci2_vtyoyo:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2026-01-21T14:46:17.870Z,1769006777.870 [sci2_vtyoyo:StandardEnvelopes] Running Loop=1
2026-01-21T14:46:17.870Z,1769006777.870 [sci2_vtyoyo:StandardEnvelopes](DEBUG): Aggregate::initialize sci2_vtyoyo:StandardEnvelopes
2026-01-21T14:46:17.871Z,1769006777.871 [sci2_vtyoyo:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2026-01-21T14:46:17.871Z,1769006777.871 [sci2_vtyoyo:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2026-01-21T14:46:17.871Z,1769006777.871 [sci2_vtyoyo:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2026-01-21T14:46:17.871Z,1769006777.871 [sci2_vtyoyo:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2026-01-21T14:46:17.871Z,1769006777.871 [sci2_vtyoyo:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2026-01-21T14:46:17.871Z,1769006777.871 [sci2_vtyoyo:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2026-01-21T14:46:17.871Z,1769006777.871 [sci2_vtyoyo:BackseatDriver] Running Loop=1
2026-01-21T14:46:17.871Z,1769006777.871 [sci2_vtyoyo:BackseatDriver](DEBUG): Aggregate::initialize sci2_vtyoyo:BackseatDriver
2026-01-21T14:46:17.871Z,1769006777.871 [sci2_vtyoyo:BackseatDriver:A.BackseatDriver] Running Loop=1
2026-01-21T14:46:17.871Z,1769006777.871 [sci2_vtyoyo:PowerOnly] Running Loop=1
2026-01-21T14:46:17.872Z,1769006777.872 [sci2_vtyoyo:PowerOnly](DEBUG): Aggregate::initialize sci2_vtyoyo:PowerOnly
2026-01-21T14:46:17.872Z,1769006777.872 [sci2_vtyoyo:PowerOnly:A] Running Loop=1
2026-01-21T14:46:17.872Z,1769006777.872 [sci2_vtyoyo:PowerOnly:B] Running Loop=1
2026-01-21T14:46:17.872Z,1769006777.872 [sci2_vtyoyo:PowerOnly:C] Running Loop=1
2026-01-21T14:46:17.872Z,1769006777.872 [sci2_vtyoyo:PowerOnly:D] Running Loop=1
2026-01-21T14:46:17.872Z,1769006777.872 [sci2_vtyoyo:PowerOnly:E.Wait] Running Loop=1
2026-01-21T14:46:17.872Z,1769006777.872 [sci2_vtyoyo:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2026-01-21T14:46:17.872Z,1769006777.872 [sci2_vtyoyo:C] Running Loop=1
2026-01-21T14:46:17.873Z,1769006777.873 [sci2_vtyoyo:PowerOnly] Running Loop=1
2026-01-21T14:46:17.874Z,1769006777.874 [sci2_vtyoyo:PowerOnly:D] Stopped
2026-01-21T14:46:17.874Z,1769006777.874 [sci2_vtyoyo:PowerOnly:C] Stopped
2026-01-21T14:46:17.874Z,1769006777.874 [sci2_vtyoyo:PowerOnly:B] Stopped
2026-01-21T14:46:17.874Z,1769006777.874 [sci2_vtyoyo:PowerOnly:A] Stopped
2026-01-21T14:46:17.874Z,1769006777.874 [sci2_vtyoyo:BackseatDriver] Running Loop=1
2026-01-21T14:46:17.874Z,1769006777.874 [sci2_vtyoyo:BackseatDriver:A.BackseatDriver](INFO): Initializing backseat
2026-01-21T14:46:17.891Z,1769006777.891 [sci2_vtyoyo:StandardEnvelopes] Running Loop=1
2026-01-21T14:46:17.891Z,1769006777.891 [sci2_vtyoyo:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2026-01-21T14:46:17.891Z,1769006777.891 [sci2_vtyoyo:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2026-01-21T14:46:17.892Z,1769006777.892 [sci2_vtyoyo:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2026-01-21T14:46:17.892Z,1769006777.892 [sci2_vtyoyo:C] Stopped
2026-01-21T14:46:17.893Z,1769006777.893 [sci2_vtyoyo:D] Running Loop=1
2026-01-21T14:46:17.893Z,1769006777.893 [sci2_vtyoyo:NeedComms] Running Loop=1
2026-01-21T14:46:17.893Z,1769006777.893 [sci2_vtyoyo:NeedComms](DEBUG): Aggregate::initialize sci2_vtyoyo:NeedComms
2026-01-21T14:46:17.893Z,1769006777.893 [sci2_vtyoyo:NeedComms:C.GoToSurface] Running Loop=1
2026-01-21T14:46:17.893Z,1769006777.893 [sci2_vtyoyo:NeedComms:C.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2026-01-21T14:46:17.893Z,1769006777.893 [sci2_vtyoyo:NeedComms:C.GoToSurface](INFO): Received depth rate setting nan m/s.
2026-01-21T14:46:17.894Z,1769006777.894 [sci2_vtyoyo:NeedComms:C.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2026-01-21T14:46:17.894Z,1769006777.894 [sci2_vtyoyo:NeedComms:C.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2026-01-21T14:46:17.894Z,1769006777.894 [sci2_vtyoyo:NeedComms:C.GoToSurface](INFO): Received surface timeout setting 1500.000000 seconds.
2026-01-21T14:46:17.895Z,1769006777.895 [sci2_vtyoyo:NeedComms:C.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2026-01-21T14:46:17.895Z,1769006777.895 [sci2_vtyoyo:NeedComms:C.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2026-01-21T14:46:17.895Z,1769006777.895 [sci2_vtyoyo:NeedComms:A] Running Loop=1
2026-01-21T14:46:17.913Z,1769006777.913 [sci2_vtyoyo:NeedComms:A](INFO): last time_fix was:  1769001261.000000 second since 1970/01/01T00:00:00Z 
2026-01-21T14:46:17.913Z,1769006777.913 [sci2_vtyoyo:NeedComms:A] Stopped
2026-01-21T14:46:17.914Z,1769006777.914 [sci2_vtyoyo:NeedComms:setActive] Running Loop=1
2026-01-21T14:46:17.914Z,1769006777.914 [sci2_vtyoyo:NeedComms:setActive](DEBUG): Aggregate::initialize sci2_vtyoyo:NeedComms:setActive
2026-01-21T14:46:17.914Z,1769006777.914 [sci2_vtyoyo:NeedComms:setActive:A] Running Loop=1
2026-01-21T14:46:17.914Z,1769006777.914 [sci2_vtyoyo:Science] Running Loop=1
2026-01-21T14:46:17.925Z,1769006777.925 [sci2_vtyoyo:Science:ChlThreshTrigger] Stopped
2026-01-21T14:46:17.925Z,1769006777.925 [sci2_vtyoyo:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Science:ChlThreshTrigger
2026-01-21T14:46:17.925Z,1769006777.925 [sci2_vtyoyo:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2026-01-21T14:46:17.925Z,1769006777.925 [sci2_vtyoyo:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2026-01-21T14:46:17.925Z,1769006777.925 [sci2_vtyoyo:Science:EdgeDetectPlanktivoreDinoflagellates] Stopped
2026-01-21T14:46:17.925Z,1769006777.925 [sci2_vtyoyo:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Science:EdgeDetectPlanktivoreDinoflagellates
2026-01-21T14:46:17.926Z,1769006777.926 [sci2_vtyoyo:Science:EdgeDetectPlanktivoreDinoflagellates:A] Stopped
2026-01-21T14:46:17.926Z,1769006777.926 [sci2_vtyoyo:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2026-01-21T14:46:17.926Z,1769006777.926 [sci2_vtyoyo:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Science:PeakDetectPlanktivoreDinoflagellates
2026-01-21T14:46:17.926Z,1769006777.926 [sci2_vtyoyo:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2026-01-21T14:46:17.926Z,1769006777.926 [sci2_vtyoyo:Science:EdgeDetectPlanktivoreDiatoms] Stopped
2026-01-21T14:46:17.926Z,1769006777.926 [sci2_vtyoyo:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Science:EdgeDetectPlanktivoreDiatoms
2026-01-21T14:46:17.926Z,1769006777.926 [sci2_vtyoyo:Science:EdgeDetectPlanktivoreDiatoms:A] Stopped
2026-01-21T14:46:17.926Z,1769006777.926 [sci2_vtyoyo:Science:PeakDetectPlanktivoreDiatoms] Stopped
2026-01-21T14:46:17.926Z,1769006777.926 [sci2_vtyoyo:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Science:PeakDetectPlanktivoreDiatoms
2026-01-21T14:46:17.926Z,1769006777.926 [sci2_vtyoyo:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2026-01-21T14:46:17.926Z,1769006777.926 [sci2_vtyoyo:Science:EdgeDetectPlanktivoreHMavgROI] Stopped
2026-01-21T14:46:17.926Z,1769006777.926 [sci2_vtyoyo:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Science:EdgeDetectPlanktivoreHMavgROI
2026-01-21T14:46:17.926Z,1769006777.926 [sci2_vtyoyo:Science:EdgeDetectPlanktivoreHMavgROI:A] Stopped
2026-01-21T14:46:17.927Z,1769006777.927 [sci2_vtyoyo:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2026-01-21T14:46:17.927Z,1769006777.927 [sci2_vtyoyo:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Science:PeakDetectPlanktivoreHMavgROI
2026-01-21T14:46:17.927Z,1769006777.927 [sci2_vtyoyo:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2026-01-21T14:46:17.927Z,1769006777.927 [sci2_vtyoyo:Science:PeakDepthAvgProfilesPlanktivoreLMavgROI] Stopped
2026-01-21T14:46:17.927Z,1769006777.927 [sci2_vtyoyo:Science:PeakDepthAvgProfilesPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Science:PeakDepthAvgProfilesPlanktivoreLMavgROI
2026-01-21T14:46:17.927Z,1769006777.927 [sci2_vtyoyo:Science:PeakDepthAvgProfilesPlanktivoreLMavgROI:A] Stopped
2026-01-21T14:46:17.927Z,1769006777.927 [sci2_vtyoyo:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2026-01-21T14:46:17.927Z,1769006777.927 [sci2_vtyoyo:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Science:EdgeDetectPlanktivoreLMavgROI
2026-01-21T14:46:17.927Z,1769006777.927 [sci2_vtyoyo:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2026-01-21T14:46:17.927Z,1769006777.927 [sci2_vtyoyo:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2026-01-21T14:46:17.927Z,1769006777.927 [sci2_vtyoyo:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Science:PeakDetectPlanktivoreLMavgROI
2026-01-21T14:46:17.927Z,1769006777.927 [sci2_vtyoyo:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2026-01-21T14:46:17.927Z,1769006777.927 [sci2_vtyoyo:Science:HighestSaltPeakReport] Stopped
2026-01-21T14:46:17.932Z,1769006777.932 [sci2_vtyoyo:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Science:HighestSaltPeakReport
2026-01-21T14:46:17.932Z,1769006777.932 [sci2_vtyoyo:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2026-01-21T14:46:17.932Z,1769006777.932 [sci2_vtyoyo:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2026-01-21T14:46:17.932Z,1769006777.932 [sci2_vtyoyo:Science:PeakDetectSalinity] Stopped
2026-01-21T14:46:17.932Z,1769006777.932 [sci2_vtyoyo:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Science:PeakDetectSalinity
2026-01-21T14:46:17.932Z,1769006777.932 [sci2_vtyoyo:Science:PeakDetectSalinity:A] Stopped
2026-01-21T14:46:17.932Z,1769006777.932 [sci2_vtyoyo:Science:PeakDetectFDOM] Stopped
2026-01-21T14:46:17.932Z,1769006777.932 [sci2_vtyoyo:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Science:PeakDetectFDOM
2026-01-21T14:46:17.933Z,1769006777.933 [sci2_vtyoyo:Science:PeakDetectFDOM:A] Stopped
2026-01-21T14:46:17.933Z,1769006777.933 [sci2_vtyoyo:Science:HighestOilPeakReport] Stopped
2026-01-21T14:46:17.933Z,1769006777.933 [sci2_vtyoyo:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Science:HighestOilPeakReport
2026-01-21T14:46:17.933Z,1769006777.933 [sci2_vtyoyo:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2026-01-21T14:46:17.933Z,1769006777.933 [sci2_vtyoyo:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2026-01-21T14:46:17.933Z,1769006777.933 [sci2_vtyoyo:Science:PeakDetectOil] Stopped
2026-01-21T14:46:17.933Z,1769006777.933 [sci2_vtyoyo:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Science:PeakDetectOil
2026-01-21T14:46:17.933Z,1769006777.933 [sci2_vtyoyo:Science:PeakDetectOil:A] Stopped
2026-01-21T14:46:17.933Z,1769006777.933 [sci2_vtyoyo:Science:PeakDetectNO3] Stopped
2026-01-21T14:46:17.933Z,1769006777.933 [sci2_vtyoyo:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Science:PeakDetectNO3
2026-01-21T14:46:17.933Z,1769006777.933 [sci2_vtyoyo:Science:PeakDetectNO3:A] Stopped
2026-01-21T14:46:17.933Z,1769006777.933 [sci2_vtyoyo:Science:PeakDepthAvgProfilesChl] Stopped
2026-01-21T14:46:17.934Z,1769006777.934 [sci2_vtyoyo:Science:PeakDepthAvgProfilesChl](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Science:PeakDepthAvgProfilesChl
2026-01-21T14:46:17.934Z,1769006777.934 [sci2_vtyoyo:Science:PeakDepthAvgProfilesChl:A] Stopped
2026-01-21T14:46:17.934Z,1769006777.934 [sci2_vtyoyo:Science:HighestChlPeakReport] Stopped
2026-01-21T14:46:17.934Z,1769006777.934 [sci2_vtyoyo:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Science:HighestChlPeakReport
2026-01-21T14:46:17.934Z,1769006777.934 [sci2_vtyoyo:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2026-01-21T14:46:17.934Z,1769006777.934 [sci2_vtyoyo:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2026-01-21T14:46:17.934Z,1769006777.934 [sci2_vtyoyo:Science:EdgeDetectChl] Stopped
2026-01-21T14:46:17.934Z,1769006777.934 [sci2_vtyoyo:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Science:EdgeDetectChl
2026-01-21T14:46:17.934Z,1769006777.934 [sci2_vtyoyo:Science:EdgeDetectChl:A] Stopped
2026-01-21T14:46:17.934Z,1769006777.934 [sci2_vtyoyo:Science:PeakDetectChl] Stopped
2026-01-21T14:46:17.934Z,1769006777.934 [sci2_vtyoyo:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Science:PeakDetectChl
2026-01-21T14:46:17.934Z,1769006777.934 [sci2_vtyoyo:Science:PeakDetectChl:A] Stopped
2026-01-21T14:46:17.934Z,1769006777.934 [sci2_vtyoyo:Science:OceanCurrent:A.] Running Loop=1
2026-01-21T14:46:17.935Z,1769006777.935 [sci2_vtyoyo:Science:Read_Oil] Stopped
2026-01-21T14:46:17.935Z,1769006777.935 [sci2_vtyoyo:Science:F] Stopped
2026-01-21T14:46:17.935Z,1769006777.935 [sci2_vtyoyo:Science:E] Running Loop=1
2026-01-21T14:46:17.935Z,1769006777.935 [sci2_vtyoyo:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2026-01-21T14:46:17.935Z,1769006777.935 [sci2_vtyoyo:Science:D] Stopped
2026-01-21T14:46:17.935Z,1769006777.935 [sci2_vtyoyo:Science:C] Running Loop=1
2026-01-21T14:46:17.940Z,1769006777.940 [sci2_vtyoyo:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2026-01-21T14:46:17.941Z,1769006777.941 [sci2_vtyoyo:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2026-01-21T14:46:17.941Z,1769006777.941 [sci2_vtyoyo:Science:B] Running Loop=1
2026-01-21T14:46:17.941Z,1769006777.941 [sci2_vtyoyo:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2026-01-21T14:46:17.942Z,1769006777.942 [sci2_vtyoyo:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2026-01-21T14:46:17.942Z,1769006777.942 [sci2_vtyoyo:Science:A] Stopped
2026-01-21T14:46:18.153Z,1769006778.153 [BackseatComponent](INFO): Powering up
2026-01-21T14:46:18.154Z,1769006778.154 [BackseatComponent](INFO): Subscribing to LCM channels.
2026-01-21T14:46:18.477Z,1769006778.477 [sci2_vtyoyo:D] Stopped
2026-01-21T14:46:18.477Z,1769006778.477 [sci2_vtyoyo:setRestoreMode] Running Loop=1
2026-01-21T14:46:18.477Z,1769006778.477 [sci2_vtyoyo:setRestoreMode](DEBUG): Aggregate::initialize sci2_vtyoyo:setRestoreMode
2026-01-21T14:46:18.477Z,1769006778.477 [sci2_vtyoyo:setRestoreMode:A] Running Loop=1
2026-01-21T14:46:18.479Z,1769006778.479 [sci2_vtyoyo:NeedComms:setActive:A] Stopped
2026-01-21T14:46:18.479Z,1769006778.479 [sci2_vtyoyo:NeedComms:setActive:B] Running Loop=1
2026-01-21T14:46:18.530Z,1769006778.530 [WetLabsBB2FL](INFO): Powering up
2026-01-21T14:46:19.033Z,1769006779.033 [sci2_vtyoyo:setRestoreMode] Stopped
2026-01-21T14:46:19.033Z,1769006779.033 [sci2_vtyoyo:setRestoreMode](DEBUG): Aggregate::uninitialize sci2_vtyoyo:setRestoreMode
2026-01-21T14:46:19.033Z,1769006779.033 [sci2_vtyoyo:setRestoreMode:A] Stopped
2026-01-21T14:46:19.033Z,1769006779.033 [sci2_vtyoyo:setSinkRestore] Running Loop=1
2026-01-21T14:46:19.033Z,1769006779.033 [sci2_vtyoyo:setSinkRestore](DEBUG): Aggregate::initialize sci2_vtyoyo:setSinkRestore
2026-01-21T14:46:19.033Z,1769006779.033 [sci2_vtyoyo:setSinkRestore:A] Running Loop=1
2026-01-21T14:46:19.035Z,1769006779.035 [sci2_vtyoyo:NeedComms:setActive:B] Stopped
2026-01-21T14:46:19.035Z,1769006779.035 [sci2_vtyoyo:NeedComms:setActive](INFO): Completed sci2_vtyoyo:NeedComms:setActive
2026-01-21T14:46:19.035Z,1769006779.035 [sci2_vtyoyo:NeedComms:setActive] Stopped
2026-01-21T14:46:19.035Z,1769006779.035 [sci2_vtyoyo:NeedComms:setActive](DEBUG): Aggregate::uninitialize sci2_vtyoyo:NeedComms:setActive
2026-01-21T14:46:19.436Z,1769006779.436 [sci2_vtyoyo:manageDiveMode] Running Loop=1
2026-01-21T14:46:19.436Z,1769006779.436 [sci2_vtyoyo:manageDiveMode](DEBUG): Aggregate::initialize sci2_vtyoyo:manageDiveMode
2026-01-21T14:46:19.437Z,1769006779.437 [sci2_vtyoyo:manageDiveMode:syncWhileActive] Running Loop=1
2026-01-21T14:46:19.437Z,1769006779.437 [sci2_vtyoyo:manageDiveMode:syncWhileActive](DEBUG): Aggregate::initialize sci2_vtyoyo:manageDiveMode:syncWhileActive
2026-01-21T14:46:19.437Z,1769006779.437 [sci2_vtyoyo:manageDiveMode:syncWhileActive:A] Running Loop=1
2026-01-21T14:46:19.437Z,1769006779.437 [sci2_vtyoyo:manageDiveMode:syncWhileActive] Running Loop=1
2026-01-21T14:46:19.437Z,1769006779.437 [sci2_vtyoyo:manageDiveMode:syncWhileActive:A] Running Loop=1
2026-01-21T14:46:19.441Z,1769006779.441 [sci2_vtyoyo:setSinkRestore:A] Stopped
2026-01-21T14:46:19.441Z,1769006779.441 [sci2_vtyoyo:setSinkRestore](INFO): Completed sci2_vtyoyo:setSinkRestore
2026-01-21T14:46:19.441Z,1769006779.441 [sci2_vtyoyo:setSinkRestore] Stopped
2026-01-21T14:46:19.441Z,1769006779.441 [sci2_vtyoyo:setSinkRestore](DEBUG): Aggregate::uninitialize sci2_vtyoyo:setSinkRestore
2026-01-21T14:46:19.442Z,1769006779.442 [sci2_vtyoyo:H] Running Loop=1
2026-01-21T14:46:19.836Z,1769006779.836 [sci2_vtyoyo:H] Stopped
2026-01-21T14:46:19.836Z,1769006779.836 [sci2_vtyoyo:I] Running Loop=1
2026-01-21T14:46:19.837Z,1769006779.837 [sci2_vtyoyo:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2026-01-21T14:46:20.240Z,1769006780.240 [sci2_vtyoyo:I] Stopped
2026-01-21T14:46:20.240Z,1769006780.240 [sci2_vtyoyo:J] Running Loop=1
2026-01-21T14:46:20.657Z,1769006780.657 [sci2_vtyoyo:J] Stopped
2026-01-21T14:46:20.657Z,1769006780.657 [sci2_vtyoyo:StartingMission] Running Loop=1
2026-01-21T14:46:20.657Z,1769006780.657 [sci2_vtyoyo:StartingMission](DEBUG): Aggregate::initialize sci2_vtyoyo:StartingMission
2026-01-21T14:46:21.549Z,1769006781.549 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2026-01-21T14:46:31.844Z,1769006791.844 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-21T14:46:56.621Z,1769006816.621 [BackseatComponent](IMPORTANT): piscivore: running backseat_app backseat application.
2026-01-21T14:47:02.968Z,1769006822.968 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-21T14:47:18.432Z,1769006838.432 [Radio_Surface](INFO): Powering down
2026-01-21T14:47:34.096Z,1769006854.096 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-21T14:47:35.102Z,1769006855.102 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2026-01-21T14:47:45.978Z,1769006865.978 [sci2_vtyoyo:NeedComms:D] Running Loop=1
2026-01-21T14:47:46.417Z,1769006866.417 [sci2_vtyoyo:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense time_fix
2026-01-21T14:47:46.716Z,1769006866.716 [Radio_Surface](INFO): Powering up
2026-01-21T14:47:50.934Z,1769006870.934 [CTD_Seabird](ERROR): Salinity reading out of range: 20.162191 psu
2026-01-21T14:47:50.937Z,1769006870.937 [CTD_Seabird](INFO): some bad data, not updating bins
2026-01-21T14:47:52.168Z,1769006872.168 [DataOverHttps](INFO): Radio surface powered ON.
2026-01-21T14:48:18.727Z,1769006898.727 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2026-01-21T14:48:18.804Z,1769006898.804 [NAL9602](ERROR): received: 
+CSQ:1

OK351, 2, 0, 0, 0

OK
2026-01-21T14:48:22.288Z,1769006902.288 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-21T14:48:53.424Z,1769006933.424 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-21T14:49:24.548Z,1769006964.548 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-21T14:49:39.517Z,1769006979.517 [NAL9602](INFO): SBD MO Status=2, MOMSN=25351, MT Status=2, MTMSN=0
2026-01-21T14:49:39.517Z,1769006979.517 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-01-21T14:49:55.690Z,1769006995.690 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-21T14:49:55.692Z,1769006995.692 [NAL9602](INFO): SBD MO Status=2, MOMSN=25351, MT Status=2, MTMSN=0
2026-01-21T14:49:55.692Z,1769006995.692 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-01-21T14:50:04.477Z,1769007004.477 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.007610
2026-01-21T14:50:29.217Z,1769007029.217 [NAL9602](INFO): SBD MO Status=2, MOMSN=25351, MT Status=2, MTMSN=0
2026-01-21T14:50:29.217Z,1769007029.217 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-01-21T14:50:46.590Z,1769007046.590 [NAL9602](INFO): SBD MO Status=2, MOMSN=25351, MT Status=2, MTMSN=0
2026-01-21T14:50:46.590Z,1769007046.590 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-01-21T14:52:41.347Z,1769007161.347 [NAL9602](INFO): SBD MO Status=2, MOMSN=25351, MT Status=2, MTMSN=0
2026-01-21T14:52:41.348Z,1769007161.348 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-01-21T14:52:50.636Z,1769007170.636 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2026-01-21T14:52:59.929Z,1769007179.929 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,145257.00,A,3651.84899,N,12206.93686,W,1.633,282.79,210126,,,A*7B
2026-01-21T14:52:59.932Z,1769007179.932 [NAL9602](INFO): GPS fix at 20260121T145257: (36.864150, -122.115614)
2026-01-21T14:52:59.966Z,1769007179.966 [UniversalFixResidualReporter](INFO): Fix residual: 51.2 %DT, over the last 2883.0 m. Residual distance 1475.4 m at bearing 103.3 degrees. Fix at (36.8642, -122.1156) with 1377.6 m made good.
2026-01-21T14:52:59.986Z,1769007179.986 [sci2_vtyoyo:NeedComms:D] Stopped
2026-01-21T14:52:59.986Z,1769007179.986 [sci2_vtyoyo:NeedComms:E] Running Loop=1
2026-01-21T14:53:00.389Z,1769007180.389 [sci2_vtyoyo:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense platform_communications
2026-01-21T14:53:07.387Z,1769007187.387 [DataOverHttps](INFO): Sending 91 bytes from file Logs/20260121T014546/Courier0024.lzma
2026-01-21T14:53:08.390Z,1769007188.390 [DataOverHttps](INFO): Moved sent file to Logs/20260121T014546/Courier0024.lzma.bak
2026-01-21T14:53:08.390Z,1769007188.390 [DataOverHttps](INFO): SBD MOMSN=26584232
2026-01-21T14:53:25.088Z,1769007205.088 [DataOverHttps](INFO): Sending 328 bytes from file Logs/20260121T144500/Courier0000.lzma
2026-01-21T14:53:26.094Z,1769007206.094 [DataOverHttps](INFO): Moved sent file to Logs/20260121T144500/Courier0000.lzma.bak
2026-01-21T14:53:26.094Z,1769007206.094 [DataOverHttps](INFO): SBD MOMSN=26584237
2026-01-21T14:53:32.749Z,1769007212.749 [NAL9602](INFO): Not Powering down - fast GPS
2026-01-21T14:53:44.858Z,1769007224.858 [DataOverHttps](INFO): Sending 1080 bytes from file Logs/20260121T014546/Express0025.lzma
2026-01-21T14:53:45.858Z,1769007225.858 [DataOverHttps](INFO): Moved sent file to Logs/20260121T014546/Express0025.lzma.bak
2026-01-21T14:53:45.858Z,1769007225.858 [DataOverHttps](INFO): SBD MOMSN=26584245
2026-01-21T14:54:07.422Z,1769007247.422 [DataOverHttps](INFO): Sending 1270 bytes from file Logs/20260121T144500/Express0001.lzma
2026-01-21T14:54:08.422Z,1769007248.422 [DataOverHttps](INFO): Moved sent file to Logs/20260121T144500/Express0001.lzma.bak
2026-01-21T14:54:08.423Z,1769007248.423 [DataOverHttps](INFO): SBD MOMSN=26584251
2026-01-21T14:54:09.953Z,1769007249.953 [sci2_vtyoyo:NeedComms:E] Stopped
2026-01-21T14:54:09.953Z,1769007249.953 [sci2_vtyoyo:NeedComms:F] Running Loop=1
2026-01-21T14:54:10.385Z,1769007250.385 [sci2_vtyoyo:NeedComms:F](DEBUG): Initialize ReadDataComponent to sense time_fix
2026-01-21T14:54:11.947Z,1769007251.947 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,145409.00,A,3651.85241,N,12206.95362,W,1.147,278.88,210126,,,D*7B
2026-01-21T14:54:11.954Z,1769007251.954 [NAL9602](INFO): GPS fix at 20260121T145409: (36.864207, -122.115894)
2026-01-21T14:54:12.001Z,1769007252.001 [sci2_vtyoyo:NeedComms:F] Stopped
2026-01-21T14:54:12.001Z,1769007252.001 [sci2_vtyoyo:NeedComms:setRestoreMode] Running Loop=1
2026-01-21T14:54:12.001Z,1769007252.001 [sci2_vtyoyo:NeedComms:setRestoreMode](DEBUG): Aggregate::initialize sci2_vtyoyo:NeedComms:setRestoreMode
2026-01-21T14:54:12.001Z,1769007252.001 [sci2_vtyoyo:NeedComms:setRestoreMode:A] Running Loop=1
2026-01-21T14:54:12.385Z,1769007252.385 [sci2_vtyoyo:NeedComms:setRestoreMode:A] Stopped
2026-01-21T14:54:12.385Z,1769007252.385 [sci2_vtyoyo:NeedComms:setRestoreMode](INFO): Completed sci2_vtyoyo:NeedComms:setRestoreMode
2026-01-21T14:54:12.385Z,1769007252.385 [sci2_vtyoyo:NeedComms:setRestoreMode] Stopped
2026-01-21T14:54:12.385Z,1769007252.385 [sci2_vtyoyo:NeedComms:setRestoreMode](DEBUG): Aggregate::uninitialize sci2_vtyoyo:NeedComms:setRestoreMode
2026-01-21T14:54:12.385Z,1769007252.385 [sci2_vtyoyo:NeedComms:setInactive] Running Loop=1
2026-01-21T14:54:12.386Z,1769007252.386 [sci2_vtyoyo:NeedComms:setInactive](DEBUG): Aggregate::initialize sci2_vtyoyo:NeedComms:setInactive
2026-01-21T14:54:12.386Z,1769007252.386 [sci2_vtyoyo:NeedComms:setInactive:A] Running Loop=1
2026-01-21T14:54:12.785Z,1769007252.785 [sci2_vtyoyo:NeedComms:setInactive:A] Stopped
2026-01-21T14:54:12.785Z,1769007252.785 [sci2_vtyoyo:NeedComms:setInactive](INFO): Completed sci2_vtyoyo:NeedComms:setInactive
2026-01-21T14:54:12.785Z,1769007252.785 [sci2_vtyoyo:NeedComms:setInactive] Stopped
2026-01-21T14:54:12.785Z,1769007252.785 [sci2_vtyoyo:NeedComms:setInactive](DEBUG): Aggregate::uninitialize sci2_vtyoyo:NeedComms:setInactive
2026-01-21T14:54:12.786Z,1769007252.786 [sci2_vtyoyo:NeedComms](INFO): Completed sci2_vtyoyo:NeedComms
2026-01-21T14:54:12.786Z,1769007252.786 [sci2_vtyoyo:NeedComms] Stopped
2026-01-21T14:54:12.786Z,1769007252.786 [sci2_vtyoyo:NeedComms](DEBUG): Aggregate::uninitialize sci2_vtyoyo:NeedComms
2026-01-21T14:54:12.786Z,1769007252.786 [sci2_vtyoyo:NeedComms:C.GoToSurface] Stopped
2026-01-21T14:54:12.786Z,1769007252.786 [sci2_vtyoyo:NeedComms:C.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2026-01-21T14:54:13.157Z,1769007253.157 [sci2_vtyoyo:StartingMission](INFO): Completed sci2_vtyoyo:StartingMission
2026-01-21T14:54:13.157Z,1769007253.157 [sci2_vtyoyo:StartingMission] Stopped
2026-01-21T14:54:13.157Z,1769007253.157 [sci2_vtyoyo:StartingMission](DEBUG): Aggregate::uninitialize sci2_vtyoyo:StartingMission
2026-01-21T14:54:13.157Z,1769007253.157 [sci2_vtyoyo:Lap] Running Loop=1
2026-01-21T14:54:13.157Z,1769007253.157 [sci2_vtyoyo:Lap](DEBUG): Aggregate::initialize sci2_vtyoyo:Lap
2026-01-21T14:54:13.157Z,1769007253.157 [sci2_vtyoyo:Lap:Dive] Running Loop=1
2026-01-21T14:54:13.157Z,1769007253.157 [sci2_vtyoyo:Lap:Dive](DEBUG): Aggregate::initialize sci2_vtyoyo:Lap:Dive
2026-01-21T14:54:13.158Z,1769007253.158 [sci2_vtyoyo:Lap:Dive:A] Running Loop=1
2026-01-21T14:54:13.158Z,1769007253.158 [sci2_vtyoyo:Lap:Dive:A](DEBUG): Aggregate::initialize sci2_vtyoyo:Lap:Dive:A
2026-01-21T14:54:13.158Z,1769007253.158 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink] Running Loop=1
2026-01-21T14:54:13.158Z,1769007253.158 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink](DEBUG): Aggregate::initialize sci2_vtyoyo:Lap:Dive:A:SurfaceSink
2026-01-21T14:54:13.158Z,1769007253.158 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink] Running Loop=1
2026-01-21T14:54:13.159Z,1769007253.159 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink](DEBUG): Aggregate::initialize sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink
2026-01-21T14:54:13.159Z,1769007253.159 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:BuoyancyHold.Buoyancy] Running Loop=1
2026-01-21T14:54:13.159Z,1769007253.159 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2026-01-21T14:54:13.159Z,1769007253.159 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:B.SetSpeed] Running Loop=1
2026-01-21T14:54:13.159Z,1769007253.159 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:B.SetSpeed](DEBUG): Initialize.
2026-01-21T14:54:13.159Z,1769007253.159 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:C] Running Loop=1
2026-01-21T14:54:13.159Z,1769007253.159 [sci2_vtyoyo:Lap:Dive:A:YoYoDive] Running Loop=1
2026-01-21T14:54:13.159Z,1769007253.159 [sci2_vtyoyo:Lap:Dive:A:YoYoDive](DEBUG): Aggregate::initialize sci2_vtyoyo:Lap:Dive:A:YoYoDive
2026-01-21T14:54:13.159Z,1769007253.159 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive] Running Loop=1
2026-01-21T14:54:13.159Z,1769007253.159 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive](DEBUG): Aggregate::initialize sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive
2026-01-21T14:54:13.164Z,1769007253.164 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:A.Pitch] Running Loop=1
2026-01-21T14:54:13.164Z,1769007253.164 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:A.Pitch](DEBUG): Initialize.
2026-01-21T14:54:13.164Z,1769007253.164 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:B.Buoyancy] Running Loop=1
2026-01-21T14:54:13.164Z,1769007253.164 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2026-01-21T14:54:13.164Z,1769007253.164 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:C.SetSpeed] Running Loop=1
2026-01-21T14:54:13.164Z,1769007253.164 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:C.SetSpeed](DEBUG): Initialize.
2026-01-21T14:54:13.164Z,1769007253.164 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:D.DepthEnvelope] Running Loop=1
2026-01-21T14:54:13.164Z,1769007253.164 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:D.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2026-01-21T14:54:13.165Z,1769007253.165 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:E.AltitudeEnvelope] Running Loop=1
2026-01-21T14:54:13.165Z,1769007253.165 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:E.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2026-01-21T14:54:13.165Z,1769007253.165 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:F.YoYoPARLicor] Running Loop=1
2026-01-21T14:54:13.165Z,1769007253.165 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:F.YoYoPARLicor](DEBUG): Initialize Value-Terminated YoYo.
2026-01-21T14:54:13.201Z,1769007253.201 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:G.YoYo] Running Loop=1
2026-01-21T14:54:13.201Z,1769007253.201 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:G.YoYo](DEBUG): Initialize YoYoComponent.
2026-01-21T14:54:13.201Z,1769007253.201 [sci2_vtyoyo:Lap:Wpt1] Running Loop=1
2026-01-21T14:54:13.202Z,1769007253.202 [sci2_vtyoyo:Lap:Wpt1](DEBUG): Aggregate::initialize sci2_vtyoyo:Lap:Wpt1
2026-01-21T14:54:13.202Z,1769007253.202 [sci2_vtyoyo:Lap:Wpt1:A.Waypoint] Running Loop=1
2026-01-21T14:54:13.202Z,1769007253.202 [sci2_vtyoyo:Lap:Wpt1:A.Waypoint](DEBUG): Initialize WaypointComponent.
2026-01-21T14:54:13.203Z,1769007253.203 [sci2_vtyoyo:Lap:Wpt1:A.Waypoint](IMPORTANT): Navigating to waypoint: 36.797001,-121.847000
2026-01-21T14:54:13.203Z,1769007253.203 [sci2_vtyoyo:manageDiveMode:syncWhileActive] Stopped
2026-01-21T14:54:13.203Z,1769007253.203 [sci2_vtyoyo:manageDiveMode:syncWhileActive](DEBUG): Aggregate::uninitialize sci2_vtyoyo:manageDiveMode:syncWhileActive
2026-01-21T14:54:13.203Z,1769007253.203 [sci2_vtyoyo:manageDiveMode:syncWhileActive:A] Stopped
2026-01-21T14:54:13.583Z,1769007253.583 [sci2_vtyoyo:Lap:Wpt1:A.Waypoint](INFO): Navigating to waypoint: 36.797001,-121.847000
2026-01-21T14:54:13.607Z,1769007253.607 [sci2_vtyoyo:Lap:Dive] Running Loop=1
2026-01-21T14:54:13.607Z,1769007253.607 [sci2_vtyoyo:Lap:Dive:A:YoYoDive] Stopped
2026-01-21T14:54:13.612Z,1769007253.612 [sci2_vtyoyo:Lap:Dive:A:YoYoDive](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Lap:Dive:A:YoYoDive
2026-01-21T14:54:13.612Z,1769007253.612 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive] Stopped
2026-01-21T14:54:13.613Z,1769007253.613 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive
2026-01-21T14:54:13.613Z,1769007253.613 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:A.Pitch] Stopped
2026-01-21T14:54:13.613Z,1769007253.613 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:B.Buoyancy] Stopped
2026-01-21T14:54:13.613Z,1769007253.613 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2026-01-21T14:54:13.613Z,1769007253.613 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:C.SetSpeed] Stopped
2026-01-21T14:54:13.613Z,1769007253.613 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:C.SetSpeed](DEBUG): Uninitialize.
2026-01-21T14:54:13.613Z,1769007253.613 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:D.DepthEnvelope] Stopped
2026-01-21T14:54:13.613Z,1769007253.613 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:D.DepthEnvelope](DEBUG): Uninitialize.
2026-01-21T14:54:13.613Z,1769007253.613 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:E.AltitudeEnvelope] Stopped
2026-01-21T14:54:13.613Z,1769007253.613 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:E.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2026-01-21T14:54:13.613Z,1769007253.613 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:F.YoYoPARLicor] Stopped
2026-01-21T14:54:13.613Z,1769007253.613 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:F.YoYoPARLicor](DEBUG): Uninitialize Value-Terminated YoYo.
2026-01-21T14:54:13.615Z,1769007253.615 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:G.YoYo] Stopped
2026-01-21T14:54:13.615Z,1769007253.615 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:G.YoYo](DEBUG): Uninitialize YoYoComponent.
2026-01-21T14:54:13.615Z,1769007253.615 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink] Running Loop=1
2026-01-21T14:54:13.620Z,1769007253.620 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:C](INFO): Sinking to  10.000000 m 
2026-01-21T14:54:13.620Z,1769007253.620 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:C] Stopped
2026-01-21T14:54:13.620Z,1769007253.620 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:D.Pitch] Running Loop=1
2026-01-21T14:54:13.620Z,1769007253.620 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:D.Pitch](DEBUG): Initialize.
2026-01-21T14:54:13.620Z,1769007253.620 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:B.SetSpeed] Running Loop=1
2026-01-21T14:54:13.621Z,1769007253.621 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:BuoyancyHold.Buoyancy] Running Loop=1
2026-01-21T14:54:42.606Z,1769007282.606 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2026-01-21T14:54:42.688Z,1769007282.688 [NAL9602](ERROR): received: 
+CSQ:0

OK351, 2, 0, 0, 0

OK
2026-01-21T14:55:25.667Z,1769007325.667 [NAL9602](INFO): SBD MO Status=2, MOMSN=25351, MT Status=2, MTMSN=0
2026-01-21T14:55:25.667Z,1769007325.667 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-01-21T14:56:04.541Z,1769007364.541 [NAL9602](INFO): SBD MO Status=2, MOMSN=25351, MT Status=2, MTMSN=0
2026-01-21T14:56:04.541Z,1769007364.541 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-01-21T14:56:13.904Z,1769007373.904 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:D.Pitch](INFO): Timed out from 2026-01-21T14:54:13.6Z
2026-01-21T14:56:13.905Z,1769007373.905 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:D.Pitch:A_Timeout] Running Loop=1
2026-01-21T14:56:13.905Z,1769007373.905 [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
2026-01-21T14:56:13.905Z,1769007373.905 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:D.Pitch:A_Timeout:A] Running Loop=1
2026-01-21T14:56:13.905Z,1769007373.905 [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  0.049130 m 
2026-01-21T14:56:13.906Z,1769007373.906 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:D.Pitch:A_Timeout:A] Stopped
2026-01-21T14:56:13.906Z,1769007373.906 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:D.Pitch:A_Timeout](INFO): Completed sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:D.Pitch:A_Timeout
2026-01-21T14:56:13.906Z,1769007373.906 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:D.Pitch] Stopped
2026-01-21T14:56:13.906Z,1769007373.906 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:E] Running Loop=1
2026-01-21T14:56:14.272Z,1769007374.272 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:E] Stopped
2026-01-21T14:56:14.272Z,1769007374.272 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink](INFO): Completed sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink
2026-01-21T14:56:14.272Z,1769007374.272 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink] Stopped
2026-01-21T14:56:14.273Z,1769007374.273 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink
2026-01-21T14:56:14.273Z,1769007374.273 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:BuoyancyHold.Buoyancy] Stopped
2026-01-21T14:56:14.273Z,1769007374.273 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2026-01-21T14:56:14.273Z,1769007374.273 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:B.SetSpeed] Stopped
2026-01-21T14:56:14.273Z,1769007374.273 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:B.SetSpeed](DEBUG): Uninitialize.
2026-01-21T14:56:14.273Z,1769007374.273 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink](INFO): Completed sci2_vtyoyo:Lap:Dive:A:SurfaceSink
2026-01-21T14:56:14.661Z,1769007374.661 [sci2_vtyoyo:Lap:Dive:A:YoYoDive] Running Loop=1
2026-01-21T14:56:14.661Z,1769007374.661 [sci2_vtyoyo:Lap:Dive:A:YoYoDive](DEBUG): Aggregate::initialize sci2_vtyoyo:Lap:Dive:A:YoYoDive
2026-01-21T14:56:14.662Z,1769007374.662 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive] Running Loop=1
2026-01-21T14:56:14.662Z,1769007374.662 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive](DEBUG): Aggregate::initialize sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive
2026-01-21T14:56:14.662Z,1769007374.662 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:A.Pitch] Running Loop=1
2026-01-21T14:56:14.662Z,1769007374.662 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:A.Pitch](DEBUG): Initialize.
2026-01-21T14:56:14.662Z,1769007374.662 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:B.Buoyancy] Running Loop=1
2026-01-21T14:56:14.662Z,1769007374.662 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2026-01-21T14:56:14.662Z,1769007374.662 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:C.SetSpeed] Running Loop=1
2026-01-21T14:56:14.662Z,1769007374.662 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:C.SetSpeed](DEBUG): Initialize.
2026-01-21T14:56:14.662Z,1769007374.662 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:D.DepthEnvelope] Running Loop=1
2026-01-21T14:56:14.662Z,1769007374.662 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:D.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2026-01-21T14:56:14.663Z,1769007374.663 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:E.AltitudeEnvelope] Running Loop=1
2026-01-21T14:56:14.663Z,1769007374.663 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:E.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2026-01-21T14:56:14.663Z,1769007374.663 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:F.YoYoPARLicor] Running Loop=1
2026-01-21T14:56:14.663Z,1769007374.663 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:F.YoYoPARLicor](DEBUG): Initialize Value-Terminated YoYo.
2026-01-21T14:56:14.720Z,1769007374.720 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:G.YoYo] Running Loop=1
2026-01-21T14:56:14.720Z,1769007374.720 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:G.YoYo](DEBUG): Initialize YoYoComponent.
2026-01-21T14:56:14.720Z,1769007374.720 [sci2_vtyoyo:Lap:Dive:A:YoYoDive] Running Loop=1
2026-01-21T14:56:14.721Z,1769007374.721 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:G.YoYo] Running Loop=1
2026-01-21T14:56:14.721Z,1769007374.721 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:F.YoYoPARLicor] Running Loop=1
2026-01-21T14:56:14.734Z,1769007374.734 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:E.AltitudeEnvelope] Running Loop=1
2026-01-21T14:56:14.734Z,1769007374.734 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:D.DepthEnvelope] Running Loop=1
2026-01-21T14:56:14.744Z,1769007374.744 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:C.SetSpeed] Running Loop=1
2026-01-21T14:56:14.744Z,1769007374.744 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:B.Buoyancy] Running Loop=1
2026-01-21T14:56:14.745Z,1769007374.745 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:A.Pitch] Running Loop=1
2026-01-21T14:56:15.072Z,1769007375.072 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 0.90 m/s, pitch 20.00 deg, mass-position 30.65 mm.
2026-01-21T14:56:15.073Z,1769007375.073 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -13.00 mm.
2026-01-21T14:56:15.074Z,1769007375.074 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 0.70 m/s, pitch 30.00 deg, mass-position 30.65 mm.
2026-01-21T14:56:15.075Z,1769007375.075 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 0.70 m/s, pitch -20.00 deg, mass-position 30.65 mm.
2026-01-21T14:56:16.369Z,1769007376.369 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:E.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2026-01-21T14:56:26.543Z,1769007386.543 [NAL9602](INFO): SBD MO Status=2, MOMSN=25351, MT Status=2, MTMSN=0
2026-01-21T14:56:26.543Z,1769007386.543 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-01-21T14:56:49.432Z,1769007409.432 [NAL9602](INFO): SBD MO Status=2, MOMSN=25351, MT Status=2, MTMSN=0
2026-01-21T14:56:49.432Z,1769007409.432 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-01-21T14:57:01.814Z,1769007421.814 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 0.80 m/s, pitch -20.00 deg, mass-position 30.65 mm (1 active estimators).
2026-01-21T14:57:12.608Z,1769007432.608 [DataOverHttps](INFO): Exceeded connection timeout, disconnecting.
2026-01-21T14:57:29.632Z,1769007449.632 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 0.80 m/s, pitch 20.00 deg, mass-position 30.65 mm (2 active estimators).
2026-01-21T14:57:43.736Z,1769007463.736 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-21T14:57:51.057Z,1769007471.057 [BPC1](INFO): Calculating totals. Valid battery stick count: 49. Valid reserve battery stick count: 5.
2026-01-21T14:57:51.060Z,1769007471.060 [BPC1](FAULT): Failed to receive data from 8 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 1, 2, 3, 4, 5, 6, 7, 8.
2026-01-21T14:58:02.144Z,1769007482.144 [Radio_Surface](INFO): Powering down
2026-01-21T14:58:14.864Z,1769007494.864 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-21T14:58:15.868Z,1769007495.868 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2026-01-21T14:59:14.671Z,1769007554.671 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2026-01-21T14:59:20.131Z,1769007560.131 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.164291
2026-01-21T14:59:45.457Z,1769007585.457 [NAL9602](INFO): Not Powering down - fast GPS
2026-01-21T15:26:17.941Z,1769009177.941 [GFScanner](IMPORTANT): Beginning ground fault scan
2026-01-21T15:26:18.533Z,1769009178.533 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2026-01-21T15:26:18.535Z,1769009178.535 [CTD_Seabird](INFO): some bad data, not updating bins
2026-01-21T15:26:19.538Z,1769009179.538 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2026-01-21T15:26:19.539Z,1769009179.539 [CTD_Seabird](INFO): some bad data, not updating bins
2026-01-21T15:26:20.541Z,1769009180.541 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2026-01-21T15:26:20.542Z,1769009180.542 [CTD_Seabird](INFO): some bad data, not updating bins
2026-01-21T15:26:21.553Z,1769009181.553 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2026-01-21T15:26:21.554Z,1769009181.554 [CTD_Seabird](INFO): some bad data, not updating bins
2026-01-21T15:26:22.550Z,1769009182.550 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2026-01-21T15:26:22.552Z,1769009182.552 [CTD_Seabird](INFO): some bad data, not updating bins
2026-01-21T15:26:22.582Z,1769009182.582 [GFScanner](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.004233
CHAN A1 (24V): 0.004118
CHAN A2 (12V): -0.009480
CHAN A3 (5V): -0.007531
CHAN B0 (3.3V): -0.005109
CHAN B1 (3.15aV): -0.002530
CHAN B2 (3.15bV): -0.001423
CHAN B3 (GND): -0.001754
OPEN: 0.012078
Full Scale: +/- 1 mA
2026-01-21T15:28:17.049Z,1769009297.049 [CTD_Seabird](ERROR): Failed to parse device response: 10.91,14.0321,4.032.20
2026-01-21T15:29:42.439Z,1769009382.439 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2026-01-21T15:32:18.582Z,1769009538.582 [BPC1](ERROR): BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).
2026-01-21T15:37:37.271Z,1769009857.271 [BPC1](ERROR): BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).
2026-01-21T15:38:52.863Z,1769009932.863 [BPC1](INFO): Calculating totals. Valid battery stick count: 49. Valid reserve battery stick count: 5.
2026-01-21T15:38:52.875Z,1769009932.875 [BPC1](FAULT): Failed to receive data from 8 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 1, 2, 3, 4, 5, 6, 7, 8.
2026-01-21T16:03:18.853Z,1769011398.853 [CTD_Seabird](ERROR): Failed to parse device response: 18.49,34
2026-01-21T16:19:54.718Z,1769012394.718 [BPC1](INFO): Calculating totals. Valid battery stick count: 49. Valid reserve battery stick count: 5.
2026-01-21T16:19:54.735Z,1769012394.735 [BPC1](FAULT): Failed to receive data from 8 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 1, 2, 3, 4, 5, 6, 7, 8.
2026-01-21T16:27:33.941Z,1769012853.941 [sci2_vtyoyo:NeedComms] Running Loop=1
2026-01-21T16:27:33.941Z,1769012853.941 [sci2_vtyoyo:NeedComms](DEBUG): Aggregate::initialize sci2_vtyoyo:NeedComms
2026-01-21T16:27:33.941Z,1769012853.941 [sci2_vtyoyo:NeedComms:C.GoToSurface] Running Loop=1
2026-01-21T16:27:33.941Z,1769012853.941 [sci2_vtyoyo:NeedComms:C.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2026-01-21T16:27:33.941Z,1769012853.941 [sci2_vtyoyo:NeedComms:C.GoToSurface](INFO): Received depth rate setting nan m/s.
2026-01-21T16:27:33.942Z,1769012853.942 [sci2_vtyoyo:NeedComms:C.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2026-01-21T16:27:33.942Z,1769012853.942 [sci2_vtyoyo:NeedComms:C.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2026-01-21T16:27:33.942Z,1769012853.942 [sci2_vtyoyo:NeedComms:C.GoToSurface](INFO): Received surface timeout setting 1500.000000 seconds.
2026-01-21T16:27:33.943Z,1769012853.943 [sci2_vtyoyo:NeedComms:C.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2026-01-21T16:27:33.943Z,1769012853.943 [sci2_vtyoyo:NeedComms:C.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2026-01-21T16:27:33.944Z,1769012853.944 [sci2_vtyoyo:NeedComms:A] Running Loop=1
2026-01-21T16:27:33.945Z,1769012853.945 [sci2_vtyoyo:NeedComms:A](INFO): last time_fix was:  1769007249.000000 second since 1970/01/01T00:00:00Z 
2026-01-21T16:27:33.946Z,1769012853.946 [sci2_vtyoyo:NeedComms:A] Stopped
2026-01-21T16:27:33.946Z,1769012853.946 [sci2_vtyoyo:NeedComms:setActive] Running Loop=1
2026-01-21T16:27:33.946Z,1769012853.946 [sci2_vtyoyo:NeedComms:setActive](DEBUG): Aggregate::initialize sci2_vtyoyo:NeedComms:setActive
2026-01-21T16:27:33.946Z,1769012853.946 [sci2_vtyoyo:NeedComms:setActive:A] Running Loop=1
2026-01-21T16:27:34.362Z,1769012854.362 [sci2_vtyoyo:NeedComms:setActive:A] Stopped
2026-01-21T16:27:34.362Z,1769012854.362 [sci2_vtyoyo:NeedComms:setActive:B] Running Loop=1
2026-01-21T16:27:34.754Z,1769012854.754 [sci2_vtyoyo:NeedComms:setActive:B] Stopped
2026-01-21T16:27:34.754Z,1769012854.754 [sci2_vtyoyo:NeedComms:setActive](INFO): Completed sci2_vtyoyo:NeedComms:setActive
2026-01-21T16:27:34.754Z,1769012854.754 [sci2_vtyoyo:NeedComms:setActive] Stopped
2026-01-21T16:27:34.754Z,1769012854.754 [sci2_vtyoyo:NeedComms:setActive](DEBUG): Aggregate::uninitialize sci2_vtyoyo:NeedComms:setActive
2026-01-21T16:27:35.149Z,1769012855.149 [sci2_vtyoyo:manageDiveMode:syncWhileActive] Running Loop=1
2026-01-21T16:27:35.149Z,1769012855.149 [sci2_vtyoyo:manageDiveMode:syncWhileActive](DEBUG): Aggregate::initialize sci2_vtyoyo:manageDiveMode:syncWhileActive
2026-01-21T16:27:35.149Z,1769012855.149 [sci2_vtyoyo:manageDiveMode:syncWhileActive:A] Running Loop=1
2026-01-21T16:27:35.554Z,1769012855.554 [sci2_vtyoyo:Lap:Dive] Stopped
2026-01-21T16:27:35.554Z,1769012855.554 [sci2_vtyoyo:Lap:Dive](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Lap:Dive
2026-01-21T16:27:35.554Z,1769012855.554 [sci2_vtyoyo:Lap:Dive:A] Stopped
2026-01-21T16:27:35.554Z,1769012855.554 [sci2_vtyoyo:Lap:Dive:A](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Lap:Dive:A
2026-01-21T16:27:35.554Z,1769012855.554 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink] Stopped
2026-01-21T16:27:35.554Z,1769012855.554 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Lap:Dive:A:SurfaceSink
2026-01-21T16:27:35.554Z,1769012855.554 [sci2_vtyoyo:Lap:Dive:A:YoYoDive] Stopped
2026-01-21T16:27:35.554Z,1769012855.554 [sci2_vtyoyo:Lap:Dive:A:YoYoDive](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Lap:Dive:A:YoYoDive
2026-01-21T16:27:35.554Z,1769012855.554 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive] Stopped
2026-01-21T16:27:35.555Z,1769012855.555 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive
2026-01-21T16:27:35.555Z,1769012855.555 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:A.Pitch] Stopped
2026-01-21T16:27:35.555Z,1769012855.555 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:B.Buoyancy] Stopped
2026-01-21T16:27:35.555Z,1769012855.555 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2026-01-21T16:27:35.555Z,1769012855.555 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:C.SetSpeed] Stopped
2026-01-21T16:27:35.555Z,1769012855.555 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:C.SetSpeed](DEBUG): Uninitialize.
2026-01-21T16:27:35.555Z,1769012855.555 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:D.DepthEnvelope] Stopped
2026-01-21T16:27:35.555Z,1769012855.555 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:D.DepthEnvelope](DEBUG): Uninitialize.
2026-01-21T16:27:35.555Z,1769012855.555 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:E.AltitudeEnvelope] Stopped
2026-01-21T16:27:35.555Z,1769012855.555 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:E.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2026-01-21T16:27:35.555Z,1769012855.555 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:F.YoYoPARLicor] Stopped
2026-01-21T16:27:35.555Z,1769012855.555 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:F.YoYoPARLicor](DEBUG): Uninitialize Value-Terminated YoYo.
2026-01-21T16:27:35.557Z,1769012855.557 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:G.YoYo] Stopped
2026-01-21T16:27:35.557Z,1769012855.557 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:G.YoYo](DEBUG): Uninitialize YoYoComponent.
2026-01-21T16:30:33.365Z,1769013033.365 [sci2_vtyoyo:NeedComms:D] Running Loop=1
2026-01-21T16:30:34.084Z,1769013034.084 [Radio_Surface](INFO): Powering up
2026-01-21T16:30:39.820Z,1769013039.820 [DataOverHttps](INFO): Radio surface powered ON.
2026-01-21T16:31:06.131Z,1769013066.131 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2026-01-21T16:31:06.204Z,1769013066.204 [NAL9602](ERROR): received: 
+CSQ:0

OK351, 2, 0, 0, 0

OK
2026-01-21T16:31:09.940Z,1769013069.940 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-21T16:31:41.068Z,1769013101.068 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-21T16:32:11.986Z,1769013131.986 [BPC1](ERROR): BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).
2026-01-21T16:32:12.192Z,1769013132.192 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-21T16:32:43.316Z,1769013163.316 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-21T16:32:53.083Z,1769013173.083 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004797
2026-01-21T16:35:20.350Z,1769013320.350 [NAL9602](INFO): SBD MO Status=2, MOMSN=25351, MT Status=2, MTMSN=0
2026-01-21T16:35:20.351Z,1769013320.351 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-01-21T16:35:43.763Z,1769013343.763 [NAL9602](INFO): SBD MO Status=2, MOMSN=25351, MT Status=2, MTMSN=0
2026-01-21T16:35:43.763Z,1769013343.763 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-01-21T16:35:44.170Z,1769013344.170 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2026-01-21T16:35:45.379Z,1769013345.379 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,163542.00,A,3651.89552,N,12206.09555,W,0.700,308.80,210126,,,D*75
2026-01-21T16:35:45.382Z,1769013345.382 [NAL9602](INFO): GPS fix at 20260121T163542: (36.864925, -122.101592)
2026-01-21T16:35:45.394Z,1769013345.394 [UniversalFixResidualReporter](INFO): Fix residual: 62.4 %DT, over the last 3464.5 m. Residual distance 2162.8 m at bearing 120.4 degrees. Fix at (36.8649, -122.1016) with 1274.8 m made good.
2026-01-21T16:35:45.396Z,1769013345.396 [sci2_vtyoyo:Lap:Wpt1:A.Waypoint](INFO): Navigating to waypoint: 36.797001,-121.847000
2026-01-21T16:35:45.401Z,1769013345.401 [sci2_vtyoyo:NeedComms:D] Stopped
2026-01-21T16:35:45.401Z,1769013345.401 [sci2_vtyoyo:NeedComms:E] Running Loop=1
2026-01-21T16:35:52.784Z,1769013352.784 [DataOverHttps](INFO): Sending 216 bytes from file Logs/20260121T144500/Courier0003.lzma
2026-01-21T16:35:53.786Z,1769013353.786 [DataOverHttps](INFO): Moved sent file to Logs/20260121T144500/Courier0003.lzma.bak
2026-01-21T16:35:53.786Z,1769013353.786 [DataOverHttps](INFO): SBD MOMSN=26584338
2026-01-21T16:36:10.391Z,1769013370.391 [DataOverHttps](INFO): Sending 1704 bytes from file Logs/20260121T144500/Express0004.lzma
2026-01-21T16:36:11.390Z,1769013371.390 [DataOverHttps](INFO): Moved sent file to Logs/20260121T144500/Express0004.lzma.bak
2026-01-21T16:36:11.390Z,1769013371.390 [DataOverHttps](INFO): SBD MOMSN=26584341
2026-01-21T16:36:12.997Z,1769013372.997 [sci2_vtyoyo:NeedComms:E] Stopped
2026-01-21T16:36:12.997Z,1769013372.997 [sci2_vtyoyo:NeedComms:F] Running Loop=1
2026-01-21T16:36:14.947Z,1769013374.947 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,163612.00,A,3651.89832,N,12206.10356,W,0.700,277.41,210126,,,D*71
2026-01-21T16:36:14.953Z,1769013374.953 [NAL9602](INFO): GPS fix at 20260121T163612: (36.864972, -122.101726)
2026-01-21T16:36:15.005Z,1769013375.005 [sci2_vtyoyo:Lap:Wpt1:A.Waypoint](INFO): Navigating to waypoint: 36.797001,-121.847000
2026-01-21T16:36:15.009Z,1769013375.009 [sci2_vtyoyo:NeedComms:F] Stopped
2026-01-21T16:36:15.010Z,1769013375.010 [sci2_vtyoyo:NeedComms:setRestoreMode] Running Loop=1
2026-01-21T16:36:15.010Z,1769013375.010 [sci2_vtyoyo:NeedComms:setRestoreMode](DEBUG): Aggregate::initialize sci2_vtyoyo:NeedComms:setRestoreMode
2026-01-21T16:36:15.010Z,1769013375.010 [sci2_vtyoyo:NeedComms:setRestoreMode:A] Running Loop=1
2026-01-21T16:36:15.393Z,1769013375.393 [sci2_vtyoyo:NeedComms:setRestoreMode:A] Stopped
2026-01-21T16:36:15.393Z,1769013375.393 [sci2_vtyoyo:NeedComms:setRestoreMode](INFO): Completed sci2_vtyoyo:NeedComms:setRestoreMode
2026-01-21T16:36:15.393Z,1769013375.393 [sci2_vtyoyo:NeedComms:setRestoreMode] Stopped
2026-01-21T16:36:15.393Z,1769013375.393 [sci2_vtyoyo:NeedComms:setRestoreMode](DEBUG): Aggregate::uninitialize sci2_vtyoyo:NeedComms:setRestoreMode
2026-01-21T16:36:15.393Z,1769013375.393 [sci2_vtyoyo:NeedComms:setInactive] Running Loop=1
2026-01-21T16:36:15.393Z,1769013375.393 [sci2_vtyoyo:NeedComms:setInactive](DEBUG): Aggregate::initialize sci2_vtyoyo:NeedComms:setInactive
2026-01-21T16:36:15.394Z,1769013375.394 [sci2_vtyoyo:NeedComms:setInactive:A] Running Loop=1
2026-01-21T16:36:15.769Z,1769013375.769 [sci2_vtyoyo:NeedComms:setInactive:A] Stopped
2026-01-21T16:36:15.769Z,1769013375.769 [sci2_vtyoyo:NeedComms:setInactive](INFO): Completed sci2_vtyoyo:NeedComms:setInactive
2026-01-21T16:36:15.769Z,1769013375.769 [sci2_vtyoyo:NeedComms:setInactive] Stopped
2026-01-21T16:36:15.769Z,1769013375.769 [sci2_vtyoyo:NeedComms:setInactive](DEBUG): Aggregate::uninitialize sci2_vtyoyo:NeedComms:setInactive
2026-01-21T16:36:15.770Z,1769013375.770 [sci2_vtyoyo:NeedComms](INFO): Completed sci2_vtyoyo:NeedComms
2026-01-21T16:36:15.770Z,1769013375.770 [sci2_vtyoyo:NeedComms] Stopped
2026-01-21T16:36:15.770Z,1769013375.770 [sci2_vtyoyo:NeedComms](DEBUG): Aggregate::uninitialize sci2_vtyoyo:NeedComms
2026-01-21T16:36:15.770Z,1769013375.770 [sci2_vtyoyo:NeedComms:C.GoToSurface] Stopped
2026-01-21T16:36:15.770Z,1769013375.770 [sci2_vtyoyo:NeedComms:C.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2026-01-21T16:36:16.187Z,1769013376.187 [sci2_vtyoyo:Lap:Dive] Running Loop=1
2026-01-21T16:36:16.187Z,1769013376.187 [sci2_vtyoyo:Lap:Dive](DEBUG): Aggregate::initialize sci2_vtyoyo:Lap:Dive
2026-01-21T16:36:16.187Z,1769013376.187 [sci2_vtyoyo:Lap:Dive:A] Running Loop=1
2026-01-21T16:36:16.187Z,1769013376.187 [sci2_vtyoyo:Lap:Dive:A](DEBUG): Aggregate::initialize sci2_vtyoyo:Lap:Dive:A
2026-01-21T16:36:16.187Z,1769013376.187 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink] Running Loop=1
2026-01-21T16:36:16.188Z,1769013376.188 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink](DEBUG): Aggregate::initialize sci2_vtyoyo:Lap:Dive:A:SurfaceSink
2026-01-21T16:36:16.193Z,1769013376.193 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink] Running Loop=1
2026-01-21T16:36:16.193Z,1769013376.193 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink](DEBUG): Aggregate::initialize sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink
2026-01-21T16:36:16.193Z,1769013376.193 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:BuoyancyHold.Buoyancy] Running Loop=1
2026-01-21T16:36:16.193Z,1769013376.193 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2026-01-21T16:36:16.193Z,1769013376.193 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:B.SetSpeed] Running Loop=1
2026-01-21T16:36:16.193Z,1769013376.193 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:B.SetSpeed](DEBUG): Initialize.
2026-01-21T16:36:16.193Z,1769013376.193 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:C] Running Loop=1
2026-01-21T16:36:16.193Z,1769013376.193 [sci2_vtyoyo:Lap:Dive:A:YoYoDive] Running Loop=1
2026-01-21T16:36:16.193Z,1769013376.193 [sci2_vtyoyo:Lap:Dive:A:YoYoDive](DEBUG): Aggregate::initialize sci2_vtyoyo:Lap:Dive:A:YoYoDive
2026-01-21T16:36:16.193Z,1769013376.193 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive] Running Loop=1
2026-01-21T16:36:16.194Z,1769013376.194 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive](DEBUG): Aggregate::initialize sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive
2026-01-21T16:36:16.194Z,1769013376.194 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:A.Pitch] Running Loop=1
2026-01-21T16:36:16.194Z,1769013376.194 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:A.Pitch](DEBUG): Initialize.
2026-01-21T16:36:16.194Z,1769013376.194 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:B.Buoyancy] Running Loop=1
2026-01-21T16:36:16.194Z,1769013376.194 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2026-01-21T16:36:16.194Z,1769013376.194 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:C.SetSpeed] Running Loop=1
2026-01-21T16:36:16.194Z,1769013376.194 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:C.SetSpeed](DEBUG): Initialize.
2026-01-21T16:36:16.194Z,1769013376.194 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:D.DepthEnvelope] Running Loop=1
2026-01-21T16:36:16.194Z,1769013376.194 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:D.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2026-01-21T16:36:16.195Z,1769013376.195 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:E.AltitudeEnvelope] Running Loop=1
2026-01-21T16:36:16.195Z,1769013376.195 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:E.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2026-01-21T16:36:16.195Z,1769013376.195 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:F.YoYoPARLicor] Running Loop=1
2026-01-21T16:36:16.195Z,1769013376.195 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:F.YoYoPARLicor](DEBUG): Initialize Value-Terminated YoYo.
2026-01-21T16:36:16.219Z,1769013376.219 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:G.YoYo] Running Loop=1
2026-01-21T16:36:16.219Z,1769013376.219 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:G.YoYo](DEBUG): Initialize YoYoComponent.
2026-01-21T16:36:16.219Z,1769013376.219 [sci2_vtyoyo:Lap:Dive:A:YoYoDive] Stopped
2026-01-21T16:36:16.219Z,1769013376.219 [sci2_vtyoyo:Lap:Dive:A:YoYoDive](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Lap:Dive:A:YoYoDive
2026-01-21T16:36:16.219Z,1769013376.219 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive] Stopped
2026-01-21T16:36:16.228Z,1769013376.228 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive
2026-01-21T16:36:16.228Z,1769013376.228 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:A.Pitch] Stopped
2026-01-21T16:36:16.228Z,1769013376.228 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:B.Buoyancy] Stopped
2026-01-21T16:36:16.228Z,1769013376.228 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2026-01-21T16:36:16.228Z,1769013376.228 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:C.SetSpeed] Stopped
2026-01-21T16:36:16.228Z,1769013376.228 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:C.SetSpeed](DEBUG): Uninitialize.
2026-01-21T16:36:16.228Z,1769013376.228 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:D.DepthEnvelope] Stopped
2026-01-21T16:36:16.228Z,1769013376.228 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:D.DepthEnvelope](DEBUG): Uninitialize.
2026-01-21T16:36:16.228Z,1769013376.228 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:E.AltitudeEnvelope] Stopped
2026-01-21T16:36:16.228Z,1769013376.228 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:E.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2026-01-21T16:36:16.228Z,1769013376.228 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:F.YoYoPARLicor] Stopped
2026-01-21T16:36:16.229Z,1769013376.229 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:F.YoYoPARLicor](DEBUG): Uninitialize Value-Terminated YoYo.
2026-01-21T16:36:16.230Z,1769013376.230 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:G.YoYo] Stopped
2026-01-21T16:36:16.230Z,1769013376.230 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:G.YoYo](DEBUG): Uninitialize YoYoComponent.
2026-01-21T16:36:16.230Z,1769013376.230 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:C](INFO): Sinking to  10.000000 m 
2026-01-21T16:36:16.231Z,1769013376.231 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:C] Stopped
2026-01-21T16:36:16.231Z,1769013376.231 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:D.Pitch] Running Loop=1
2026-01-21T16:36:16.231Z,1769013376.231 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:D.Pitch](DEBUG): Initialize.
2026-01-21T16:36:16.231Z,1769013376.231 [sci2_vtyoyo:manageDiveMode:syncWhileActive] Stopped
2026-01-21T16:36:16.241Z,1769013376.241 [sci2_vtyoyo:manageDiveMode:syncWhileActive](DEBUG): Aggregate::uninitialize sci2_vtyoyo:manageDiveMode:syncWhileActive
2026-01-21T16:36:16.241Z,1769013376.241 [sci2_vtyoyo:manageDiveMode:syncWhileActive:A] Stopped
2026-01-21T16:36:47.670Z,1769013407.670 [NAL9602](INFO): Not Powering down - fast GPS
2026-01-21T16:38:13.952Z,1769013493.952 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-21T16:38:16.295Z,1769013496.295 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:D.Pitch](INFO): Timed out from 2026-01-21T16:36:16.2Z
2026-01-21T16:38:16.295Z,1769013496.295 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:D.Pitch:A_Timeout] Running Loop=1
2026-01-21T16:38:16.295Z,1769013496.295 [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
2026-01-21T16:38:16.296Z,1769013496.296 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:D.Pitch:A_Timeout:A] Running Loop=1
2026-01-21T16:38:16.296Z,1769013496.296 [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  3.700228 m 
2026-01-21T16:38:16.296Z,1769013496.296 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:D.Pitch:A_Timeout:A] Stopped
2026-01-21T16:38:16.297Z,1769013496.297 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:D.Pitch:A_Timeout](INFO): Completed sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:D.Pitch:A_Timeout
2026-01-21T16:38:16.297Z,1769013496.297 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:D.Pitch] Stopped
2026-01-21T16:38:16.297Z,1769013496.297 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:E] Running Loop=1
2026-01-21T16:38:16.640Z,1769013496.640 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:E] Stopped
2026-01-21T16:38:16.640Z,1769013496.640 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink](INFO): Completed sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink
2026-01-21T16:38:16.641Z,1769013496.641 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink] Stopped
2026-01-21T16:38:16.641Z,1769013496.641 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink
2026-01-21T16:38:16.641Z,1769013496.641 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:BuoyancyHold.Buoyancy] Stopped
2026-01-21T16:38:16.641Z,1769013496.641 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2026-01-21T16:38:16.641Z,1769013496.641 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:B.SetSpeed] Stopped
2026-01-21T16:38:16.641Z,1769013496.641 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:B.SetSpeed](DEBUG): Uninitialize.
2026-01-21T16:38:16.641Z,1769013496.641 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink](INFO): Completed sci2_vtyoyo:Lap:Dive:A:SurfaceSink
2026-01-21T16:38:17.057Z,1769013497.057 [sci2_vtyoyo:Lap:Dive:A:YoYoDive] Running Loop=1
2026-01-21T16:38:17.057Z,1769013497.057 [sci2_vtyoyo:Lap:Dive:A:YoYoDive](DEBUG): Aggregate::initialize sci2_vtyoyo:Lap:Dive:A:YoYoDive
2026-01-21T16:38:17.057Z,1769013497.057 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive] Running Loop=1
2026-01-21T16:38:17.058Z,1769013497.058 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive](DEBUG): Aggregate::initialize sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive
2026-01-21T16:38:17.058Z,1769013497.058 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:A.Pitch] Running Loop=1
2026-01-21T16:38:17.058Z,1769013497.058 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:A.Pitch](DEBUG): Initialize.
2026-01-21T16:38:17.058Z,1769013497.058 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:B.Buoyancy] Running Loop=1
2026-01-21T16:38:17.058Z,1769013497.058 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2026-01-21T16:38:17.058Z,1769013497.058 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:C.SetSpeed] Running Loop=1
2026-01-21T16:38:17.058Z,1769013497.058 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:C.SetSpeed](DEBUG): Initialize.
2026-01-21T16:38:17.058Z,1769013497.058 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:D.DepthEnvelope] Running Loop=1
2026-01-21T16:38:17.058Z,1769013497.058 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:D.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2026-01-21T16:38:17.059Z,1769013497.059 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:E.AltitudeEnvelope] Running Loop=1
2026-01-21T16:38:17.059Z,1769013497.059 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:E.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2026-01-21T16:38:17.059Z,1769013497.059 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:F.YoYoPARLicor] Running Loop=1
2026-01-21T16:38:17.059Z,1769013497.059 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:F.YoYoPARLicor](DEBUG): Initialize Value-Terminated YoYo.
2026-01-21T16:38:17.063Z,1769013497.063 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:G.YoYo] Running Loop=1
2026-01-21T16:38:17.063Z,1769013497.063 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:G.YoYo](DEBUG): Initialize YoYoComponent.
2026-01-21T16:38:23.533Z,1769013503.533 [CTD_Seabird](ERROR): Failed to parse device response: 8,4.00297,4182.47
2026-01-21T16:38:44.992Z,1769013524.992 [Radio_Surface](INFO): Powering down
2026-01-21T16:38:45.088Z,1769013525.088 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-21T16:38:46.092Z,1769013526.092 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2026-01-21T16:38:53.449Z,1769013533.449 [BPC1](ERROR): BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).
2026-01-21T16:40:23.528Z,1769013623.528 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.795120
2026-01-21T16:47:05.300Z,1769014025.300 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2026-01-21T16:51:45.166Z,1769014305.166 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2026-01-21T16:57:10.529Z,1769014630.529 [BPC1](ERROR): BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).
2026-01-21T17:00:56.601Z,1769014856.601 [BPC1](INFO): Calculating totals. Valid battery stick count: 49. Valid reserve battery stick count: 5.
2026-01-21T17:00:56.605Z,1769014856.605 [BPC1](FAULT): Failed to receive data from 8 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 1, 2, 3, 4, 5, 6, 7, 8.
2026-01-21T17:32:47.306Z,1769016767.306 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2026-01-21T17:41:58.536Z,1769017318.536 [BPC1](INFO): Calculating totals. Valid battery stick count: 49. Valid reserve battery stick count: 5.
2026-01-21T17:41:58.539Z,1769017318.539 [BPC1](FAULT): Failed to receive data from 8 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 1, 2, 3, 4, 5, 6, 7, 8.
2026-01-21T18:04:12.263Z,1769018652.263 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2026-01-21T18:12:34.977Z,1769019154.977 [sci2_vtyoyo:NeedComms] Running Loop=1
2026-01-21T18:12:34.977Z,1769019154.977 [sci2_vtyoyo:NeedComms](DEBUG): Aggregate::initialize sci2_vtyoyo:NeedComms
2026-01-21T18:12:34.977Z,1769019154.977 [sci2_vtyoyo:NeedComms:C.GoToSurface] Running Loop=1
2026-01-21T18:12:34.977Z,1769019154.977 [sci2_vtyoyo:NeedComms:C.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2026-01-21T18:12:34.977Z,1769019154.977 [sci2_vtyoyo:NeedComms:C.GoToSurface](INFO): Received depth rate setting nan m/s.
2026-01-21T18:12:34.978Z,1769019154.978 [sci2_vtyoyo:NeedComms:C.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2026-01-21T18:12:34.978Z,1769019154.978 [sci2_vtyoyo:NeedComms:C.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2026-01-21T18:12:34.978Z,1769019154.978 [sci2_vtyoyo:NeedComms:C.GoToSurface](INFO): Received surface timeout setting 1500.000000 seconds.
2026-01-21T18:12:34.979Z,1769019154.979 [sci2_vtyoyo:NeedComms:C.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2026-01-21T18:12:34.979Z,1769019154.979 [sci2_vtyoyo:NeedComms:C.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2026-01-21T18:12:34.979Z,1769019154.979 [sci2_vtyoyo:NeedComms:A] Running Loop=1
2026-01-21T18:12:34.981Z,1769019154.981 [sci2_vtyoyo:NeedComms:A](INFO): last time_fix was:  1769013372.000000 second since 1970/01/01T00:00:00Z 
2026-01-21T18:12:34.981Z,1769019154.981 [sci2_vtyoyo:NeedComms:A] Stopped
2026-01-21T18:12:34.981Z,1769019154.981 [sci2_vtyoyo:NeedComms:setActive] Running Loop=1
2026-01-21T18:12:34.981Z,1769019154.981 [sci2_vtyoyo:NeedComms:setActive](DEBUG): Aggregate::initialize sci2_vtyoyo:NeedComms:setActive
2026-01-21T18:12:34.982Z,1769019154.981 [sci2_vtyoyo:NeedComms:setActive:A] Running Loop=1
2026-01-21T18:12:35.394Z,1769019155.394 [sci2_vtyoyo:NeedComms:setActive:A] Stopped
2026-01-21T18:12:35.394Z,1769019155.394 [sci2_vtyoyo:NeedComms:setActive:B] Running Loop=1
2026-01-21T18:12:35.806Z,1769019155.806 [sci2_vtyoyo:NeedComms:setActive:B] Stopped
2026-01-21T18:12:35.806Z,1769019155.806 [sci2_vtyoyo:NeedComms:setActive](INFO): Completed sci2_vtyoyo:NeedComms:setActive
2026-01-21T18:12:35.806Z,1769019155.806 [sci2_vtyoyo:NeedComms:setActive] Stopped
2026-01-21T18:12:35.806Z,1769019155.806 [sci2_vtyoyo:NeedComms:setActive](DEBUG): Aggregate::uninitialize sci2_vtyoyo:NeedComms:setActive
2026-01-21T18:12:36.187Z,1769019156.187 [sci2_vtyoyo:manageDiveMode:syncWhileActive] Running Loop=1
2026-01-21T18:12:36.187Z,1769019156.187 [sci2_vtyoyo:manageDiveMode:syncWhileActive](DEBUG): Aggregate::initialize sci2_vtyoyo:manageDiveMode:syncWhileActive
2026-01-21T18:12:36.187Z,1769019156.187 [sci2_vtyoyo:manageDiveMode:syncWhileActive:A] Running Loop=1
2026-01-21T18:12:36.619Z,1769019156.619 [sci2_vtyoyo:Lap:Dive] Stopped
2026-01-21T18:12:36.619Z,1769019156.619 [sci2_vtyoyo:Lap:Dive](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Lap:Dive
2026-01-21T18:12:36.619Z,1769019156.619 [sci2_vtyoyo:Lap:Dive:A] Stopped
2026-01-21T18:12:36.619Z,1769019156.619 [sci2_vtyoyo:Lap:Dive:A](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Lap:Dive:A
2026-01-21T18:12:36.619Z,1769019156.619 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink] Stopped
2026-01-21T18:12:36.619Z,1769019156.619 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Lap:Dive:A:SurfaceSink
2026-01-21T18:12:36.619Z,1769019156.619 [sci2_vtyoyo:Lap:Dive:A:YoYoDive] Stopped
2026-01-21T18:12:36.620Z,1769019156.620 [sci2_vtyoyo:Lap:Dive:A:YoYoDive](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Lap:Dive:A:YoYoDive
2026-01-21T18:12:36.620Z,1769019156.620 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive] Stopped
2026-01-21T18:12:36.620Z,1769019156.620 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive
2026-01-21T18:12:36.620Z,1769019156.620 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:A.Pitch] Stopped
2026-01-21T18:12:36.620Z,1769019156.620 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:B.Buoyancy] Stopped
2026-01-21T18:12:36.620Z,1769019156.620 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2026-01-21T18:12:36.620Z,1769019156.620 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:C.SetSpeed] Stopped
2026-01-21T18:12:36.620Z,1769019156.620 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:C.SetSpeed](DEBUG): Uninitialize.
2026-01-21T18:12:36.620Z,1769019156.620 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:D.DepthEnvelope] Stopped
2026-01-21T18:12:36.620Z,1769019156.620 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:D.DepthEnvelope](DEBUG): Uninitialize.
2026-01-21T18:12:36.621Z,1769019156.621 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:E.AltitudeEnvelope] Stopped
2026-01-21T18:12:36.621Z,1769019156.621 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:E.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2026-01-21T18:12:36.621Z,1769019156.621 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:F.YoYoPARLicor] Stopped
2026-01-21T18:12:36.621Z,1769019156.621 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:F.YoYoPARLicor](DEBUG): Uninitialize Value-Terminated YoYo.
2026-01-21T18:12:36.622Z,1769019156.622 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:G.YoYo] Stopped
2026-01-21T18:12:36.622Z,1769019156.622 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:G.YoYo](DEBUG): Uninitialize YoYoComponent.
2026-01-21T18:13:48.871Z,1769019228.871 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2026-01-21T18:15:58.825Z,1769019358.825 [CTD_Seabird](ERROR): Failed to parse device response: 12.19.78
2026-01-21T18:16:31.401Z,1769019391.401 [sci2_vtyoyo:NeedComms:D] Running Loop=1
2026-01-21T18:16:32.056Z,1769019392.056 [Radio_Surface](INFO): Powering up
2026-01-21T18:16:37.464Z,1769019397.464 [DataOverHttps](INFO): Radio surface powered ON.
2026-01-21T18:17:07.584Z,1769019427.584 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-21T18:17:19.169Z,1769019439.169 [CTD_Seabird](ERROR): Failed to parse device response: .43
2026-01-21T18:17:38.714Z,1769019458.714 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-21T18:17:44.509Z,1769019464.509 [BPC1](ERROR): BPC1A: No match for serial number 1717 in BPC1A's battery stick inventory (sticks 1-31 in onboard configuration file).
2026-01-21T18:18:09.836Z,1769019489.836 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-21T18:18:40.960Z,1769019520.960 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-21T18:18:49.737Z,1769019529.737 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003346
2026-01-21T18:21:35.605Z,1769019695.605 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2026-01-21T18:21:44.092Z,1769019704.092 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,182141.00,A,3652.10489,N,12205.16405,W,1.672,291.19,210126,,,D*74
2026-01-21T18:21:44.094Z,1769019704.094 [NAL9602](INFO): GPS fix at 20260121T182141: (36.868415, -122.086067)
2026-01-21T18:21:44.106Z,1769019704.106 [UniversalFixResidualReporter](INFO): Fix residual: 69.7 %DT, over the last 3576.7 m. Residual distance 2491.8 m at bearing 128.0 degrees. Fix at (36.8684, -122.0861) with 1444.6 m made good.
2026-01-21T18:21:44.108Z,1769019704.108 [sci2_vtyoyo:Lap:Wpt1:A.Waypoint](INFO): Navigating to waypoint: 36.797001,-121.847000
2026-01-21T18:21:44.113Z,1769019704.113 [sci2_vtyoyo:NeedComms:D] Stopped
2026-01-21T18:21:44.113Z,1769019704.113 [sci2_vtyoyo:NeedComms:E] Running Loop=1
2026-01-21T18:21:52.000Z,1769019712.000 [DataOverHttps](INFO): Sending 98 bytes from file Logs/20260121T144500/Courier0006.lzma
2026-01-21T18:21:53.003Z,1769019713.003 [DataOverHttps](INFO): Moved sent file to Logs/20260121T144500/Courier0006.lzma.bak
2026-01-21T18:21:53.003Z,1769019713.003 [DataOverHttps](INFO): SBD MOMSN=26584476
2026-01-21T18:22:09.463Z,1769019729.463 [DataOverHttps](INFO): Sending 1388 bytes from file Logs/20260121T144500/Express0007.lzma
2026-01-21T18:22:10.462Z,1769019730.462 [DataOverHttps](INFO): Moved sent file to Logs/20260121T144500/Express0007.lzma.bak
2026-01-21T18:22:10.462Z,1769019730.462 [DataOverHttps](INFO): SBD MOMSN=26584479
2026-01-21T18:22:11.989Z,1769019731.989 [sci2_vtyoyo:NeedComms:E] Stopped
2026-01-21T18:22:11.989Z,1769019731.989 [sci2_vtyoyo:NeedComms:F] Running Loop=1
2026-01-21T18:22:13.999Z,1769019733.999 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,182211.00,A,3652.10876,N,12205.17121,W,1.788,299.64,210126,,,D*7A
2026-01-21T18:22:14.016Z,1769019734.016 [NAL9602](INFO): GPS fix at 20260121T182211: (36.868479, -122.086187)
2026-01-21T18:22:14.040Z,1769019734.040 [sci2_vtyoyo:Lap:Wpt1:A.Waypoint](INFO): Navigating to waypoint: 36.797001,-121.847000
2026-01-21T18:22:14.045Z,1769019734.045 [sci2_vtyoyo:NeedComms:F] Stopped
2026-01-21T18:22:14.045Z,1769019734.045 [sci2_vtyoyo:NeedComms:setRestoreMode] Running Loop=1
2026-01-21T18:22:14.045Z,1769019734.045 [sci2_vtyoyo:NeedComms:setRestoreMode](DEBUG): Aggregate::initialize sci2_vtyoyo:NeedComms:setRestoreMode
2026-01-21T18:22:14.045Z,1769019734.045 [sci2_vtyoyo:NeedComms:setRestoreMode:A] Running Loop=1
2026-01-21T18:22:14.601Z,1769019734.601 [sci2_vtyoyo:NeedComms:setRestoreMode:A] Stopped
2026-01-21T18:22:14.601Z,1769019734.601 [sci2_vtyoyo:NeedComms:setRestoreMode](INFO): Completed sci2_vtyoyo:NeedComms:setRestoreMode
2026-01-21T18:22:14.601Z,1769019734.601 [sci2_vtyoyo:NeedComms:setRestoreMode] Stopped
2026-01-21T18:22:14.601Z,1769019734.601 [sci2_vtyoyo:NeedComms:setRestoreMode](DEBUG): Aggregate::uninitialize sci2_vtyoyo:NeedComms:setRestoreMode
2026-01-21T18:22:14.601Z,1769019734.601 [sci2_vtyoyo:NeedComms:setInactive] Running Loop=1
2026-01-21T18:22:14.601Z,1769019734.601 [sci2_vtyoyo:NeedComms:setInactive](DEBUG): Aggregate::initialize sci2_vtyoyo:NeedComms:setInactive
2026-01-21T18:22:14.602Z,1769019734.602 [sci2_vtyoyo:NeedComms:setInactive:A] Running Loop=1
2026-01-21T18:22:14.873Z,1769019734.873 [sci2_vtyoyo:NeedComms:setInactive:A] Stopped
2026-01-21T18:22:14.873Z,1769019734.873 [sci2_vtyoyo:NeedComms:setInactive](INFO): Completed sci2_vtyoyo:NeedComms:setInactive
2026-01-21T18:22:14.873Z,1769019734.873 [sci2_vtyoyo:NeedComms:setInactive] Stopped
2026-01-21T18:22:14.873Z,1769019734.873 [sci2_vtyoyo:NeedComms:setInactive](DEBUG): Aggregate::uninitialize sci2_vtyoyo:NeedComms:setInactive
2026-01-21T18:22:14.874Z,1769019734.874 [sci2_vtyoyo:NeedComms](INFO): Completed sci2_vtyoyo:NeedComms
2026-01-21T18:22:14.874Z,1769019734.874 [sci2_vtyoyo:NeedComms] Stopped
2026-01-21T18:22:14.874Z,1769019734.874 [sci2_vtyoyo:NeedComms](DEBUG): Aggregate::uninitialize sci2_vtyoyo:NeedComms
2026-01-21T18:22:14.874Z,1769019734.874 [sci2_vtyoyo:NeedComms:C.GoToSurface] Stopped
2026-01-21T18:22:14.874Z,1769019734.874 [sci2_vtyoyo:NeedComms:C.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2026-01-21T18:22:15.241Z,1769019735.241 [sci2_vtyoyo:Lap:Dive] Running Loop=1
2026-01-21T18:22:15.241Z,1769019735.241 [sci2_vtyoyo:Lap:Dive](DEBUG): Aggregate::initialize sci2_vtyoyo:Lap:Dive
2026-01-21T18:22:15.241Z,1769019735.241 [sci2_vtyoyo:Lap:Dive:A] Running Loop=1
2026-01-21T18:22:15.241Z,1769019735.241 [sci2_vtyoyo:Lap:Dive:A](DEBUG): Aggregate::initialize sci2_vtyoyo:Lap:Dive:A
2026-01-21T18:22:15.241Z,1769019735.241 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink] Running Loop=1
2026-01-21T18:22:15.242Z,1769019735.242 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink](DEBUG): Aggregate::initialize sci2_vtyoyo:Lap:Dive:A:SurfaceSink
2026-01-21T18:22:15.242Z,1769019735.242 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink] Running Loop=1
2026-01-21T18:22:15.242Z,1769019735.242 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink](DEBUG): Aggregate::initialize sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink
2026-01-21T18:22:15.242Z,1769019735.242 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:BuoyancyHold.Buoyancy] Running Loop=1
2026-01-21T18:22:15.242Z,1769019735.242 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2026-01-21T18:22:15.242Z,1769019735.242 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:B.SetSpeed] Running Loop=1
2026-01-21T18:22:15.242Z,1769019735.242 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:B.SetSpeed](DEBUG): Initialize.
2026-01-21T18:22:15.242Z,1769019735.242 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:C] Running Loop=1
2026-01-21T18:22:15.242Z,1769019735.242 [sci2_vtyoyo:Lap:Dive:A:YoYoDive] Running Loop=1
2026-01-21T18:22:15.243Z,1769019735.243 [sci2_vtyoyo:Lap:Dive:A:YoYoDive](DEBUG): Aggregate::initialize sci2_vtyoyo:Lap:Dive:A:YoYoDive
2026-01-21T18:22:15.243Z,1769019735.243 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive] Running Loop=1
2026-01-21T18:22:15.243Z,1769019735.243 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive](DEBUG): Aggregate::initialize sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive
2026-01-21T18:22:15.243Z,1769019735.243 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:A.Pitch] Running Loop=1
2026-01-21T18:22:15.243Z,1769019735.243 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:A.Pitch](DEBUG): Initialize.
2026-01-21T18:22:15.243Z,1769019735.243 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:B.Buoyancy] Running Loop=1
2026-01-21T18:22:15.243Z,1769019735.243 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2026-01-21T18:22:15.243Z,1769019735.243 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:C.SetSpeed] Running Loop=1
2026-01-21T18:22:15.243Z,1769019735.243 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:C.SetSpeed](DEBUG): Initialize.
2026-01-21T18:22:15.243Z,1769019735.243 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:D.DepthEnvelope] Running Loop=1
2026-01-21T18:22:15.249Z,1769019735.249 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:D.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2026-01-21T18:22:15.249Z,1769019735.249 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:E.AltitudeEnvelope] Running Loop=1
2026-01-21T18:22:15.249Z,1769019735.249 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:E.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2026-01-21T18:22:15.249Z,1769019735.249 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:F.YoYoPARLicor] Running Loop=1
2026-01-21T18:22:15.249Z,1769019735.249 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:F.YoYoPARLicor](DEBUG): Initialize Value-Terminated YoYo.
2026-01-21T18:22:15.253Z,1769019735.253 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:G.YoYo] Running Loop=1
2026-01-21T18:22:15.253Z,1769019735.253 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:G.YoYo](DEBUG): Initialize YoYoComponent.
2026-01-21T18:22:15.254Z,1769019735.254 [sci2_vtyoyo:Lap:Dive:A:YoYoDive] Stopped
2026-01-21T18:22:15.254Z,1769019735.254 [sci2_vtyoyo:Lap:Dive:A:YoYoDive](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Lap:Dive:A:YoYoDive
2026-01-21T18:22:15.254Z,1769019735.254 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive] Stopped
2026-01-21T18:22:15.254Z,1769019735.254 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive
2026-01-21T18:22:15.254Z,1769019735.254 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:A.Pitch] Stopped
2026-01-21T18:22:15.254Z,1769019735.254 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:B.Buoyancy] Stopped
2026-01-21T18:22:15.254Z,1769019735.254 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2026-01-21T18:22:15.254Z,1769019735.254 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:C.SetSpeed] Stopped
2026-01-21T18:22:15.255Z,1769019735.255 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:C.SetSpeed](DEBUG): Uninitialize.
2026-01-21T18:22:15.255Z,1769019735.255 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:D.DepthEnvelope] Stopped
2026-01-21T18:22:15.255Z,1769019735.255 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:D.DepthEnvelope](DEBUG): Uninitialize.
2026-01-21T18:22:15.255Z,1769019735.255 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:E.AltitudeEnvelope] Stopped
2026-01-21T18:22:15.255Z,1769019735.255 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:E.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2026-01-21T18:22:15.255Z,1769019735.255 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:F.YoYoPARLicor] Stopped
2026-01-21T18:22:15.255Z,1769019735.255 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:F.YoYoPARLicor](DEBUG): Uninitialize Value-Terminated YoYo.
2026-01-21T18:22:15.260Z,1769019735.260 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:G.YoYo] Stopped
2026-01-21T18:22:15.260Z,1769019735.260 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:G.YoYo](DEBUG): Uninitialize YoYoComponent.
2026-01-21T18:22:15.261Z,1769019735.261 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:C](INFO): Sinking to  10.000000 m 
2026-01-21T18:22:15.261Z,1769019735.261 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:C] Stopped
2026-01-21T18:22:15.261Z,1769019735.261 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:D.Pitch] Running Loop=1
2026-01-21T18:22:15.261Z,1769019735.261 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:D.Pitch](DEBUG): Initialize.
2026-01-21T18:22:15.262Z,1769019735.262 [sci2_vtyoyo:manageDiveMode:syncWhileActive] Stopped
2026-01-21T18:22:15.262Z,1769019735.262 [sci2_vtyoyo:manageDiveMode:syncWhileActive](DEBUG): Aggregate::uninitialize sci2_vtyoyo:manageDiveMode:syncWhileActive
2026-01-21T18:22:15.262Z,1769019735.262 [sci2_vtyoyo:manageDiveMode:syncWhileActive:A] Stopped
2026-01-21T18:22:46.817Z,1769019766.817 [NAL9602](INFO): Not Powering down - fast GPS
2026-01-21T18:23:00.227Z,1769019780.227 [BPC1](INFO): Calculating totals. Valid battery stick count: 49. Valid reserve battery stick count: 5.
2026-01-21T18:23:00.231Z,1769019780.231 [BPC1](FAULT): Failed to receive data from 8 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 1, 2, 3, 4, 5, 6, 7, 8.
2026-01-21T18:24:12.608Z,1769019852.608 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-21T18:24:15.438Z,1769019855.438 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:D.Pitch](INFO): Timed out from 2026-01-21T18:22:15.3Z
2026-01-21T18:24:15.438Z,1769019855.438 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:D.Pitch:A_Timeout] Running Loop=1
2026-01-21T18:24:15.438Z,1769019855.438 [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
2026-01-21T18:24:15.438Z,1769019855.438 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:D.Pitch:A_Timeout:A] Running Loop=1
2026-01-21T18:24:15.439Z,1769019855.439 [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  3.512199 m 
2026-01-21T18:24:15.439Z,1769019855.439 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:D.Pitch:A_Timeout:A] Stopped
2026-01-21T18:24:15.439Z,1769019855.439 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:D.Pitch:A_Timeout](INFO): Completed sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:D.Pitch:A_Timeout
2026-01-21T18:24:15.439Z,1769019855.439 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:D.Pitch] Stopped
2026-01-21T18:24:15.439Z,1769019855.439 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:E] Running Loop=1
2026-01-21T18:24:15.825Z,1769019855.825 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:E] Stopped
2026-01-21T18:24:15.825Z,1769019855.825 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink](INFO): Completed sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink
2026-01-21T18:24:15.825Z,1769019855.825 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink] Stopped
2026-01-21T18:24:15.825Z,1769019855.825 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink
2026-01-21T18:24:15.825Z,1769019855.825 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:BuoyancyHold.Buoyancy] Stopped
2026-01-21T18:24:15.826Z,1769019855.826 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2026-01-21T18:24:15.826Z,1769019855.826 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:B.SetSpeed] Stopped
2026-01-21T18:24:15.826Z,1769019855.826 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:B.SetSpeed](DEBUG): Uninitialize.
2026-01-21T18:24:15.826Z,1769019855.826 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink](INFO): Completed sci2_vtyoyo:Lap:Dive:A:SurfaceSink
2026-01-21T18:24:16.231Z,1769019856.231 [sci2_vtyoyo:Lap:Dive:A:YoYoDive] Running Loop=1
2026-01-21T18:24:16.231Z,1769019856.231 [sci2_vtyoyo:Lap:Dive:A:YoYoDive](DEBUG): Aggregate::initialize sci2_vtyoyo:Lap:Dive:A:YoYoDive
2026-01-21T18:24:16.231Z,1769019856.231 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive] Running Loop=1
2026-01-21T18:24:16.231Z,1769019856.231 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive](DEBUG): Aggregate::initialize sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive
2026-01-21T18:24:16.231Z,1769019856.231 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:A.Pitch] Running Loop=1
2026-01-21T18:24:16.231Z,1769019856.231 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:A.Pitch](DEBUG): Initialize.
2026-01-21T18:24:16.231Z,1769019856.231 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:B.Buoyancy] Running Loop=1
2026-01-21T18:24:16.231Z,1769019856.231 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2026-01-21T18:24:16.231Z,1769019856.231 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:C.SetSpeed] Running Loop=1
2026-01-21T18:24:16.231Z,1769019856.231 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:C.SetSpeed](DEBUG): Initialize.
2026-01-21T18:24:16.232Z,1769019856.232 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:D.DepthEnvelope] Running Loop=1
2026-01-21T18:24:16.232Z,1769019856.232 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:D.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2026-01-21T18:24:16.232Z,1769019856.232 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:E.AltitudeEnvelope] Running Loop=1
2026-01-21T18:24:16.232Z,1769019856.232 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:E.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2026-01-21T18:24:16.232Z,1769019856.232 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:F.YoYoPARLicor] Running Loop=1
2026-01-21T18:24:16.232Z,1769019856.232 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:F.YoYoPARLicor](DEBUG): Initialize Value-Terminated YoYo.
2026-01-21T18:24:16.236Z,1769019856.236 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:G.YoYo] Running Loop=1
2026-01-21T18:24:16.236Z,1769019856.236 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:G.YoYo](DEBUG): Initialize YoYoComponent.
2026-01-21T18:24:43.764Z,1769019883.764 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-21T18:24:44.184Z,1769019884.184 [Radio_Surface](INFO): Powering down
2026-01-21T18:24:44.769Z,1769019884.769 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2026-01-21T18:25:31.221Z,1769019931.221 [CTD_Seabird](ERROR): Failed to parse device response: 75,3870.12
2026-01-21T18:26:21.160Z,1769019981.160 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.775269
2026-01-21T18:45:14.147Z,1769021114.147 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2026-01-21T18:50:16.369Z,1769021416.369 [CTD_Seabird](ERROR): Failed to parse device response: 4,3.99549,3527.90
2026-01-21T18:53:15.477Z,1769021595.477 [BPC1](ERROR): BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).
2026-01-21T19:04:02.151Z,1769022242.151 [BPC1](INFO): Calculating totals. Valid battery stick count: 49. Valid reserve battery stick count: 5.
2026-01-21T19:04:02.155Z,1769022242.155 [BPC1](FAULT): Failed to receive data from 8 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 1, 2, 3, 4, 5, 6, 7, 8.
2026-01-21T19:18:46.086Z,1769023126.086 [BPC1](ERROR): BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).
2026-01-21T19:26:16.142Z,1769023576.142 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2026-01-21T19:26:52.469Z,1769023612.469 [CTD_Seabird](ERROR): Failed to parse device response: 58.00.86
2026-01-21T19:35:52.561Z,1769024152.561 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2026-01-21T19:45:04.174Z,1769024704.174 [BPC1](INFO): Calculating totals. Valid battery stick count: 49. Valid reserve battery stick count: 5.
2026-01-21T19:45:04.177Z,1769024704.177 [BPC1](FAULT): Failed to receive data from 8 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 1, 2, 3, 4, 5, 6, 7, 8.
2026-01-21T19:51:37.633Z,1769025097.633 [CTD_Seabird](ERROR): Failed to parse device response: .74
2026-01-21T19:56:36.549Z,1769025396.549 [sci2_vtyoyo:NeedComms] Running Loop=1
2026-01-21T19:56:36.549Z,1769025396.549 [sci2_vtyoyo:NeedComms](DEBUG): Aggregate::initialize sci2_vtyoyo:NeedComms
2026-01-21T19:56:36.549Z,1769025396.549 [sci2_vtyoyo:NeedComms:C.GoToSurface] Running Loop=1
2026-01-21T19:56:36.549Z,1769025396.549 [sci2_vtyoyo:NeedComms:C.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2026-01-21T19:56:36.549Z,1769025396.549 [sci2_vtyoyo:NeedComms:C.GoToSurface](INFO): Received depth rate setting nan m/s.
2026-01-21T19:56:36.550Z,1769025396.550 [sci2_vtyoyo:NeedComms:C.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2026-01-21T19:56:36.550Z,1769025396.550 [sci2_vtyoyo:NeedComms:C.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2026-01-21T19:56:36.550Z,1769025396.550 [sci2_vtyoyo:NeedComms:C.GoToSurface](INFO): Received surface timeout setting 1500.000000 seconds.
2026-01-21T19:56:36.551Z,1769025396.551 [sci2_vtyoyo:NeedComms:C.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2026-01-21T19:56:36.551Z,1769025396.551 [sci2_vtyoyo:NeedComms:C.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2026-01-21T19:56:36.551Z,1769025396.551 [sci2_vtyoyo:NeedComms:A] Running Loop=1
2026-01-21T19:56:36.573Z,1769025396.573 [sci2_vtyoyo:NeedComms:A](INFO): last time_fix was:  1769019731.000000 second since 1970/01/01T00:00:00Z 
2026-01-21T19:56:36.573Z,1769025396.573 [sci2_vtyoyo:NeedComms:A] Stopped
2026-01-21T19:56:36.573Z,1769025396.573 [sci2_vtyoyo:NeedComms:setActive] Running Loop=1
2026-01-21T19:56:36.574Z,1769025396.574 [sci2_vtyoyo:NeedComms:setActive](DEBUG): Aggregate::initialize sci2_vtyoyo:NeedComms:setActive
2026-01-21T19:56:36.574Z,1769025396.574 [sci2_vtyoyo:NeedComms:setActive:A] Running Loop=1
2026-01-21T19:56:36.958Z,1769025396.958 [sci2_vtyoyo:NeedComms:setActive:A] Stopped
2026-01-21T19:56:36.958Z,1769025396.958 [sci2_vtyoyo:NeedComms:setActive:B] Running Loop=1
2026-01-21T19:56:37.362Z,1769025397.362 [sci2_vtyoyo:NeedComms:setActive:B] Stopped
2026-01-21T19:56:37.362Z,1769025397.362 [sci2_vtyoyo:NeedComms:setActive](INFO): Completed sci2_vtyoyo:NeedComms:setActive
2026-01-21T19:56:37.362Z,1769025397.362 [sci2_vtyoyo:NeedComms:setActive] Stopped
2026-01-21T19:56:37.362Z,1769025397.362 [sci2_vtyoyo:NeedComms:setActive](DEBUG): Aggregate::uninitialize sci2_vtyoyo:NeedComms:setActive
2026-01-21T19:56:37.774Z,1769025397.774 [sci2_vtyoyo:manageDiveMode:syncWhileActive] Running Loop=1
2026-01-21T19:56:37.774Z,1769025397.774 [sci2_vtyoyo:manageDiveMode:syncWhileActive](DEBUG): Aggregate::initialize sci2_vtyoyo:manageDiveMode:syncWhileActive
2026-01-21T19:56:37.774Z,1769025397.774 [sci2_vtyoyo:manageDiveMode:syncWhileActive:A] Running Loop=1
2026-01-21T19:56:38.156Z,1769025398.156 [sci2_vtyoyo:Lap:Dive] Stopped
2026-01-21T19:56:38.156Z,1769025398.156 [sci2_vtyoyo:Lap:Dive](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Lap:Dive
2026-01-21T19:56:38.156Z,1769025398.156 [sci2_vtyoyo:Lap:Dive:A] Stopped
2026-01-21T19:56:38.157Z,1769025398.157 [sci2_vtyoyo:Lap:Dive:A](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Lap:Dive:A
2026-01-21T19:56:38.157Z,1769025398.157 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink] Stopped
2026-01-21T19:56:38.157Z,1769025398.157 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Lap:Dive:A:SurfaceSink
2026-01-21T19:56:38.157Z,1769025398.157 [sci2_vtyoyo:Lap:Dive:A:YoYoDive] Stopped
2026-01-21T19:56:38.157Z,1769025398.157 [sci2_vtyoyo:Lap:Dive:A:YoYoDive](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Lap:Dive:A:YoYoDive
2026-01-21T19:56:38.157Z,1769025398.157 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive] Stopped
2026-01-21T19:56:38.157Z,1769025398.157 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive
2026-01-21T19:56:38.157Z,1769025398.157 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:A.Pitch] Stopped
2026-01-21T19:56:38.157Z,1769025398.157 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:B.Buoyancy] Stopped
2026-01-21T19:56:38.157Z,1769025398.157 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2026-01-21T19:56:38.157Z,1769025398.157 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:C.SetSpeed] Stopped
2026-01-21T19:56:38.157Z,1769025398.157 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:C.SetSpeed](DEBUG): Uninitialize.
2026-01-21T19:56:38.158Z,1769025398.158 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:D.DepthEnvelope] Stopped
2026-01-21T19:56:38.158Z,1769025398.158 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:D.DepthEnvelope](DEBUG): Uninitialize.
2026-01-21T19:56:38.158Z,1769025398.158 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:E.AltitudeEnvelope] Stopped
2026-01-21T19:56:38.158Z,1769025398.158 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:E.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2026-01-21T19:56:38.158Z,1769025398.158 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:F.YoYoPARLicor] Stopped
2026-01-21T19:56:38.158Z,1769025398.158 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:F.YoYoPARLicor](DEBUG): Uninitialize Value-Terminated YoYo.
2026-01-21T19:56:38.159Z,1769025398.159 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:G.YoYo] Stopped
2026-01-21T19:56:38.159Z,1769025398.159 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:G.YoYo](DEBUG): Uninitialize YoYoComponent.
2026-01-21T20:00:32.189Z,1769025632.189 [sci2_vtyoyo:NeedComms:D] Running Loop=1
2026-01-21T20:00:32.920Z,1769025632.920 [Radio_Surface](INFO): Powering up
2026-01-21T20:00:38.548Z,1769025638.548 [DataOverHttps](INFO): Radio surface powered ON.
2026-01-21T20:01:04.894Z,1769025664.894 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2026-01-21T20:01:04.976Z,1769025664.976 [NAL9602](ERROR): received: 
+CSQ:0

OK351, 2, 0, 0, 0

OK
2026-01-21T20:01:08.668Z,1769025668.668 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-21T20:01:39.792Z,1769025699.792 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-21T20:02:10.916Z,1769025730.916 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-21T20:02:42.044Z,1769025762.044 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-21T20:02:51.151Z,1769025771.151 [NAL9602](INFO): SBD MO Status=1, MOMSN=25351, MT Status=0, MTMSN=0
2026-01-21T20:02:51.151Z,1769025771.151 [NAL9602](INFO): No messages in MT queue
2026-01-21T20:02:51.377Z,1769025771.377 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003358
2026-01-21T20:02:52.359Z,1769025772.359 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,200249.00,A,3652.17655,N,12204.07452,W,0.680,296.27,210126,,,D*77
2026-01-21T20:02:52.362Z,1769025772.362 [NAL9602](INFO): GPS fix at 20260121T200249: (36.869609, -122.067909)
2026-01-21T20:02:52.374Z,1769025772.374 [UniversalFixResidualReporter](INFO): Fix residual: 60.4 %DT, over the last 3500.8 m. Residual distance 2114.9 m at bearing 130.2 degrees. Fix at (36.8696, -122.0679) with 1630.8 m made good.
2026-01-21T20:02:52.377Z,1769025772.377 [sci2_vtyoyo:Lap:Wpt1:A.Waypoint](INFO): Navigating to waypoint: 36.797001,-121.847000
2026-01-21T20:02:52.381Z,1769025772.381 [sci2_vtyoyo:NeedComms:D] Stopped
2026-01-21T20:02:52.381Z,1769025772.381 [sci2_vtyoyo:NeedComms:E] Running Loop=1
2026-01-21T20:03:00.435Z,1769025780.435 [DataOverHttps](INFO): Sending 99 bytes from file Logs/20260121T144500/Courier0009.lzma
2026-01-21T20:03:01.438Z,1769025781.438 [DataOverHttps](INFO): Moved sent file to Logs/20260121T144500/Courier0009.lzma.bak
2026-01-21T20:03:01.438Z,1769025781.438 [DataOverHttps](INFO): SBD MOMSN=26584563
2026-01-21T20:03:18.242Z,1769025798.242 [DataOverHttps](INFO): Sending 1287 bytes from file Logs/20260121T144500/Express0010.lzma
2026-01-21T20:03:24.680Z,1769025804.680 [NAL9602](INFO): Not Powering down - fast GPS
2026-01-21T20:03:25.266Z,1769025805.266 [DataOverHttps](INFO): Moved sent file to Logs/20260121T144500/Express0010.lzma.bak
2026-01-21T20:03:25.266Z,1769025805.266 [DataOverHttps](INFO): SBD MOMSN=26584568
2026-01-21T20:03:26.750Z,1769025806.750 [sci2_vtyoyo:NeedComms:E] Stopped
2026-01-21T20:03:26.752Z,1769025806.752 [sci2_vtyoyo:NeedComms:F] Running Loop=1
2026-01-21T20:03:28.739Z,1769025808.739 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,200325.00,A,3652.18030,N,12204.08084,W,0.603,4.61,210126,,,D*76
2026-01-21T20:03:28.742Z,1769025808.742 [NAL9602](INFO): GPS fix at 20260121T200325: (36.869672, -122.068014)
2026-01-21T20:03:28.765Z,1769025808.765 [sci2_vtyoyo:Lap:Wpt1:A.Waypoint](INFO): Navigating to waypoint: 36.797001,-121.847000
2026-01-21T20:03:28.769Z,1769025808.769 [sci2_vtyoyo:NeedComms:F] Stopped
2026-01-21T20:03:28.769Z,1769025808.769 [sci2_vtyoyo:NeedComms:setRestoreMode] Running Loop=1
2026-01-21T20:03:28.769Z,1769025808.769 [sci2_vtyoyo:NeedComms:setRestoreMode](DEBUG): Aggregate::initialize sci2_vtyoyo:NeedComms:setRestoreMode
2026-01-21T20:03:28.769Z,1769025808.769 [sci2_vtyoyo:NeedComms:setRestoreMode:A] Running Loop=1
2026-01-21T20:03:29.189Z,1769025809.189 [sci2_vtyoyo:NeedComms:setRestoreMode:A] Stopped
2026-01-21T20:03:29.189Z,1769025809.189 [sci2_vtyoyo:NeedComms:setRestoreMode](INFO): Completed sci2_vtyoyo:NeedComms:setRestoreMode
2026-01-21T20:03:29.189Z,1769025809.189 [sci2_vtyoyo:NeedComms:setRestoreMode] Stopped
2026-01-21T20:03:29.189Z,1769025809.189 [sci2_vtyoyo:NeedComms:setRestoreMode](DEBUG): Aggregate::uninitialize sci2_vtyoyo:NeedComms:setRestoreMode
2026-01-21T20:03:29.189Z,1769025809.189 [sci2_vtyoyo:NeedComms:setInactive] Running Loop=1
2026-01-21T20:03:29.189Z,1769025809.189 [sci2_vtyoyo:NeedComms:setInactive](DEBUG): Aggregate::initialize sci2_vtyoyo:NeedComms:setInactive
2026-01-21T20:03:29.190Z,1769025809.190 [sci2_vtyoyo:NeedComms:setInactive:A] Running Loop=1
2026-01-21T20:03:29.701Z,1769025809.701 [sci2_vtyoyo:NeedComms:setInactive:A] Stopped
2026-01-21T20:03:29.701Z,1769025809.701 [sci2_vtyoyo:NeedComms:setInactive](INFO): Completed sci2_vtyoyo:NeedComms:setInactive
2026-01-21T20:03:29.701Z,1769025809.701 [sci2_vtyoyo:NeedComms:setInactive] Stopped
2026-01-21T20:03:29.701Z,1769025809.701 [sci2_vtyoyo:NeedComms:setInactive](DEBUG): Aggregate::uninitialize sci2_vtyoyo:NeedComms:setInactive
2026-01-21T20:03:29.702Z,1769025809.702 [sci2_vtyoyo:NeedComms](INFO): Completed sci2_vtyoyo:NeedComms
2026-01-21T20:03:29.702Z,1769025809.702 [sci2_vtyoyo:NeedComms] Stopped
2026-01-21T20:03:29.702Z,1769025809.702 [sci2_vtyoyo:NeedComms](DEBUG): Aggregate::uninitialize sci2_vtyoyo:NeedComms
2026-01-21T20:03:29.702Z,1769025809.702 [sci2_vtyoyo:NeedComms:C.GoToSurface] Stopped
2026-01-21T20:03:29.702Z,1769025809.702 [sci2_vtyoyo:NeedComms:C.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2026-01-21T20:03:30.007Z,1769025810.007 [sci2_vtyoyo:Lap:Dive] Running Loop=1
2026-01-21T20:03:30.007Z,1769025810.007 [sci2_vtyoyo:Lap:Dive](DEBUG): Aggregate::initialize sci2_vtyoyo:Lap:Dive
2026-01-21T20:03:30.016Z,1769025810.016 [sci2_vtyoyo:Lap:Dive:A] Running Loop=1
2026-01-21T20:03:30.016Z,1769025810.016 [sci2_vtyoyo:Lap:Dive:A](DEBUG): Aggregate::initialize sci2_vtyoyo:Lap:Dive:A
2026-01-21T20:03:30.016Z,1769025810.016 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink] Running Loop=1
2026-01-21T20:03:30.016Z,1769025810.016 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink](DEBUG): Aggregate::initialize sci2_vtyoyo:Lap:Dive:A:SurfaceSink
2026-01-21T20:03:30.016Z,1769025810.016 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink] Running Loop=1
2026-01-21T20:03:30.017Z,1769025810.017 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink](DEBUG): Aggregate::initialize sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink
2026-01-21T20:03:30.017Z,1769025810.017 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:BuoyancyHold.Buoyancy] Running Loop=1
2026-01-21T20:03:30.017Z,1769025810.017 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2026-01-21T20:03:30.017Z,1769025810.017 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:B.SetSpeed] Running Loop=1
2026-01-21T20:03:30.017Z,1769025810.017 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:B.SetSpeed](DEBUG): Initialize.
2026-01-21T20:03:30.017Z,1769025810.017 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:C] Running Loop=1
2026-01-21T20:03:30.017Z,1769025810.017 [sci2_vtyoyo:Lap:Dive:A:YoYoDive] Running Loop=1
2026-01-21T20:03:30.017Z,1769025810.017 [sci2_vtyoyo:Lap:Dive:A:YoYoDive](DEBUG): Aggregate::initialize sci2_vtyoyo:Lap:Dive:A:YoYoDive
2026-01-21T20:03:30.017Z,1769025810.017 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive] Running Loop=1
2026-01-21T20:03:30.017Z,1769025810.017 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive](DEBUG): Aggregate::initialize sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive
2026-01-21T20:03:30.017Z,1769025810.017 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:A.Pitch] Running Loop=1
2026-01-21T20:03:30.017Z,1769025810.017 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:A.Pitch](DEBUG): Initialize.
2026-01-21T20:03:30.018Z,1769025810.018 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:B.Buoyancy] Running Loop=1
2026-01-21T20:03:30.018Z,1769025810.018 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2026-01-21T20:03:30.018Z,1769025810.018 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:C.SetSpeed] Running Loop=1
2026-01-21T20:03:30.018Z,1769025810.018 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:C.SetSpeed](DEBUG): Initialize.
2026-01-21T20:03:30.018Z,1769025810.018 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:D.DepthEnvelope] Running Loop=1
2026-01-21T20:03:30.018Z,1769025810.018 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:D.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2026-01-21T20:03:30.018Z,1769025810.018 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:E.AltitudeEnvelope] Running Loop=1
2026-01-21T20:03:30.018Z,1769025810.018 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:E.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2026-01-21T20:03:30.019Z,1769025810.019 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:F.YoYoPARLicor] Running Loop=1
2026-01-21T20:03:30.019Z,1769025810.019 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:F.YoYoPARLicor](DEBUG): Initialize Value-Terminated YoYo.
2026-01-21T20:03:30.049Z,1769025810.049 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:G.YoYo] Running Loop=1
2026-01-21T20:03:30.049Z,1769025810.049 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:G.YoYo](DEBUG): Initialize YoYoComponent.
2026-01-21T20:03:30.050Z,1769025810.050 [sci2_vtyoyo:Lap:Dive:A:YoYoDive] Stopped
2026-01-21T20:03:30.050Z,1769025810.050 [sci2_vtyoyo:Lap:Dive:A:YoYoDive](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Lap:Dive:A:YoYoDive
2026-01-21T20:03:30.050Z,1769025810.050 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive] Stopped
2026-01-21T20:03:30.050Z,1769025810.050 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive
2026-01-21T20:03:30.050Z,1769025810.050 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:A.Pitch] Stopped
2026-01-21T20:03:30.050Z,1769025810.050 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:B.Buoyancy] Stopped
2026-01-21T20:03:30.050Z,1769025810.050 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2026-01-21T20:03:30.050Z,1769025810.050 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:C.SetSpeed] Stopped
2026-01-21T20:03:30.050Z,1769025810.050 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:C.SetSpeed](DEBUG): Uninitialize.
2026-01-21T20:03:30.050Z,1769025810.050 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:D.DepthEnvelope] Stopped
2026-01-21T20:03:30.050Z,1769025810.050 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:D.DepthEnvelope](DEBUG): Uninitialize.
2026-01-21T20:03:30.051Z,1769025810.050 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:E.AltitudeEnvelope] Stopped
2026-01-21T20:03:30.051Z,1769025810.051 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:E.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2026-01-21T20:03:30.051Z,1769025810.051 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:F.YoYoPARLicor] Stopped
2026-01-21T20:03:30.051Z,1769025810.051 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:F.YoYoPARLicor](DEBUG): Uninitialize Value-Terminated YoYo.
2026-01-21T20:03:30.052Z,1769025810.052 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:G.YoYo] Stopped
2026-01-21T20:03:30.052Z,1769025810.052 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:G.YoYo](DEBUG): Uninitialize YoYoComponent.
2026-01-21T20:03:30.053Z,1769025810.053 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:C](INFO): Sinking to  10.000000 m 
2026-01-21T20:03:30.053Z,1769025810.053 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:C] Stopped
2026-01-21T20:03:30.053Z,1769025810.053 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:D.Pitch] Running Loop=1
2026-01-21T20:03:30.053Z,1769025810.053 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:D.Pitch](DEBUG): Initialize.
2026-01-21T20:03:30.054Z,1769025810.054 [sci2_vtyoyo:manageDiveMode:syncWhileActive] Stopped
2026-01-21T20:03:30.054Z,1769025810.054 [sci2_vtyoyo:manageDiveMode:syncWhileActive](DEBUG): Aggregate::uninitialize sci2_vtyoyo:manageDiveMode:syncWhileActive
2026-01-21T20:03:30.054Z,1769025810.054 [sci2_vtyoyo:manageDiveMode:syncWhileActive:A] Stopped
2026-01-21T20:03:57.455Z,1769025837.455 [NAL9602](INFO): SBD MO Status=2, MOMSN=25352, MT Status=2, MTMSN=0
2026-01-21T20:03:57.455Z,1769025837.455 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-01-21T20:04:29.578Z,1769025869.578 [NAL9602](INFO): SBD MO Status=1, MOMSN=25352, MT Status=0, MTMSN=0
2026-01-21T20:04:29.579Z,1769025869.579 [NAL9602](INFO): No messages in MT queue
2026-01-21T20:05:00.159Z,1769025900.159 [NAL9602](INFO): Not Powering down - fast GPS
2026-01-21T20:05:29.548Z,1769025929.548 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-21T20:05:30.180Z,1769025930.180 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:D.Pitch](INFO): Timed out from 2026-01-21T20:03:30.1Z
2026-01-21T20:05:30.180Z,1769025930.180 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:D.Pitch:A_Timeout] Running Loop=1
2026-01-21T20:05:30.180Z,1769025930.180 [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
2026-01-21T20:05:30.180Z,1769025930.180 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:D.Pitch:A_Timeout:A] Running Loop=1
2026-01-21T20:05:30.181Z,1769025930.181 [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  4.561832 m 
2026-01-21T20:05:30.181Z,1769025930.181 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:D.Pitch:A_Timeout:A] Stopped
2026-01-21T20:05:30.181Z,1769025930.181 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:D.Pitch:A_Timeout](INFO): Completed sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:D.Pitch:A_Timeout
2026-01-21T20:05:30.181Z,1769025930.181 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:D.Pitch] Stopped
2026-01-21T20:05:30.181Z,1769025930.181 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:E] Running Loop=1
2026-01-21T20:05:30.545Z,1769025930.545 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:E] Stopped
2026-01-21T20:05:30.545Z,1769025930.545 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink](INFO): Completed sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink
2026-01-21T20:05:30.545Z,1769025930.545 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink] Stopped
2026-01-21T20:05:30.545Z,1769025930.545 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink
2026-01-21T20:05:30.545Z,1769025930.545 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:BuoyancyHold.Buoyancy] Stopped
2026-01-21T20:05:30.546Z,1769025930.546 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2026-01-21T20:05:30.546Z,1769025930.546 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:B.SetSpeed] Stopped
2026-01-21T20:05:30.546Z,1769025930.546 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink:sink:B.SetSpeed](DEBUG): Uninitialize.
2026-01-21T20:05:30.546Z,1769025930.546 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink](INFO): Completed sci2_vtyoyo:Lap:Dive:A:SurfaceSink
2026-01-21T20:05:30.931Z,1769025930.931 [sci2_vtyoyo:Lap:Dive:A:YoYoDive] Running Loop=1
2026-01-21T20:05:30.931Z,1769025930.931 [sci2_vtyoyo:Lap:Dive:A:YoYoDive](DEBUG): Aggregate::initialize sci2_vtyoyo:Lap:Dive:A:YoYoDive
2026-01-21T20:05:30.931Z,1769025930.931 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive] Running Loop=1
2026-01-21T20:05:30.931Z,1769025930.931 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive](DEBUG): Aggregate::initialize sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive
2026-01-21T20:05:30.931Z,1769025930.931 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:A.Pitch] Running Loop=1
2026-01-21T20:05:30.932Z,1769025930.932 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:A.Pitch](DEBUG): Initialize.
2026-01-21T20:05:30.932Z,1769025930.932 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:B.Buoyancy] Running Loop=1
2026-01-21T20:05:30.932Z,1769025930.932 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2026-01-21T20:05:30.932Z,1769025930.932 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:C.SetSpeed] Running Loop=1
2026-01-21T20:05:30.932Z,1769025930.932 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:C.SetSpeed](DEBUG): Initialize.
2026-01-21T20:05:30.932Z,1769025930.932 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:D.DepthEnvelope] Running Loop=1
2026-01-21T20:05:30.932Z,1769025930.932 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:D.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2026-01-21T20:05:30.933Z,1769025930.933 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:E.AltitudeEnvelope] Running Loop=1
2026-01-21T20:05:30.933Z,1769025930.933 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:E.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2026-01-21T20:05:30.933Z,1769025930.933 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:F.YoYoPARLicor] Running Loop=1
2026-01-21T20:05:30.933Z,1769025930.933 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:F.YoYoPARLicor](DEBUG): Initialize Value-Terminated YoYo.
2026-01-21T20:05:30.937Z,1769025930.937 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:G.YoYo] Running Loop=1
2026-01-21T20:05:30.937Z,1769025930.937 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:G.YoYo](DEBUG): Initialize YoYoComponent.
2026-01-21T20:05:45.224Z,1769025945.224 [Radio_Surface](INFO): Powering down
2026-01-21T20:06:00.680Z,1769025960.680 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-21T20:06:01.685Z,1769025961.685 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2026-01-21T20:06:57.506Z,1769026017.506 [CTD_Seabird](ERROR): Failed to parse device response: 5,4.00150,3642.89
2026-01-21T20:07:06.945Z,1769026026.945 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.696350
2026-01-21T20:16:54.487Z,1769026614.487 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2026-01-21T20:26:06.186Z,1769027166.186 [BPC1](INFO): Calculating totals. Valid battery stick count: 49. Valid reserve battery stick count: 5.
2026-01-21T20:26:06.189Z,1769027166.189 [BPC1](FAULT): Failed to receive data from 8 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 1, 2, 3, 4, 5, 6, 7, 8.
2026-01-21T20:46:47.569Z,1769028407.569 [Sonardyne_Nano](ERROR): Failed to parse response: >VS:2213,HPR45,EXT,TILT

2026-01-21T20:57:56.368Z,1769029076.368 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2026-01-21T21:02:48.842Z,1769029368.842 [BPC1](ERROR): BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).
2026-01-21T21:07:08.036Z,1769029628.036 [BPC1](INFO): Calculating totals. Valid battery stick count: 49. Valid reserve battery stick count: 5.
2026-01-21T21:07:08.039Z,1769029628.039 [BPC1](FAULT): Failed to receive data from 8 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 1, 2, 3, 4, 5, 6, 7, 8.
2026-01-21T21:26:17.977Z,1769030777.977 [GFScanner](IMPORTANT): Beginning ground fault scan
2026-01-21T21:26:18.359Z,1769030778.359 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2026-01-21T21:26:18.362Z,1769030778.362 [CTD_Seabird](INFO): some bad data, not updating bins
2026-01-21T21:26:19.363Z,1769030779.363 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2026-01-21T21:26:19.365Z,1769030779.365 [CTD_Seabird](INFO): some bad data, not updating bins
2026-01-21T21:26:20.365Z,1769030780.365 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2026-01-21T21:26:20.367Z,1769030780.367 [CTD_Seabird](INFO): some bad data, not updating bins
2026-01-21T21:26:21.369Z,1769030781.369 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2026-01-21T21:26:21.371Z,1769030781.371 [CTD_Seabird](INFO): some bad data, not updating bins
2026-01-21T21:26:22.299Z,1769030782.299 [GFScanner](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.002221
CHAN A1 (24V): 0.003980
CHAN A2 (12V): -0.013542
CHAN A3 (5V): -0.007843
CHAN B0 (3.3V): -0.003324
CHAN B1 (3.15aV): -0.003139
CHAN B2 (3.15bV): -0.001240
CHAN B3 (GND): -0.002157
OPEN: 0.012151
Full Scale: +/- 1 mA
2026-01-21T21:29:21.691Z,1769030961.691 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2026-01-21T21:34:08.421Z,1769031248.421 [sci2_vtyoyo:NeedComms] Running Loop=1
2026-01-21T21:34:08.421Z,1769031248.421 [sci2_vtyoyo:NeedComms](DEBUG): Aggregate::initialize sci2_vtyoyo:NeedComms
2026-01-21T21:34:08.421Z,1769031248.421 [sci2_vtyoyo:NeedComms:C.GoToSurface] Running Loop=1
2026-01-21T21:34:08.421Z,1769031248.421 [sci2_vtyoyo:NeedComms:C.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2026-01-21T21:34:08.421Z,1769031248.421 [sci2_vtyoyo:NeedComms:C.GoToSurface](INFO): Received depth rate setting nan m/s.
2026-01-21T21:34:08.422Z,1769031248.422 [sci2_vtyoyo:NeedComms:C.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2026-01-21T21:34:08.422Z,1769031248.422 [sci2_vtyoyo:NeedComms:C.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2026-01-21T21:34:08.422Z,1769031248.422 [sci2_vtyoyo:NeedComms:C.GoToSurface](INFO): Received surface timeout setting 1500.000000 seconds.
2026-01-21T21:34:08.423Z,1769031248.423 [sci2_vtyoyo:NeedComms:C.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2026-01-21T21:34:08.423Z,1769031248.423 [sci2_vtyoyo:NeedComms:C.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2026-01-21T21:34:08.423Z,1769031248.423 [sci2_vtyoyo:NeedComms:A] Running Loop=1
2026-01-21T21:34:08.426Z,1769031248.426 [sci2_vtyoyo:NeedComms:A](INFO): last time_fix was:  1769025805.000000 second since 1970/01/01T00:00:00Z 
2026-01-21T21:34:08.426Z,1769031248.426 [sci2_vtyoyo:NeedComms:A] Stopped
2026-01-21T21:34:08.426Z,1769031248.426 [sci2_vtyoyo:NeedComms:setActive] Running Loop=1
2026-01-21T21:34:08.426Z,1769031248.426 [sci2_vtyoyo:NeedComms:setActive](DEBUG): Aggregate::initialize sci2_vtyoyo:NeedComms:setActive
2026-01-21T21:34:08.426Z,1769031248.426 [sci2_vtyoyo:NeedComms:setActive:A] Running Loop=1
2026-01-21T21:34:08.826Z,1769031248.826 [sci2_vtyoyo:NeedComms:setActive:A] Stopped
2026-01-21T21:34:08.826Z,1769031248.826 [sci2_vtyoyo:NeedComms:setActive:B] Running Loop=1
2026-01-21T21:34:09.230Z,1769031249.230 [sci2_vtyoyo:NeedComms:setActive:B] Stopped
2026-01-21T21:34:09.230Z,1769031249.230 [sci2_vtyoyo:NeedComms:setActive](INFO): Completed sci2_vtyoyo:NeedComms:setActive
2026-01-21T21:34:09.230Z,1769031249.230 [sci2_vtyoyo:NeedComms:setActive] Stopped
2026-01-21T21:34:09.230Z,1769031249.230 [sci2_vtyoyo:NeedComms:setActive](DEBUG): Aggregate::uninitialize sci2_vtyoyo:NeedComms:setActive
2026-01-21T21:34:09.622Z,1769031249.622 [sci2_vtyoyo:manageDiveMode:syncWhileActive] Running Loop=1
2026-01-21T21:34:09.622Z,1769031249.622 [sci2_vtyoyo:manageDiveMode:syncWhileActive](DEBUG): Aggregate::initialize sci2_vtyoyo:manageDiveMode:syncWhileActive
2026-01-21T21:34:09.622Z,1769031249.622 [sci2_vtyoyo:manageDiveMode:syncWhileActive:A] Running Loop=1
2026-01-21T21:34:10.202Z,1769031250.202 [sci2_vtyoyo:Lap:Dive] Stopped
2026-01-21T21:34:10.202Z,1769031250.202 [sci2_vtyoyo:Lap:Dive](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Lap:Dive
2026-01-21T21:34:10.202Z,1769031250.202 [sci2_vtyoyo:Lap:Dive:A] Stopped
2026-01-21T21:34:10.202Z,1769031250.202 [sci2_vtyoyo:Lap:Dive:A](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Lap:Dive:A
2026-01-21T21:34:10.202Z,1769031250.202 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink] Stopped
2026-01-21T21:34:10.202Z,1769031250.202 [sci2_vtyoyo:Lap:Dive:A:SurfaceSink](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Lap:Dive:A:SurfaceSink
2026-01-21T21:34:10.202Z,1769031250.202 [sci2_vtyoyo:Lap:Dive:A:YoYoDive] Stopped
2026-01-21T21:34:10.202Z,1769031250.202 [sci2_vtyoyo:Lap:Dive:A:YoYoDive](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Lap:Dive:A:YoYoDive
2026-01-21T21:34:10.202Z,1769031250.202 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive] Stopped
2026-01-21T21:34:10.202Z,1769031250.202 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive
2026-01-21T21:34:10.202Z,1769031250.202 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:A.Pitch] Stopped
2026-01-21T21:34:10.203Z,1769031250.203 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:B.Buoyancy] Stopped
2026-01-21T21:34:10.203Z,1769031250.203 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2026-01-21T21:34:10.203Z,1769031250.203 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:C.SetSpeed] Stopped
2026-01-21T21:34:10.203Z,1769031250.203 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:C.SetSpeed](DEBUG): Uninitialize.
2026-01-21T21:34:10.203Z,1769031250.203 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:D.DepthEnvelope] Stopped
2026-01-21T21:34:10.203Z,1769031250.203 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:D.DepthEnvelope](DEBUG): Uninitialize.
2026-01-21T21:34:10.203Z,1769031250.203 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:E.AltitudeEnvelope] Stopped
2026-01-21T21:34:10.203Z,1769031250.203 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:E.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2026-01-21T21:34:10.203Z,1769031250.203 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:F.YoYoPARLicor] Stopped
2026-01-21T21:34:10.203Z,1769031250.203 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:F.YoYoPARLicor](DEBUG): Uninitialize Value-Terminated YoYo.
2026-01-21T21:34:10.205Z,1769031250.205 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:G.YoYo] Stopped
2026-01-21T21:34:10.205Z,1769031250.205 [sci2_vtyoyo:Lap:Dive:A:YoYoDive:dive:G.YoYo](DEBUG): Uninitialize YoYoComponent.
2026-01-21T21:37:57.173Z,1769031477.173 [sci2_vtyoyo:NeedComms:D] Running Loop=1
2026-01-21T21:37:57.924Z,1769031477.924 [Radio_Surface](INFO): Powering up
2026-01-21T21:38:03.616Z,1769031483.616 [DataOverHttps](INFO): Radio surface powered ON.
2026-01-21T21:38:27.051Z,1769031507.051 [NAL9602](INFO): SBD MO Status=2, MOMSN=25353, MT Status=2, MTMSN=0
2026-01-21T21:38:27.051Z,1769031507.051 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-01-21T21:38:33.736Z,1769031513.736 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-21T21:38:40.383Z,1769031520.383 [NAL9602](INFO): SBD MO Status=1, MOMSN=25353, MT Status=0, MTMSN=0
2026-01-21T21:38:40.383Z,1769031520.383 [NAL9602](INFO): No messages in MT queue
2026-01-21T21:38:41.598Z,1769031521.598 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,213838.00,A,3652.03895,N,12202.77466,W,1.011,288.01,210126,,,A*79
2026-01-21T21:38:41.601Z,1769031521.601 [NAL9602](INFO): GPS fix at 20260121T213838: (36.867316, -122.046244)
2026-01-21T21:38:41.618Z,1769031521.618 [UniversalFixResidualReporter](INFO): Fix residual: 45.7 %DT, over the last 3361.6 m. Residual distance 1535.0 m at bearing 132.0 degrees. Fix at (36.8673, -122.0462) with 1954.2 m made good.
2026-01-21T21:38:41.646Z,1769031521.646 [sci2_vtyoyo:Lap:Wpt1:A.Waypoint](INFO): Navigating to waypoint: 36.797001,-121.847000
2026-01-21T21:38:41.649Z,1769031521.649 [sci2_vtyoyo:NeedComms:D] Stopped
2026-01-21T21:38:41.650Z,1769031521.650 [sci2_vtyoyo:NeedComms:E] Running Loop=1
2026-01-21T21:38:58.121Z,1769031538.121 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2026-01-21T21:39:01.711Z,1769031541.711 [NAL9602](INFO): SBD MO Status=2, MOMSN=25354, MT Status=2, MTMSN=0
2026-01-21T21:39:01.711Z,1769031541.711 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-01-21T21:39:04.872Z,1769031544.872 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-21T21:39:26.419Z,1769031566.419 [NAL9602](INFO): SBD MO Status=2, MOMSN=25354, MT Status=2, MTMSN=0
2026-01-21T21:39:26.420Z,1769031566.420 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-01-21T21:39:36.005Z,1769031576.005 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-21T21:39:46.350Z,1769031586.350 [NAL9602](INFO): SBD MO Status=1, MOMSN=25354, MT Status=0, MTMSN=0
2026-01-21T21:39:46.400Z,1769031586.400 [NAL9602](INFO): Sent 100 bytes from file Logs/20260121T144500/Courier0012.lzma
2026-01-21T21:39:46.400Z,1769031586.400 [NAL9602](INFO): Packets left to send: 0
2026-01-21T21:39:55.845Z,1769031595.845 [NAL9602](INFO): SBD MO Status=1, MOMSN=25355, MT Status=0, MTMSN=0
2026-01-21T21:39:55.904Z,1769031595.904 [NAL9602](INFO): Sent 332 bytes from file Logs/20260121T144500/Express0013.lzma
2026-01-21T21:39:55.905Z,1769031595.905 [NAL9602](INFO): Packets left to send: 4
2026-01-21T21:40:07.132Z,1769031607.132 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-21T21:40:09.778Z,1769031609.778 [NAL9602](INFO): SBD MO Status=1, MOMSN=25356, MT Status=0, MTMSN=0
2026-01-21T21:40:09.832Z,1769031609.832 [NAL9602](INFO): Sent 332 bytes from file Logs/20260121T144500/Express0013.lzma
2026-01-21T21:40:09.832Z,1769031609.832 [NAL9602](INFO): Packets left to send: 3
2026-01-21T21:40:15.605Z,1769031615.605 [DataOverHttps](IMPORTANT): SBD MTMSN=20260121T214012
2026-01-21T21:40:15.609Z,1769031615.609 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003937
2026-01-21T21:40:23.571Z,1769031623.571 [DataOverHttps](INFO): Sending 1489 bytes from file Logs/20260121T144500/Express0013.lzma
2026-01-21T21:40:23.582Z,1769031623.582 [DataOverHttps](INFO): Received command: stop
2026-01-21T21:40:23.633Z,1769031623.633 [CommandExec](IMPORTANT): got command stop
2026-01-21T21:40:23.633Z,1769031623.633 [CommandExec](IMPORTANT): Scheduling is paused
2026-01-21T21:40:23.633Z,1769031623.633 [Supervisor](INFO): Stop Mission called by CommandExec::commandStop
2026-01-21T21:40:23.915Z,1769031623.915 [MissionManager](INFO): MissionManager is completed.
2026-01-21T21:40:23.916Z,1769031623.916 [MissionManager](INFO): Uninitializing Mission sci2_vtyoyo
2026-01-21T21:40:23.916Z,1769031623.916 [sci2_vtyoyo] Stopped
2026-01-21T21:40:23.916Z,1769031623.916 [sci2_vtyoyo](DEBUG): Aggregate::uninitialize sci2_vtyoyo
2026-01-21T21:40:23.916Z,1769031623.916 [sci2_vtyoyo:Science] Stopped
2026-01-21T21:40:23.916Z,1769031623.916 [sci2_vtyoyo:Science](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Science
2026-01-21T21:40:23.916Z,1769031623.916 [sci2_vtyoyo:Science:B] Stopped
2026-01-21T21:40:23.916Z,1769031623.916 [sci2_vtyoyo:Science:C] Stopped
2026-01-21T21:40:23.916Z,1769031623.916 [sci2_vtyoyo:Science:E] Stopped
2026-01-21T21:40:23.916Z,1769031623.916 [sci2_vtyoyo:Science:OceanCurrent] Stopped
2026-01-21T21:40:23.916Z,1769031623.916 [sci2_vtyoyo:Science:OceanCurrent](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Science:OceanCurrent
2026-01-21T21:40:23.917Z,1769031623.917 [sci2_vtyoyo:Science:OceanCurrent:A.] Stopped
2026-01-21T21:40:23.917Z,1769031623.917 [sci2_vtyoyo:NeedComms] Stopped
2026-01-21T21:40:23.917Z,1769031623.917 [sci2_vtyoyo:NeedComms](DEBUG): Aggregate::uninitialize sci2_vtyoyo:NeedComms
2026-01-21T21:40:23.917Z,1769031623.917 [sci2_vtyoyo:NeedComms:C.GoToSurface] Stopped
2026-01-21T21:40:23.917Z,1769031623.917 [sci2_vtyoyo:NeedComms:C.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2026-01-21T21:40:23.917Z,1769031623.917 [sci2_vtyoyo:NeedComms:E] Stopped
2026-01-21T21:40:23.917Z,1769031623.917 [sci2_vtyoyo:StandardEnvelopes] Stopped
2026-01-21T21:40:23.917Z,1769031623.917 [sci2_vtyoyo:StandardEnvelopes](DEBUG): Aggregate::uninitialize sci2_vtyoyo:StandardEnvelopes
2026-01-21T21:40:23.917Z,1769031623.917 [sci2_vtyoyo:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2026-01-21T21:40:23.917Z,1769031623.917 [sci2_vtyoyo:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2026-01-21T21:40:23.917Z,1769031623.917 [sci2_vtyoyo:StandardEnvelopes:B.DepthEnvelope] Stopped
2026-01-21T21:40:23.917Z,1769031623.917 [sci2_vtyoyo:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2026-01-21T21:40:23.918Z,1769031623.918 [sci2_vtyoyo:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2026-01-21T21:40:23.918Z,1769031623.918 [sci2_vtyoyo:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2026-01-21T21:40:23.918Z,1769031623.918 [sci2_vtyoyo:BackseatDriver] Stopped
2026-01-21T21:40:23.918Z,1769031623.918 [sci2_vtyoyo:BackseatDriver](DEBUG): Aggregate::uninitialize sci2_vtyoyo:BackseatDriver
2026-01-21T21:40:23.918Z,1769031623.918 [sci2_vtyoyo:BackseatDriver:A.BackseatDriver] Stopped
2026-01-21T21:40:23.918Z,1769031623.918 [sci2_vtyoyo:PowerOnly] Stopped
2026-01-21T21:40:23.918Z,1769031623.918 [sci2_vtyoyo:PowerOnly](DEBUG): Aggregate::uninitialize sci2_vtyoyo:PowerOnly
2026-01-21T21:40:23.918Z,1769031623.918 [sci2_vtyoyo:PowerOnly:E.Wait] Stopped
2026-01-21T21:40:23.918Z,1769031623.918 [sci2_vtyoyo:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2026-01-21T21:40:23.918Z,1769031623.918 [sci2_vtyoyo:manageDiveMode] Stopped
2026-01-21T21:40:23.918Z,1769031623.918 [sci2_vtyoyo:manageDiveMode](DEBUG): Aggregate::uninitialize sci2_vtyoyo:manageDiveMode
2026-01-21T21:40:23.918Z,1769031623.918 [sci2_vtyoyo:manageDiveMode:syncWhileActive] Stopped
2026-01-21T21:40:23.919Z,1769031623.919 [sci2_vtyoyo:manageDiveMode:syncWhileActive](DEBUG): Aggregate::uninitialize sci2_vtyoyo:manageDiveMode:syncWhileActive
2026-01-21T21:40:23.919Z,1769031623.919 [sci2_vtyoyo:manageDiveMode:syncWhileActive:A] Stopped
2026-01-21T21:40:23.919Z,1769031623.919 [sci2_vtyoyo:Lap] Stopped
2026-01-21T21:40:23.919Z,1769031623.919 [sci2_vtyoyo:Lap](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Lap
2026-01-21T21:40:23.919Z,1769031623.919 [sci2_vtyoyo:Lap:Wpt1] Stopped
2026-01-21T21:40:23.919Z,1769031623.919 [sci2_vtyoyo:Lap:Wpt1](DEBUG): Aggregate::uninitialize sci2_vtyoyo:Lap:Wpt1
2026-01-21T21:40:23.919Z,1769031623.919 [sci2_vtyoyo:Lap:Wpt1:A.Waypoint] Stopped
2026-01-21T21:40:23.919Z,1769031623.919 [sci2_vtyoyo:Lap:Wpt1:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2026-01-21T21:40:24.030Z,1769031624.030 [BackseatComponent](INFO): Sent LCM shutdown request.
2026-01-21T21:40:24.030Z,1769031624.030 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.).
2026-01-21T21:40:24.314Z,1769031624.314 [MissionManager](IMPORTANT): Started mission Default
2026-01-21T21:40:24.314Z,1769031624.314 [Default] Running Loop=1
2026-01-21T21:40:24.315Z,1769031624.315 [Default](DEBUG): Aggregate::initialize Default
2026-01-21T21:40:24.315Z,1769031624.315 [Default:B.GoToSurface] Running Loop=1
2026-01-21T21:40:24.315Z,1769031624.315 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2026-01-21T21:40:24.315Z,1769031624.315 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2026-01-21T21:40:24.315Z,1769031624.315 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2026-01-21T21:40:24.316Z,1769031624.316 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2026-01-21T21:40:24.317Z,1769031624.317 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2026-01-21T21:40:24.317Z,1769031624.317 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2026-01-21T21:40:24.317Z,1769031624.317 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2026-01-21T21:40:24.318Z,1769031624.318 [Default:A.Wait] Running Loop=1
2026-01-21T21:40:24.318Z,1769031624.318 [Default:A.Wait](DEBUG): Initialize Wait Component.
2026-01-21T21:40:24.324Z,1769031624.324 [WetLabsBB2FL](INFO): Powering down
2026-01-21T21:40:24.570Z,1769031624.570 [DataOverHttps](INFO): Moved sent file to Logs/20260121T144500/Express0013.lzma.bak
2026-01-21T21:40:24.570Z,1769031624.570 [DataOverHttps](IMPORTANT): SBD MOMSN=26585160, MTMSN=20260121T214021
2026-01-21T21:40:32.751Z,1769031632.751 [DataOverHttps](INFO): Received command: ! echo 1 > /dev/loadB1
2026-01-21T21:40:32.801Z,1769031632.801 [CommandExec](IMPORTANT): got command ! echo 1 > /dev/loadB1
2026-01-21T21:40:37.639Z,1769031637.639 [Default:A.Wait](INFO): Done Waiting.
2026-01-21T21:40:37.639Z,1769031637.639 [Default:A.Wait] Stopped
2026-01-21T21:40:37.639Z,1769031637.639 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2026-01-21T21:40:38.039Z,1769031638.039 [Default:CheckIn] Running Loop=1
2026-01-21T21:40:38.039Z,1769031638.039 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2026-01-21T21:40:38.039Z,1769031638.039 [Default:CheckIn:Read_GPS] Running Loop=1
2026-01-21T21:40:42.212Z,1769031642.212 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec).
2026-01-21T21:40:42.213Z,1769031642.213 [BackseatComponent](INFO): Unsubscribing from LCM channels.
2026-01-21T21:40:42.213Z,1769031642.213 [LcmPublisher](INFO): Deactivating messaging.
2026-01-21T21:40:47.730Z,1769031647.730 [NAL9602](INFO): SBD MO Status=2, MOMSN=25357, MT Status=2, MTMSN=0
2026-01-21T21:40:47.730Z,1769031647.730 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-01-21T21:40:48.945Z,1769031648.945 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,214046.00,A,3652.04908,N,12202.79133,W,1.341,281.80,210126,,,A*70
2026-01-21T21:40:48.958Z,1769031648.958 [NAL9602](INFO): GPS fix at 20260121T214046: (36.867485, -122.046522)
2026-01-21T21:40:48.968Z,1769031648.968 [Default:CheckIn:Read_GPS] Stopped
2026-01-21T21:40:48.969Z,1769031648.969 [Default:CheckIn:Read_Iridium] Running Loop=1
2026-01-21T21:40:56.339Z,1769031656.339 [DataOverHttps](INFO): Sending 77 bytes from file Logs/20260121T144500/Courier0015.lzma
2026-01-21T21:40:57.342Z,1769031657.342 [DataOverHttps](INFO): Moved sent file to Logs/20260121T144500/Courier0015.lzma.bak
2026-01-21T21:40:57.342Z,1769031657.342 [DataOverHttps](INFO): SBD MOMSN=26585172
2026-01-21T21:41:13.468Z,1769031673.468 [DataOverHttps](INFO): Sending 345 bytes from file Logs/20260121T144500/Express0016.lzma
2026-01-21T21:41:14.470Z,1769031674.470 [DataOverHttps](INFO): Moved sent file to Logs/20260121T144500/Express0016.lzma.bak
2026-01-21T21:41:14.470Z,1769031674.470 [DataOverHttps](INFO): SBD MOMSN=26585176
2026-01-21T21:41:21.664Z,1769031681.664 [NAL9602](INFO): Not Powering down - fast GPS
2026-01-21T21:41:30.303Z,1769031690.303 [DataOverHttps](INFO): Sending 70 bytes from file Logs/20260121T144500/Express0019.lzma
2026-01-21T21:41:31.306Z,1769031691.306 [DataOverHttps](INFO): Moved sent file to Logs/20260121T144500/Express0019.lzma.bak
2026-01-21T21:41:31.306Z,1769031691.306 [DataOverHttps](INFO): SBD MOMSN=26585184
2026-01-21T21:41:32.587Z,1769031692.587 [Default:CheckIn:Read_Iridium] Stopped
2026-01-21T21:41:32.587Z,1769031692.587 [Default:CheckIn:C.Wait] Running Loop=1
2026-01-21T21:41:32.587Z,1769031692.587 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2026-01-21T21:42:04.505Z,1769031724.505 [BPC1](ERROR): BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).
2026-01-21T21:44:05.297Z,1769031845.297 [BPC1](ERROR): BPC1B: No match for serial number 0000 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).
2026-01-21T21:46:33.178Z,1769031993.178 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2026-01-21T21:46:33.178Z,1769031993.178 [Default:CheckIn:C.Wait] Stopped
2026-01-21T21:46:33.178Z,1769031993.178 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2026-01-21T21:46:33.178Z,1769031993.178 [Default:CheckIn:D] Running Loop=1
2026-01-21T21:46:33.571Z,1769031993.571 [Default:CheckIn:D] Stopped
2026-01-21T21:46:33.571Z,1769031993.571 [Default:CheckIn:E] Running Loop=1
2026-01-21T21:46:33.983Z,1769031993.983 [Default:CheckIn:E](IMPORTANT): Default mission has been running for  6.154269 min 
2026-01-21T21:46:33.983Z,1769031993.983 [Default:CheckIn:E] Stopped
2026-01-21T21:46:33.983Z,1769031993.983 [Default:CheckIn](INFO): Completed Default:CheckIn
2026-01-21T21:46:33.983Z,1769031993.983 [Default:CheckIn] Stopped
2026-01-21T21:46:33.983Z,1769031993.983 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2026-01-21T21:46:33.988Z,1769031993.988 [Default:CheckIn](INFO): Running loop #2
2026-01-21T21:46:33.988Z,1769031993.988 [Default:CheckIn] Running Loop=2
2026-01-21T21:46:33.988Z,1769031993.988 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2026-01-21T21:46:33.988Z,1769031993.988 [Default:CheckIn:Read_GPS] Running Loop=1
2026-01-21T21:46:36.001Z,1769031996.001 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,214633.00,A,3652.07751,N,12202.84200,W,0.428,294.55,210126,,,A*71
2026-01-21T21:46:36.004Z,1769031996.004 [NAL9602](INFO): GPS fix at 20260121T214633: (36.867959, -122.047367)
2026-01-21T21:46:36.037Z,1769031996.037 [Default:CheckIn:Read_GPS] Stopped
2026-01-21T21:46:36.037Z,1769031996.037 [Default:CheckIn:Read_Iridium] Running Loop=1
2026-01-21T21:46:44.551Z,1769032004.551 [DataOverHttps](INFO): Sending 77 bytes from file Logs/20260121T144500/Courier0021.lzma
2026-01-21T21:46:45.554Z,1769032005.554 [DataOverHttps](INFO): Moved sent file to Logs/20260121T144500/Courier0021.lzma.bak
2026-01-21T21:46:45.554Z,1769032005.554 [DataOverHttps](INFO): SBD MOMSN=26585195
2026-01-21T21:47:01.464Z,1769032021.464 [DataOverHttps](INFO): Sending 224 bytes from file Logs/20260121T144500/Express0022.lzma
2026-01-21T21:47:02.466Z,1769032022.466 [DataOverHttps](INFO): Moved sent file to Logs/20260121T144500/Express0022.lzma.bak
2026-01-21T21:47:02.466Z,1769032022.466 [DataOverHttps](INFO): SBD MOMSN=26585198
2026-01-21T21:47:03.939Z,1769032023.939 [Default:CheckIn:Read_Iridium] Stopped
2026-01-21T21:47:03.939Z,1769032023.939 [Default:CheckIn:C.Wait] Running Loop=1
2026-01-21T21:47:03.939Z,1769032023.939 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2026-01-21T21:47:22.553Z,1769032042.553 [NAL9602](INFO): SBD MO Status=2, MOMSN=25357, MT Status=2, MTMSN=0
2026-01-21T21:47:22.554Z,1769032042.554 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-01-21T21:47:36.253Z,1769032056.253 [NAL9602](INFO): SBD MO Status=1, MOMSN=25357, MT Status=0, MTMSN=0
2026-01-21T21:47:36.253Z,1769032056.253 [NAL9602](INFO): No messages in MT queue
2026-01-21T21:48:06.958Z,1769032086.958 [NAL9602](INFO): Not Powering down - fast GPS
2026-01-21T21:48:09.775Z,1769032089.775 [BPC1](INFO): Calculating totals. Valid battery stick count: 49. Valid reserve battery stick count: 5.
2026-01-21T21:48:09.778Z,1769032089.778 [BPC1](FAULT): Failed to receive data from 8 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 1, 2, 3, 4, 5, 6, 7, 8.
2026-01-21T21:52:04.514Z,1769032324.514 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2026-01-21T21:52:04.514Z,1769032324.514 [Default:CheckIn:C.Wait] Stopped
2026-01-21T21:52:04.514Z,1769032324.514 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2026-01-21T21:52:04.515Z,1769032324.515 [Default:CheckIn:D] Running Loop=1
2026-01-21T21:52:04.917Z,1769032324.917 [Default:CheckIn:D] Stopped
2026-01-21T21:52:04.917Z,1769032324.917 [Default:CheckIn:E] Running Loop=1
2026-01-21T21:52:05.326Z,1769032325.326 [Default:CheckIn:E](IMPORTANT): Default mission has been running for  11.676710 min 
2026-01-21T21:52:05.326Z,1769032325.326 [Default:CheckIn:E] Stopped
2026-01-21T21:52:05.326Z,1769032325.326 [Default:CheckIn](INFO): Completed Default:CheckIn
2026-01-21T21:52:05.326Z,1769032325.326 [Default:CheckIn] Stopped
2026-01-21T21:52:05.327Z,1769032325.327 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2026-01-21T21:52:05.327Z,1769032325.327 [Default:CheckIn](INFO): Running loop #3
2026-01-21T21:52:05.327Z,1769032325.327 [Default:CheckIn] Running Loop=3
2026-01-21T21:52:05.327Z,1769032325.327 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2026-01-21T21:52:05.327Z,1769032325.327 [Default:CheckIn:Read_GPS] Running Loop=1
2026-01-21T21:52:07.333Z,1769032327.333 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,215204.00,A,3652.10864,N,12202.88738,W,0.758,307.66,210126,,,D*77
2026-01-21T21:52:07.335Z,1769032327.335 [NAL9602](INFO): GPS fix at 20260121T215204: (36.868477, -122.048123)
2026-01-21T21:52:07.363Z,1769032327.363 [Default:CheckIn:Read_GPS] Stopped
2026-01-21T21:52:07.363Z,1769032327.363 [Default:CheckIn:Read_Iridium] Running Loop=1
2026-01-21T21:52:14.307Z,1769032334.307 [DataOverHttps](INFO): Sending 90 bytes from file Logs/20260121T144500/Courier0024.lzma
2026-01-21T21:52:15.310Z,1769032335.310 [DataOverHttps](INFO): Moved sent file to Logs/20260121T144500/Courier0024.lzma.bak
2026-01-21T21:52:15.310Z,1769032335.310 [DataOverHttps](INFO): SBD MOMSN=26585204
2026-01-21T21:52:31.208Z,1769032351.208 [DataOverHttps](INFO): Sending 308 bytes from file Logs/20260121T144500/Express0025.lzma
2026-01-21T21:52:32.210Z,1769032352.210 [DataOverHttps](INFO): Moved sent file to Logs/20260121T144500/Express0025.lzma.bak
2026-01-21T21:52:32.210Z,1769032352.210 [DataOverHttps](INFO): SBD MOMSN=26585211
2026-01-21T21:52:33.603Z,1769032353.603 [Default:CheckIn:Read_Iridium] Stopped
2026-01-21T21:52:33.603Z,1769032353.603 [Default:CheckIn:C.Wait] Running Loop=1
2026-01-21T21:52:33.603Z,1769032353.603 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2026-01-21T21:54:21.053Z,1769032461.053 [NAL9602](INFO): SBD MO Status=1, MOMSN=25358, MT Status=0, MTMSN=0
2026-01-21T21:54:21.054Z,1769032461.054 [NAL9602](INFO): No messages in MT queue
2026-01-21T21:54:51.755Z,1769032491.755 [NAL9602](INFO): Not Powering down - fast GPS
2026-01-21T21:57:34.183Z,1769032654.183 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2026-01-21T21:57:34.183Z,1769032654.183 [Default:CheckIn:C.Wait] Stopped
2026-01-21T21:57:34.184Z,1769032654.184 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2026-01-21T21:57:34.185Z,1769032654.185 [Default:CheckIn:D] Running Loop=1
2026-01-21T21:57:34.598Z,1769032654.598 [Default:CheckIn:D] Stopped
2026-01-21T21:57:34.599Z,1769032654.599 [Default:CheckIn:E] Running Loop=1
2026-01-21T21:57:34.984Z,1769032654.984 [Default:CheckIn:E](IMPORTANT): Default mission has been running for  17.171399 min 
2026-01-21T21:57:34.984Z,1769032654.984 [Default:CheckIn:E] Stopped
2026-01-21T21:57:34.984Z,1769032654.984 [Default:CheckIn](INFO): Completed Default:CheckIn
2026-01-21T21:57:34.984Z,1769032654.984 [Default:CheckIn] Stopped
2026-01-21T21:57:34.984Z,1769032654.984 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2026-01-21T21:57:34.985Z,1769032654.985 [Default:CheckIn](INFO): Running loop #4
2026-01-21T21:57:34.985Z,1769032654.985 [Default:CheckIn] Running Loop=4
2026-01-21T21:57:34.985Z,1769032654.985 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2026-01-21T21:57:34.985Z,1769032654.985 [Default:CheckIn:Read_GPS] Running Loop=1
2026-01-21T21:57:36.998Z,1769032656.998 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,215734.00,A,3652.13981,N,12202.93399,W,0.564,325.99,210126,,,D*70
2026-01-21T21:57:37.001Z,1769032657.001 [NAL9602](INFO): GPS fix at 20260121T215734: (36.868997, -122.048900)
2026-01-21T21:57:37.011Z,1769032657.011 [Default:CheckIn:Read_GPS] Stopped
2026-01-21T21:57:37.011Z,1769032657.011 [Default:CheckIn:Read_Iridium] Running Loop=1
2026-01-21T21:57:44.804Z,1769032664.804 [DataOverHttps](INFO): Sending 77 bytes from file Logs/20260121T144500/Courier0027.lzma
2026-01-21T21:57:45.806Z,1769032665.806 [DataOverHttps](INFO): Moved sent file to Logs/20260121T144500/Courier0027.lzma.bak
2026-01-21T21:57:45.806Z,1769032665.806 [DataOverHttps](INFO): SBD MOMSN=26585216
2026-01-21T21:57:58.017Z,1769032678.017 [NAL9602](INFO): SBD MO Status=1, MOMSN=25359, MT Status=0, MTMSN=0
2026-01-21T21:57:58.017Z,1769032678.017 [NAL9602](INFO): No messages in MT queue
2026-01-21T21:58:01.664Z,1769032681.664 [DataOverHttps](INFO): Sending 198 bytes from file Logs/20260121T144500/Express0028.lzma
2026-01-21T21:58:02.666Z,1769032682.666 [DataOverHttps](INFO): Moved sent file to Logs/20260121T144500/Express0028.lzma.bak
2026-01-21T21:58:02.666Z,1769032682.666 [DataOverHttps](INFO): SBD MOMSN=26585219
2026-01-21T21:58:04.082Z,1769032684.082 [Default:CheckIn:Read_Iridium] Stopped
2026-01-21T21:58:04.082Z,1769032684.082 [Default:CheckIn:C.Wait] Running Loop=1
2026-01-21T21:58:04.082Z,1769032684.082 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2026-01-21T21:58:28.713Z,1769032708.713 [NAL9602](INFO): Not Powering down - fast GPS
2026-01-21T21:58:34.800Z,1769032714.800 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-21T21:58:43.245Z,1769032723.245 [DataOverHttps](IMPORTANT): SBD MTMSN=20260121T215840
2026-01-21T21:58:50.640Z,1769032730.640 [DataOverHttps](INFO): Received command: ! echo 0 > /dev/loadB1
2026-01-21T21:58:50.721Z,1769032730.721 [CommandExec](IMPORTANT): got command ! echo 0 > /dev/loadB1
2026-01-21T21:58:51.642Z,1769032731.642 [DataOverHttps](IMPORTANT): SBD MTMSN=20260121T215848
2026-01-21T21:58:59.036Z,1769032739.036 [DataOverHttps](INFO): Received command: ! echo 1 > /dev/loadB1
2026-01-21T21:58:59.042Z,1769032739.042 [CommandExec](IMPORTANT): got command ! echo 1 > /dev/loadB1
2026-01-21T21:59:30.637Z,1769032770.637 [DataOverHttps](IMPORTANT): SBD MTMSN=20260121T215927
2026-01-21T21:59:38.092Z,1769032778.092 [DataOverHttps](INFO): Received command: ! echo 1 > /dev/loadB1
2026-01-21T21:59:38.114Z,1769032778.114 [CommandExec](IMPORTANT): got command ! echo 1 > /dev/loadB1
2026-01-21T22:03:04.739Z,1769032984.739 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2026-01-21T22:03:04.739Z,1769032984.739 [Default:CheckIn:C.Wait] Stopped
2026-01-21T22:03:04.739Z,1769032984.739 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2026-01-21T22:03:04.739Z,1769032984.739 [Default:CheckIn:D] Running Loop=1
2026-01-21T22:03:05.152Z,1769032985.152 [Default:CheckIn:D] Stopped
2026-01-21T22:03:05.152Z,1769032985.152 [Default:CheckIn:E] Running Loop=1
2026-01-21T22:03:05.530Z,1769032985.530 [Default:CheckIn:E](IMPORTANT): Default mission has been running for  22.680617 min 
2026-01-21T22:03:05.530Z,1769032985.530 [Default:CheckIn:E] Stopped
2026-01-21T22:03:05.530Z,1769032985.530 [Default:CheckIn](INFO): Completed Default:CheckIn
2026-01-21T22:03:05.531Z,1769032985.531 [Default:CheckIn] Stopped
2026-01-21T22:03:05.531Z,1769032985.531 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2026-01-21T22:03:05.531Z,1769032985.531 [Default:CheckIn](INFO): Running loop #5
2026-01-21T22:03:05.531Z,1769032985.531 [Default:CheckIn] Running Loop=5
2026-01-21T22:03:05.531Z,1769032985.531 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2026-01-21T22:03:05.531Z,1769032985.531 [Default:CheckIn:Read_GPS] Running Loop=1
2026-01-21T22:03:07.563Z,1769032987.563 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,220304.00,A,3652.16872,N,12202.98391,W,1.011,298.13,210126,,,D*79
2026-01-21T22:03:07.569Z,1769032987.569 [NAL9602](INFO): GPS fix at 20260121T220304: (36.869479, -122.049732)
2026-01-21T22:03:07.604Z,1769032987.604 [Default:CheckIn:Read_GPS] Stopped
2026-01-21T22:03:07.604Z,1769032987.604 [Default:CheckIn:Read_Iridium] Running Loop=1
2026-01-21T22:03:11.444Z,1769032991.444 [DataOverHttps](INFO): Sending 76 bytes from file Logs/20260121T144500/Courier0030.lzma
2026-01-21T22:03:12.098Z,1769032992.098 [DataOverHttps](INFO): Moved sent file to Logs/20260121T144500/Courier0030.lzma.bak
2026-01-21T22:03:12.098Z,1769032992.098 [DataOverHttps](INFO): SBD MOMSN=26585235
2026-01-21T22:03:29.315Z,1769033009.315 [DataOverHttps](INFO): Sending 40 bytes from file Logs/20260121T144500/Courier0033.lzma
2026-01-21T22:03:30.318Z,1769033010.318 [DataOverHttps](INFO): Moved sent file to Logs/20260121T144500/Courier0033.lzma.bak
2026-01-21T22:03:30.318Z,1769033010.318 [DataOverHttps](INFO): SBD MOMSN=26585238
2026-01-21T22:03:46.420Z,1769033026.420 [DataOverHttps](INFO): Sending 293 bytes from file Logs/20260121T144500/Express0031.lzma
2026-01-21T22:03:46.794Z,1769033026.794 [NAL9602](INFO): SBD MO Status=2, MOMSN=25360, MT Status=2, MTMSN=0
2026-01-21T22:03:46.794Z,1769033026.794 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-01-21T22:03:47.418Z,1769033027.418 [DataOverHttps](INFO): Moved sent file to Logs/20260121T144500/Express0031.lzma.bak
2026-01-21T22:03:47.418Z,1769033027.418 [DataOverHttps](INFO): SBD MOMSN=26585240
2026-01-21T22:03:55.278Z,1769033035.278 [NAL9602](INFO): SBD MO Status=2, MOMSN=25360, MT Status=2, MTMSN=0
2026-01-21T22:03:55.278Z,1769033035.278 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-01-21T22:03:56.041Z,1769033036.041 [DataOverHttps](IMPORTANT): SBD MTMSN=20260121T220352
2026-01-21T22:04:03.556Z,1769033043.556 [DataOverHttps](INFO): Sending 79 bytes from file Logs/20260121T144500/Express0034.lzma
2026-01-21T22:04:03.558Z,1769033043.558 [DataOverHttps](INFO): Received command: schedule resume
2026-01-21T22:04:03.586Z,1769033043.586 [CommandExec](IMPORTANT): got command schedule resume
2026-01-21T22:04:03.586Z,1769033043.586 [CommandExec](IMPORTANT): Scheduling is resumed
2026-01-21T22:04:04.800Z,1769033044.800 [DataOverHttps](INFO): Moved sent file to Logs/20260121T144500/Express0034.lzma.bak
2026-01-21T22:04:04.801Z,1769033044.801 [DataOverHttps](IMPORTANT): SBD MOMSN=26585251, MTMSN=20260121T220401
2026-01-21T22:04:08.223Z,1769033048.223 [NAL9602](INFO): SBD MO Status=1, MOMSN=25360, MT Status=0, MTMSN=0
2026-01-21T22:04:08.228Z,1769033048.228 [NAL9602](INFO): No messages in MT queue
2026-01-21T22:04:12.068Z,1769033052.068 [DataOverHttps](INFO): Received command: ! echo 0 > /dev/loadB1
2026-01-21T22:04:12.141Z,1769033052.141 [CommandExec](IMPORTANT): got command ! echo 0 > /dev/loadB1
2026-01-21T22:04:20.483Z,1769033060.483 [DataOverHttps](INFO): Sending 40 bytes from file Logs/20260121T144500/Courier0036.lzma
2026-01-21T22:04:21.486Z,1769033061.486 [DataOverHttps](INFO): Moved sent file to Logs/20260121T144500/Courier0036.lzma.bak
2026-01-21T22:04:21.486Z,1769033061.486 [DataOverHttps](INFO): SBD MOMSN=26585255
2026-01-21T22:04:38.945Z,1769033078.945 [NAL9602](INFO): Not Powering down - fast GPS
2026-01-21T22:04:39.899Z,1769033079.899 [DataOverHttps](INFO): Sending 40 bytes from file Logs/20260121T144500/Courier0039.lzma
2026-01-21T22:04:40.902Z,1769033080.902 [DataOverHttps](INFO): Moved sent file to Logs/20260121T144500/Courier0039.lzma.bak
2026-01-21T22:04:40.902Z,1769033080.902 [DataOverHttps](INFO): SBD MOMSN=26585258
2026-01-21T22:04:56.792Z,1769033096.792 [DataOverHttps](INFO): Sending 174 bytes from file Logs/20260121T144500/Express0037.lzma
2026-01-21T22:04:57.794Z,1769033097.794 [DataOverHttps](INFO): Moved sent file to Logs/20260121T144500/Express0037.lzma.bak
2026-01-21T22:04:57.794Z,1769033097.794 [DataOverHttps](INFO): SBD MOMSN=26585260
2026-01-21T22:05:13.768Z,1769033113.768 [DataOverHttps](INFO): Sending 167 bytes from file Logs/20260121T144500/Express0040.lzma
2026-01-21T22:05:14.770Z,1769033114.770 [DataOverHttps](INFO): Moved sent file to Logs/20260121T144500/Express0040.lzma.bak
2026-01-21T22:05:14.770Z,1769033114.770 [DataOverHttps](INFO): SBD MOMSN=26585265
2026-01-21T22:05:16.128Z,1769033116.128 [Default:CheckIn:Read_Iridium] Stopped
2026-01-21T22:05:16.131Z,1769033116.131 [Default:CheckIn:C.Wait] Running Loop=1
2026-01-21T22:05:16.131Z,1769033116.131 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2026-01-21T22:05:53.889Z,1769033153.889 [DataOverHttps](IMPORTANT): SBD MTMSN=20260121T220550
2026-01-21T22:06:01.392Z,1769033161.392 [DataOverHttps](INFO): Received command: sched 20260122T0145 "restart logs"
2026-01-21T22:06:01.467Z,1769033161.467 [CommandExec](IMPORTANT): got command schedule 20260122T014500 "restart logs"
2026-01-21T22:06:01.468Z,1769033161.468 [CommandExec](IMPORTANT): Scheduled #10: "restart logs", AT TIME: 2026-01-22T01:45:00Z
2026-01-21T22:06:02.394Z,1769033162.394 [DataOverHttps](IMPORTANT): SBD MTMSN=20260121T220559
2026-01-21T22:06:09.960Z,1769033169.960 [DataOverHttps](INFO): Received command: sched 20260122T1445 "restart logs"
2026-01-21T22:06:10.015Z,1769033170.015 [CommandExec](IMPORTANT): got command schedule 20260122T144500 "restart logs"
2026-01-21T22:06:10.016Z,1769033170.016 [CommandExec](IMPORTANT): Scheduled #11: "restart logs", AT TIME: 2026-01-22T14:45:00Z
2026-01-21T22:08:51.455Z,1769033331.455 [BPC1](ERROR): BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).
2026-01-21T22:09:14.649Z,1769033354.649 [DataOverHttps](IMPORTANT): SBD MTMSN=20260121T220911
2026-01-21T22:09:22.160Z,1769033362.160 [DataOverHttps](INFO): Received command: sched 20260122T0145 "configSet CBIT.navErrorThreshold 300 percent persist;restart logs"
2026-01-21T22:09:22.171Z,1769033362.171 [CommandExec](IMPORTANT): got command schedule 20260122T014500 "configSet CBIT.navErrorThreshold 300 percent persist;restart logs"
2026-01-21T22:09:22.174Z,1769033362.174 [CommandExec](IMPORTANT): Scheduled #12: "configSet CBIT.navErrorThreshold 300 percent persist;restart logs", AT TIME: 2026-01-22T01:45:00Z
2026-01-21T22:09:53.733Z,1769033393.733 [DataOverHttps](IMPORTANT): SBD MTMSN=20260121T220950
2026-01-21T22:10:01.227Z,1769033401.227 [DataOverHttps](INFO): Received command: sched 20260122T1445 "configSet CBIT.navErrorThreshold 100 percent persist;restart logs"
2026-01-21T22:10:01.247Z,1769033401.247 [CommandExec](IMPORTANT): got command schedule 20260122T144500 "configSet CBIT.navErrorThreshold 100 percent persist;restart logs"
2026-01-21T22:10:01.248Z,1769033401.248 [CommandExec](IMPORTANT): Scheduled #13: "configSet CBIT.navErrorThreshold 100 percent persist;restart logs", AT TIME: 2026-01-22T14:45:00Z
2026-01-21T22:10:16.699Z,1769033416.699 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2026-01-21T22:10:16.699Z,1769033416.699 [Default:CheckIn:C.Wait] Stopped
2026-01-21T22:10:16.699Z,1769033416.699 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2026-01-21T22:10:16.700Z,1769033416.700 [Default:CheckIn:D] Running Loop=1
2026-01-21T22:10:17.114Z,1769033417.114 [Default:CheckIn:D] Stopped
2026-01-21T22:10:17.114Z,1769033417.114 [Default:CheckIn:E] Running Loop=1
2026-01-21T22:10:17.510Z,1769033417.510 [Default:CheckIn:E](IMPORTANT): Default mission has been running for  29.879995 min 
2026-01-21T22:10:17.510Z,1769033417.510 [Default:CheckIn:E] Stopped
2026-01-21T22:10:17.510Z,1769033417.510 [Default:CheckIn](INFO): Completed Default:CheckIn
2026-01-21T22:10:17.510Z,1769033417.510 [Default:CheckIn] Stopped
2026-01-21T22:10:17.510Z,1769033417.510 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2026-01-21T22:10:17.511Z,1769033417.511 [Default:CheckIn](INFO): Running loop #6
2026-01-21T22:10:17.511Z,1769033417.511 [Default:CheckIn] Running Loop=6
2026-01-21T22:10:17.511Z,1769033417.511 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2026-01-21T22:10:17.511Z,1769033417.511 [Default:CheckIn:Read_GPS] Running Loop=1
2026-01-21T22:10:19.521Z,1769033419.521 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,221016.00,A,3652.21036,N,12203.04663,W,0.175,296.86,210126,,,D*78
2026-01-21T22:10:19.524Z,1769033419.524 [NAL9602](INFO): GPS fix at 20260121T221016: (36.870173, -122.050777)
2026-01-21T22:10:19.534Z,1769033419.534 [Default:CheckIn:Read_GPS] Stopped
2026-01-21T22:10:19.534Z,1769033419.534 [Default:CheckIn:Read_Iridium] Running Loop=1
2026-01-21T22:10:26.947Z,1769033426.947 [DataOverHttps](INFO): Sending 76 bytes from file Logs/20260121T144500/Courier0042.lzma
2026-01-21T22:10:27.950Z,1769033427.950 [DataOverHttps](INFO): Moved sent file to Logs/20260121T144500/Courier0042.lzma.bak
2026-01-21T22:10:27.950Z,1769033427.950 [DataOverHttps](INFO): SBD MOMSN=26585277
2026-01-21T22:10:46.124Z,1769033446.124 [DataOverHttps](INFO): Sending 443 bytes from file Logs/20260121T144500/Express0043.lzma
2026-01-21T22:10:47.126Z,1769033447.126 [DataOverHttps](INFO): Moved sent file to Logs/20260121T144500/Express0043.lzma.bak
2026-01-21T22:10:47.126Z,1769033447.126 [DataOverHttps](INFO): SBD MOMSN=26585280
2026-01-21T22:11:03.347Z,1769033463.347 [DataOverHttps](INFO): Sending 70 bytes from file Logs/20260121T144500/Express0046.lzma
2026-01-21T22:11:04.350Z,1769033464.350 [DataOverHttps](INFO): Moved sent file to Logs/20260121T144500/Express0046.lzma.bak
2026-01-21T22:11:04.350Z,1769033464.350 [DataOverHttps](INFO): SBD MOMSN=26585295
2026-01-21T22:11:05.667Z,1769033465.667 [Default:CheckIn:Read_Iridium] Stopped
2026-01-21T22:11:05.671Z,1769033465.671 [Default:CheckIn:C.Wait] Running Loop=1
2026-01-21T22:11:05.671Z,1769033465.671 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2026-01-21T22:11:44.460Z,1769033504.460 [NAL9602](INFO): SBD MO Status=1, MOMSN=25361, MT Status=0, MTMSN=0
2026-01-21T22:11:44.460Z,1769033504.460 [NAL9602](INFO): No messages in MT queue
2026-01-21T22:12:15.099Z,1769033535.099 [NAL9602](INFO): Not Powering down - fast GPS
2026-01-21T22:15:17.442Z,1769033717.442 [DataOverHttps](IMPORTANT): SBD MTMSN=20260121T221514
2026-01-21T22:15:24.892Z,1769033724.892 [DataOverHttps](INFO): Received command: sched 20260122T0145 "load Science/sci2.tl;set sci2.MissionTimeout 14 h;set sci2.NeedCommsTime 90 min;set sci2.Lat1 36.81643 degree;set sci2.Lon1 -121.93932 degree;set sci2.Speed .7 m/s;set sci2.YoYoMinDepth 4 m;set sci2.YoYoMaxDepth 50 m" 3ur4l 1 2
2026-01-21T22:15:24.966Z,1769033724.966 [CommandExec](IMPORTANT): got command schedule 20260122T014500 "load Science/sci2.tl;set sci2.MissionTimeout 14 h;set sci2.NeedCommsTime 90 min;set sci2.Lat1 36.81643 degree;set sci2.Lon1 -121.93932 degree;set sci2.Speed .7 m/s;set sci2.YoYoMinDepth 4 m;set sci2.YoYoMaxDepth 50 m" 3ur4l 1 2.000000
2026-01-21T22:15:24.967Z,1769033724.967 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=3ur4l
2026-01-21T22:15:24.968Z,1769033724.968 [CommandExec](IMPORTANT): Scheduled #14 (#1 of 2 with id='3ur4l'): "load Science/sci2.tl;set sci2.MissionTimeout 14 h;set sci2.NeedCommsTime 90 min;set sci2.Lat1 36.81643 degree;set sci2.Lon1 -121.93932 degree;set sci2.Speed .7 m/s;set sci2.YoYoMinDepth 4 m;set sci2.YoYoMaxDepth 50 m", AT TIME: 2026-01-22T01:45:00Z
2026-01-21T22:15:26.898Z,1769033726.898 [DataOverHttps](IMPORTANT): SBD MTMSN=20260121T221522
2026-01-21T22:15:34.400Z,1769033734.400 [DataOverHttps](INFO): Received command: sched 20260122T0145 "set sci2.SinkOffSurface 1 bool;set sci2.SinkDepthTimeout 2 min;set sci2.MaxDepth 60 m;run" 3ur4l 2 2
2026-01-21T22:15:34.445Z,1769033734.445 [CommandExec](IMPORTANT): got command schedule 20260122T014500 "set sci2.SinkOffSurface 1 bool;set sci2.SinkDepthTimeout 2 min;set sci2.MaxDepth 60 m;run" 3ur4l 2 2.000000
2026-01-21T22:15:34.445Z,1769033734.445 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=3ur4l
2026-01-21T22:15:34.447Z,1769033734.447 [CommandExec](IMPORTANT): Scheduled #15 (#2 of 2 with id='3ur4l'): "set sci2.SinkOffSurface 1 bool;set sci2.SinkDepthTimeout 2 min;set sci2.MaxDepth 60 m;run", AT TIME: 2026-01-22T01:45:00Z
2026-01-21T22:16:06.262Z,1769033766.262 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2026-01-21T22:16:06.262Z,1769033766.262 [Default:CheckIn:C.Wait] Stopped
2026-01-21T22:16:06.262Z,1769033766.262 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2026-01-21T22:16:06.263Z,1769033766.263 [Default:CheckIn:D] Running Loop=1
2026-01-21T22:16:06.612Z,1769033766.612 [Default:CheckIn:D] Stopped
2026-01-21T22:16:06.612Z,1769033766.612 [Default:CheckIn:E] Running Loop=1
2026-01-21T22:16:06.874Z,1769033766.874 [DataOverHttps](IMPORTANT): SBD MTMSN=20260121T221603
2026-01-21T22:16:07.031Z,1769033767.031 [Default:CheckIn:E](IMPORTANT): Default mission has been running for  35.704964 min 
2026-01-21T22:16:07.031Z,1769033767.031 [Default:CheckIn:E] Stopped
2026-01-21T22:16:07.031Z,1769033767.031 [Default:CheckIn](INFO): Completed Default:CheckIn
2026-01-21T22:16:07.031Z,1769033767.031 [Default:CheckIn] Stopped
2026-01-21T22:16:07.031Z,1769033767.031 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2026-01-21T22:16:07.031Z,1769033767.031 [Default:CheckIn](INFO): Running loop #7
2026-01-21T22:16:07.031Z,1769033767.031 [Default:CheckIn] Running Loop=7
2026-01-21T22:16:07.032Z,1769033767.032 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2026-01-21T22:16:07.032Z,1769033767.032 [Default:CheckIn:Read_GPS] Running Loop=1
2026-01-21T22:16:09.023Z,1769033769.023 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,221606.00,A,3652.24493,N,12203.09007,W,0.467,318.70,210126,,,D*70
2026-01-21T22:16:09.026Z,1769033769.026 [NAL9602](INFO): GPS fix at 20260121T221606: (36.870749, -122.051501)
2026-01-21T22:16:09.037Z,1769033769.037 [Default:CheckIn:Read_GPS] Stopped
2026-01-21T22:16:09.037Z,1769033769.037 [Default:CheckIn:Read_Iridium] Running Loop=1
2026-01-21T22:16:14.659Z,1769033774.659 [DataOverHttps](INFO): Sending 77 bytes from file Logs/20260121T144500/Courier0048.lzma
2026-01-21T22:16:14.662Z,1769033774.662 [DataOverHttps](INFO): Received command: sched "load Transport/keepstation.tl;set keepstation.MissionTimeout 14 h;set keepstation.NeedCommsTime 90 min;set keepstation.Latitude 36.81643 degree;set keepstation.Longitude -121.93932 degree;set keepstation.Depth 20 m" 3ur5x 1 2
2026-01-21T22:16:14.685Z,1769033774.685 [CommandExec](IMPORTANT): got command schedule "load Transport/keepstation.tl;set keepstation.MissionTimeout 14 h;set keepstation.NeedCommsTime 90 min;set keepstation.Latitude 36.81643 degree;set keepstation.Longitude -121.93932 degree;set keepstation.Depth 20 m" 3ur5x 1 2.000000
2026-01-21T22:16:14.685Z,1769033774.685 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=3ur5x
2026-01-21T22:16:14.686Z,1769033774.686 [CommandExec](IMPORTANT): Scheduled #16 (#1 of 2 with id='3ur5x'): "load Transport/keepstation.tl;set keepstation.MissionTimeout 14 h;set keepstation.NeedCommsTime 90 min;set keepstation.Latitude 36.81643 degree;set keepstation.Longitude -121.93932 degree;set keepstation.Depth 20 m", AFTER MISSION
2026-01-21T22:16:15.844Z,1769033775.844 [DataOverHttps](INFO): Moved sent file to Logs/20260121T144500/Courier0048.lzma.bak
2026-01-21T22:16:15.844Z,1769033775.844 [DataOverHttps](IMPORTANT): SBD MOMSN=26585311, MTMSN=20260121T221612
2026-01-21T22:16:28.128Z,1769033788.128 [DataOverHttps](INFO): Received command: sched "set keepstation.Speed .7 m/s;set keepstation.SinkOffSurface 1 bool;set keepstation.MaxDepth 40 m;set keepstation:NeedComms.SurfaceSpeed 1 m/s;set keepstation:NeedComms.CommsTimeout 30 min;run" 3ur5x 2 2
2026-01-21T22:16:28.229Z,1769033788.229 [CommandExec](IMPORTANT): got command schedule "set keepstation.Speed .7 m/s;set keepstation.SinkOffSurface 1 bool;set keepstation.MaxDepth 40 m;set keepstation:NeedComms.SurfaceSpeed 1 m/s;set keepstation:NeedComms.CommsTimeout 30 min;run" 3ur5x 2 2.000000
2026-01-21T22:16:28.230Z,1769033788.230 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=3ur5x
2026-01-21T22:16:28.231Z,1769033788.231 [CommandExec](IMPORTANT): Scheduled #17 (#2 of 2 with id='3ur5x'): "set keepstation.Speed .7 m/s;set keepstation.SinkOffSurface 1 bool;set keepstation.MaxDepth 40 m;set keepstation:NeedComms.SurfaceSpeed 1 m/s;set keepstation:NeedComms.CommsTimeout 30 min;run", AFTER MISSION
2026-01-21T22:16:28.337Z,1769033788.337 [CommandExec](IMPORTANT): got command load ./Missions/Transport/keepstation.tl
2026-01-21T22:16:28.338Z,1769033788.338 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/keepstation.tl
2026-01-21T22:16:28.338Z,1769033788.338 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/keepstation.tl
2026-01-21T22:16:28.343Z,1769033788.343 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/keepstation.tl
2026-01-21T22:16:29.998Z,1769033789.998 [MissionManager](DEBUG): TethyslAPI: ./Missions/Transport/keepstation.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="keepstation">
    <DefineArg Name="MissionTimeout">
        <Units:hour />
        <Value>4</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>45</Value>
    </DefineArg>
    <DefineArg Name="Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth">
        <Units:meter />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepth">
        <Units:meter />
        <Value>15</Value>
    </DefineArg>
    <DefineArg Name="DepthDeadband">
        <Units:meter />
        <Value>4</Value>
    </DefineArg>
    <DefineArg Name="Speed">
        <Units:meter_per_second />
        <Value>0.75</Value>
    </DefineArg>
    <DefineArg Name="Radius">
        <Units:meter />
        <Value>200</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>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>45</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="TransitToStation">
        <Units:count />
        <Value>2</Value>
    </DefineOutput>
    <DefineOutput Name="StationKeep">
        <Units:count />
        <Value>3</Value>
    </DefineOutput>
    <DefineOutput Name="OnStation">
        <False />
    </DefineOutput>
    <Timeout Duration="MissionTimeout" />
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="NeedCommsTime" />
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Guidance:Pitch>
        <Parallel />
        <Setting>
            <Guidance:Pitch.massPosition />
            <Control:VerticalControl.massDefault />
        </Setting>
    </Guidance:Pitch>
    <Aggregate Id="SurfaceComms">
        <When>
            <Called />
            <Or>
                <Elapsed>
                    <Universal:time_fix />
                </Elapsed>
                <Gt>
                    <Arg Name="NeedCommsTime" />
                </Gt>
            </Or>
        </When>
        <Assign>
            <Sequence />
            <Arg Name="DiveMode" />
            <Arg Name="DoingComms" />
        </Assign>
        <Call RefId="NeedComms" PriorityHere="false" />
        <Aggregate Id="HandleNan">
            <Sequence />
            <Break>
                <Not>
                    <IsNaN>
                        <Arg Name="Latitude" />
                    </IsNaN>
                </Not>
                <And>
                    <Not>
                        <IsNaN>
                            <Arg Name="Longitude" />
                        </IsNaN>
                    </Not>
                </And>
            </Break>
            <Aggregate Id="SetOnStation">
                <Sequence />
                <Break>
                    <Not>
                        <IsNaN>
                            <Arg Name="Latitude" />
                        </IsNaN>
                    </Not>
                    <Or>
                        <Not>
                            <IsNaN>
                                <Arg Name="Longitude" />
                            </IsNaN>
                        </Not>
                    </Or>
                </Break>
                <Assign>
                    <Sequence />
                    <Arg Name="OnStation" />
                    <True />
                </Assign>
            </Aggregate>
            <Aggregate Id="SetLat">
                <Sequence />
                <Break>
                    <Not>
                        <IsNaN>
                            <Arg Name="Latitude" />
                        </IsNaN>
                    </Not>
                </Break>
                <Assign>
                    <Sequence />
                    <Arg Name="Latitude" />
                    <Universal:latitude_fix />
                </Assign>
            </Aggregate>
            <Aggregate Id="SetLon">
                <Sequence />
                <Break>
                    <Not>
                        <IsNaN>
                            <Arg Name="Longitude" />
                        </IsNaN>
                    </Not>
                </Break>
                <Assign>
                    <Sequence />
                    <Arg Name="Longitude" />
                    <Universal:longitude_fix />
                </Assign>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="setTransit">
            <Sequence />
            <Break>
                <Arg Name="SinkOffSurface" />
                <Or>
                    <Arg Name="OnStation" />
                </Or>
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="DiveMode" />
                <Arg Name="TransitToStation" />
            </Assign>
        </Aggregate>
        <Aggregate Id="setStation">
            <Sequence />
            <Break>
                <Arg Name="SinkOffSurface" />
                <Or>
                    <Not>
                        <Arg Name="OnStation" />
                    </Not>
                </Or>
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="DiveMode" />
                <Arg Name="StationKeep" />
            </Assign>
        </Aggregate>
        <Aggregate Id="setSink">
            <Sequence />
            <Break>
                <Not>
                    <Arg Name="SinkOffSurface" />
                </Not>
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="DiveMode" />
                <Arg Name="SurfaceSink" />
            </Assign>
        </Aggregate>
    </Aggregate>
    <Call RefId="SurfaceComms" Id="StartingMission" PriorityHere="false" />
    <Aggregate Id="DiveCmd">
        <When>
            <Called />
        </When>
        <Aggregate Id="SurfaceSink">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="SurfaceSink" />
                </Eq>
            </While>
            <Aggregate Id="sink">
                <Sequence />
                <Guidance:Buoyancy Id="BuoyancyHold">
                    <Parallel />
                    <Setting>
                        <Guidance:Buoyancy.position />
                        <Units:cubic_centimeter />
                        <Value>NaN</Value>
                    </Setting>
                </Guidance:Buoyancy>
                <Guidance:SetSpeed>
                    <Parallel />
                    <Setting>
                        <Guidance:SetSpeed.speed />
                        <Units:meter_per_second />
                        <Value>0</Value>
                    </Setting>
                </Guidance:SetSpeed>
                <Syslog Severity="Info">
                    Sinking to 
                    <Arg Name="SinkDepth" />
                    <Units:meter />
                </Syslog>
                <Guidance:Pitch>
                    <Sequence />
                    <Timeout Duration="SinkDepthTimeout">
                        <Syslog Severity="Important">
                            Timed out while trying to reach target sink depth at current depth of 
                            <Universal:depth />
                            <Units:meter />
                        </Syslog>
                    </Timeout>
                    <Setting>
                        <Guidance:Pitch.depth />
                        <Arg Name="SinkDepth" />
                    </Setting>
                </Guidance:Pitch>
                <Aggregate Id="sinkToTransit">
                    <Sequence />
                    <Break>
                        <Arg Name="OnStation" />
                    </Break>
                    <Assign>
                        <Sequence />
                        <Arg Name="DiveMode" />
                        <Arg Name="TransitToStation" />
                    </Assign>
                </Aggregate>
                <Aggregate Id="sinkToStation">
                    <Sequence />
                    <Break>
                        <Not>
                            <Arg Name="OnStation" />
                        </Not>
                    </Break>
                    <Assign>
                        <Sequence />
                        <Arg Name="DiveMode" />
                        <Arg Name="StationKeep" />
                    </Assign>
                </Aggregate>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="TransitToStation">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="TransitToStation" />
                </Eq>
            </While>
            <Aggregate Id="dive">
                <Sequence />
                <Guidance:Buoyancy>
                    <Parallel />
                    <Setting>
                        <Guidance:Buoyancy.position />
                        <Control:VerticalControl.buoyancyNeutral />
                    </Setting>
                </Guidance:Buoyancy>
                <Guidance:Pitch>
                    <Parallel />
                    <Setting>
                        <Guidance:Pitch.depth />
                        <Arg Name="ApproachDepth" />
                    </Setting>
                </Guidance:Pitch>
                <Guidance:SetSpeed>
                    <Parallel />
                    <Setting>
                        <Guidance:SetSpeed.speed />
                        <Arg Name="Speed" />
                    </Setting>
                </Guidance:SetSpeed>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="StationKeep">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="StationKeep" />
                </Eq>
            </While>
            <Assign>
                <Parallel />
                <Control:VerticalControl.depthDeadband />
                <Arg Name="DepthDeadband" />
            </Assign>
            <Guidance:Pitch>
                <Parallel />
                <Setting>
                    <Guidance:Pitch.depth />
                    <Arg Name="Depth" />
                </Setting>
            </Guidance:Pitch>
            <Guidance:KeepStation>
                <Parallel />
                <Setting>
                    <Guidance:KeepStation.latitude />
                    <Arg Name="Latitude" />
                </Setting>
                <Setting>
                    <Guidance:KeepStation.longitude />
                    <Arg Name="Longitude" />
                </Setting>
                <Setting>
                    <Guidance:KeepStation.radius />
                    <Arg Name="Radius" />
                </Setting>
                <Setting>
                    <Guidance:KeepStation.speed />
                    <Arg Name="Speed" />
                </Setting>
            </Guidance:KeepStation>
        </Aggregate>
    </Aggregate>
    <Aggregate Id="TransitToStation">
        <Sequence />
        <Aggregate Id="Dive">
            <While>
                <Not>
                    <Arg Name="DiveMode" />
                    <Eq>
                        <Arg Name="DoingComms" />
                    </Eq>
                </Not>
            </While>
            <Call RefId="DiveCmd" PriorityHere="false" />
        </Aggregate>
        <Guidance:Waypoint Id="Wpt1">
            <Sequence />
            <Setting>
                <Guidance:Waypoint.latitude />
                <Arg Name="Latitude" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.longitude />
                <Arg Name="Longitude" />
            </Setting>
        </Guidance:Waypoint>
        <Assign>
            <Sequence />
            <Arg Name="DiveMode" />
            <Arg Name="StationKeep" />
        </Assign>
        <Assign>
            <Sequence />
            <Arg Name="OnStation" />
            <True />
        </Assign>
    </Aggregate>
    <Call RefId="NeedComms" Id="OnStation" PriorityHere="false" />
    <Aggregate Id="KeepStation">
        <Sequence />
        <Aggregate Id="Dive">
            <While>
                <Not>
                    <Arg Name="DiveMode" />
                    <Eq>
                        <Arg Name="DoingComms" />
                    </Eq>
                </Not>
            </While>
            <Call RefId="DiveCmd" PriorityHere="false" />
        </Aggregate>
        <Guidance:Wait>
            <Sequence />
            <Setting>
                <Guidance:Wait.duration />
                <Arg Name="MissionTimeout" />
            </Setting>
        </Guidance:Wait>
    </Aggregate>
</Mission>

2026-01-21T22:16:30.045Z,1769033790.045 [MissionManager](INFO): DefineArg keepstation.MissionTimeout = 4.000000 h
2026-01-21T22:16:30.053Z,1769033790.053 [MissionManager](INFO): DefineArg keepstation.NeedCommsTime = 45.000000 min
2026-01-21T22:16:30.073Z,1769033790.073 [MissionManager](INFO): DefineArg keepstation.Latitude = nan arcdeg
2026-01-21T22:16:30.084Z,1769033790.084 [MissionManager](INFO): DefineArg keepstation.Longitude = nan arcdeg
2026-01-21T22:16:30.096Z,1769033790.096 [MissionManager](INFO): DefineArg keepstation.Depth = 30.000000 m
2026-01-21T22:16:30.099Z,1769033790.099 [MissionManager](INFO): DefineArg keepstation.ApproachDepth = 15.000000 m
2026-01-21T22:16:30.111Z,1769033790.111 [MissionManager](INFO): DefineArg keepstation.DepthDeadband = 4.000000 m
2026-01-21T22:16:30.119Z,1769033790.119 [MissionManager](INFO): DefineArg keepstation.Speed = 0.750000 m/s
2026-01-21T22:16:30.123Z,1769033790.123 [MissionManager](INFO): DefineArg keepstation.Radius = 200.000000 m
2026-01-21T22:16:30.136Z,1769033790.136 [MissionManager](INFO): DefineArg keepstation.SinkOffSurface = 0 bool
2026-01-21T22:16:30.139Z,1769033790.139 [MissionManager](INFO): DefineArg keepstation.SinkDepth = 10.000000 m
2026-01-21T22:16:30.147Z,1769033790.147 [MissionManager](INFO): DefineArg keepstation.SinkDepthTimeout = 10.000000 min
2026-01-21T22:16:30.154Z,1769033790.154 [MissionManager](INFO): DefineArg keepstation.MaxDepth = 45.000000 m
2026-01-21T22:16:30.158Z,1769033790.158 [MissionManager](INFO): DefineArg keepstation.MinOffshore = 2.000000 km
2026-01-21T22:16:30.170Z,1769033790.170 [MissionManager](INFO): DefineOutput keepstation.DiveMode = 0.000000 count
2026-01-21T22:16:30.175Z,1769033790.175 [MissionManager](INFO): DefineOutput keepstation.DoingComms = 0.000000 count
2026-01-21T22:16:30.201Z,1769033790.201 [MissionManager](INFO): DefineOutput keepstation.SurfaceSink = 1.000000 count
2026-01-21T22:16:30.206Z,1769033790.206 [MissionManager](INFO): DefineOutput keepstation.TransitToStation = 2.000000 count
2026-01-21T22:16:30.217Z,1769033790.217 [MissionManager](INFO): DefineOutput keepstation.StationKeep = 3.000000 count
2026-01-21T22:16:30.229Z,1769033790.229 [MissionManager](INFO): DefineOutput keepstation.OnStation = 0 bool
2026-01-21T22:16:30.230Z,1769033790.230 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2026-01-21T22:16:30.230Z,1769033790.230 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2026-01-21T22:16:30.231Z,1769033790.231 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2026-01-21T22:16:30.713Z,1769033790.713 [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>

2026-01-21T22:16:30.728Z,1769033790.728 [MissionManager](INFO): DefineArg keepstation:NeedComms.DiveInterval = 1.000000 h
2026-01-21T22:16:30.732Z,1769033790.732 [MissionManager](INFO): DefineArg keepstation:NeedComms.WaitForPitchUp = 10.000000 min
2026-01-21T22:16:30.735Z,1769033790.735 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacePitch = 20.000000 arcdeg
2026-01-21T22:16:30.739Z,1769033790.739 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceDepthRate = nan m/s
2026-01-21T22:16:30.745Z,1769033790.745 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceSpeed = 1.000000 m/s
2026-01-21T22:16:30.748Z,1769033790.748 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacingTimeout = 1500.000000 s
2026-01-21T22:16:30.753Z,1769033790.753 [MissionManager](INFO): DefineArg keepstation:NeedComms.GPSTimeout = 7.000000 min
2026-01-21T22:16:30.757Z,1769033790.757 [MissionManager](INFO): DefineArg keepstation:NeedComms.CommsTimeout = 30.000000 min
2026-01-21T22:16:30.760Z,1769033790.760 [MissionManager](INFO): DefineArg keepstation:NeedComms.DoingCommsMode = 0.000000 count
2026-01-21T22:16:30.764Z,1769033790.764 [MissionManager](INFO): DefineArg keepstation:NeedComms.RestoreMode = 0.000000 count
2026-01-21T22:16:30.767Z,1769033790.767 [MissionManager](INFO): DefineOutput keepstation:NeedComms.IsActive = 0 bool
2026-01-21T22:16:30.771Z,1769033790.771 [MissionManager](INFO): DefineOutput keepstation:NeedComms.RequiredDiveMode = 0.000000 count
2026-01-21T22:16:30.847Z,1769033790.847 [keepstation:NeedComms:C.GoToSurface](DEBUG): Construct GoToSurface.
2026-01-21T22:16:30.941Z,1769033790.941 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2026-01-21T22:16:30.941Z,1769033790.941 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2026-01-21T22:16:30.942Z,1769033790.942 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2026-01-21T22:16:31.079Z,1769033791.079 [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>

2026-01-21T22:16:31.092Z,1769033791.092 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinAltitude = 5.000000 m
2026-01-21T22:16:31.100Z,1769033791.100 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2026-01-21T22:16:31.103Z,1769033791.103 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepth = 200.000000 m
2026-01-21T22:16:31.111Z,1769033791.111 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinOffshore = 2000.000000 m
2026-01-21T22:16:31.116Z,1769033791.116 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2026-01-21T22:16:31.134Z,1769033791.134 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2026-01-21T22:16:31.156Z,1769033791.156 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2026-01-21T22:16:31.175Z,1769033791.175 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2026-01-21T22:16:31.175Z,1769033791.175 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2026-01-21T22:16:31.180Z,1769033791.180 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2026-01-21T22:16:31.240Z,1769033791.240 [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>

2026-01-21T22:16:31.246Z,1769033791.246 [MissionManager](INFO): DefineArg keepstation:BackseatDriver.EnableBackseat = 0 bool
2026-01-21T22:16:31.269Z,1769033791.269 [keepstation:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2026-01-21T22:16:31.280Z,1769033791.280 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2026-01-21T22:16:31.280Z,1769033791.280 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2026-01-21T22:16:31.281Z,1769033791.281 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2026-01-21T22:16:31.505Z,1769033791.505 [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>

2026-01-21T22:16:31.513Z,1769033791.513 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleAll = 0 bool
2026-01-21T22:16:31.524Z,1769033791.524 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad1 = 0 bool
2026-01-21T22:16:31.527Z,1769033791.527 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad2 = 0 bool
2026-01-21T22:16:31.535Z,1769033791.535 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad3 = 0 bool
2026-01-21T22:16:31.548Z,1769033791.548 [MissionManager](INFO): DefineArg keepstation:PowerOnly.EnabledPowerOnly = 1 bool
2026-01-21T22:16:31.569Z,1769033791.569 [keepstation:PowerOnly:E.Wait](DEBUG): Construct Wait.
2026-01-21T22:16:31.571Z,1769033791.571 [keepstation:H.Pitch](DEBUG): Construct.
2026-01-21T22:16:31.745Z,1769033791.745 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2026-01-21T22:16:31.752Z,1769033791.752 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Construct.
2026-01-21T22:16:31.762Z,1769033791.762 [keepstation:DiveCmd:SurfaceSink:sink:D.Pitch](DEBUG): Construct.
2026-01-21T22:16:31.810Z,1769033791.810 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy](DEBUG): Construct Buoyancy.
2026-01-21T22:16:31.815Z,1769033791.815 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch](DEBUG): Construct.
2026-01-21T22:16:31.833Z,1769033791.833 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed](DEBUG): Construct.
2026-01-21T22:16:31.843Z,1769033791.843 [keepstation:DiveCmd:StationKeep:B.Pitch](DEBUG): Construct.
2026-01-21T22:16:31.854Z,1769033791.854 [keepstation:DiveCmd:StationKeep:C.KeepStation](DEBUG): Construct KeepStation.
2026-01-21T22:16:31.880Z,1769033791.880 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2026-01-21T22:16:31.912Z,1769033791.912 [keepstation:KeepStation:B.Wait](DEBUG): Construct Wait.
2026-01-21T22:16:31.953Z,1769033791.953 [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 keepstation {
  """
  Vehicle transits to desired waypoint (or stays put if none is commanded)
  and stays within the specified radius.
  """

  arguments {
    MissionTimeout = 4 hour
      """
      Maximum duration of mission
      """

    NeedCommsTime = 45 minute
      """
      How often to surface for communications
      """

    Latitude = NaN degree
      """
      Latitude of waypoint to hold. If NaN, hold the latitude at start of
      mission.
      """

    Longitude = NaN degree
      """
      Longitude of waypoint to hold. If NaN, hold the longitude at start of
      mission.
      """

    Depth = 30 meter
      """
      Depth held during drift mode
      """

    ApproachDepth = 15 meter
      """
      Depth for initial approach to station.
      """

    DepthDeadband = 4 meter
      """
      How much vertical drift from the specified depth is allowed in drift
      mode
      """

    Speed = 0.75 meter_per_second
      """
      Vehicle transit speed.
      """

    Radius = 200 meter
      """
      Radius of circle around waypoint to hold.
      """

    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
      """

    MaxDepth = 45 meter
      """
      Maximum allowable depth during the mission.
      """

    MinOffshore = 2 kilometer
      """
      Minimum distance from the shoreline to maintain
      """
  }

  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.
      """

    TransitToStation = 2 count
      """
      Mission variable (don't change). The mission will run in this mode
      when performing the transit to station
      """

    StationKeep = 3 count
      """
      Mission variable (don't change). The mission will run in this mode
      when keeping station
      """

    OnStation = false
      """
      Mission variable (don't change). Determines last mode (Transit or StationKeep)
      to resume after needcomms
      """
  }

  timeout duration=MissionTimeout

  insert id="NeedComms" Insert/NeedComms.tl

  assign in sequence NeedComms:DiveInterval = NeedCommsTime

  insert Insert/StandardEnvelopes.tl

  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth

  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

  behavior Guidance:Pitch {
    run in parallel

    set massPosition = Control:VerticalControl.massDefault
  }

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

    assign in sequence DiveMode = DoingComms

    call priorityHere=false refId="NeedComms"

    aggregate HandleNan {
      run in sequence

      break if (
        not isNaN ( Latitude )
        and not isNaN ( Longitude )
      )

      # If both lat and lon are nan, we are implicitly on station and should skip initial transit, so force OnStation to true
      aggregate SetOnStation {
        run in sequence

        break if (
          not isNaN ( Latitude )
          or not isNaN ( Longitude )
        )

        assign in sequence OnStation = true
      }

      # The "assigns" here mean we should only ever run these aggregates once
      # An initial NaN lat/lon should be set here during the initial surface NeedComms call
      # Use the most recent fix -- if there isn't one, the keepstation behavior will use Universal:lat/lon
      aggregate SetLat {
        run in sequence

        break if ( not isNaN ( Latitude ) )

        assign in sequence Latitude = Universal:latitude_fix
      }

      aggregate SetLon {
        run in sequence

        break if ( not isNaN ( Longitude ) )

        assign in sequence Longitude = Universal:longitude_fix
      }
    }

    aggregate setTransit {
      run in sequence

      break if (
        SinkOffSurface
        or OnStation
      )

      assign in sequence DiveMode = TransitToStation
    }

    aggregate setStation {
      run in sequence

      break if (
        SinkOffSurface
        or not OnStation
      )

      assign in sequence DiveMode = StationKeep
    }

    aggregate setSink {
      run in sequence

      break if ( not SinkOffSurface )

      assign in sequence DiveMode = SurfaceSink
    }
  }

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

  aggregate DiveCmd {
    run when ( called )

    aggregate SurfaceSink {
      run while ( DiveMode == SurfaceSink )

      aggregate sink {
        run in sequence

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

          set position = NaN cc
        }

        behavior Guidance:SetSpeed {
          run in parallel

          set speed = 0 m/s
        }

        syslog info "Sinking to " + SinkDepth~meter

        behavior Guidance:Pitch {
          run in sequence

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

          set depth = SinkDepth
        }

        # Once we've sunk, either resume transit or station keeping depths and speeds
        aggregate sinkToTransit {
          run in sequence

          break if ( OnStation )

          assign in sequence DiveMode = TransitToStation
        }

        aggregate sinkToStation {
          run in sequence

          break if ( not OnStation )

          assign in sequence DiveMode = StationKeep
        }
      }
    }

    aggregate TransitToStation {
      run while ( DiveMode == TransitToStation )

      aggregate dive {
        run in sequence

        behavior Guidance:Buoyancy {
          run in parallel

          set position = Control:VerticalControl.buoyancyNeutral
        }

        behavior Guidance:Pitch {
          run in parallel

          set depth = ApproachDepth
        }

        behavior Guidance:SetSpeed {
          run in parallel

          set speed = Speed
        }
      }
    }

    aggregate StationKeep {
      run while ( DiveMode == StationKeep )

      assign in parallel Control:VerticalControl.depthDeadband = DepthDeadband

      behavior Guidance:Pitch {
        run in parallel

        set depth = Depth
      }

      behavior Guidance:KeepStation {
        run in parallel

        set latitude = Latitude
        set longitude = Longitude
        set radius = Radius
        set speed = Speed
      }
    }
  }

  aggregate TransitToStation {
    """
    Need a separate aggregate for transit if we want to specify a
    different depth for the approach.
    """

    run in sequence

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

      call priorityHere=false refId="DiveCmd"
    }

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

      set latitude = Latitude
      set longitude = Longitude
    }

    assign in sequence DiveMode = StationKeep
    assign in sequence OnStation = true
  }

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

  aggregate KeepStation {
    run in sequence

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

      call priorityHere=false refId="DiveCmd"
    }

    behavior Guidance:Wait {
      """
      Due to the way the KeepStation behavior is currently
      implemented, we must run it in parallel and use a Wait to keep
      from completing the mission before the timeout expires. However,
      this new version of the mission uses a top-level timeout so that
      the entire mission will not run for longer then MissionTimeout.
      """

      run in sequence

      set duration = MissionTimeout
    }
  }
}


2026-01-21T22:16:31.954Z,1769033791.954 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/keepstation.tl id=keepstation
2026-01-21T22:16:36.954Z,1769033796.954 [NAL9602](INFO): SBD MO Status=2, MOMSN=25362, MT Status=2, MTMSN=0
2026-01-21T22:16:36.954Z,1769033796.954 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-01-21T22:16:46.603Z,1769033806.603 [DataOverHttps](INFO): Sending 40 bytes from file Logs/20260121T144500/Courier0054.lzma
2026-01-21T22:16:47.606Z,1769033807.606 [DataOverHttps](INFO): Moved sent file to Logs/20260121T144500/Courier0054.lzma.bak
2026-01-21T22:16:47.606Z,1769033807.606 [DataOverHttps](INFO): SBD MOMSN=26585316
2026-01-21T22:17:01.865Z,1769033821.865 [CommandExec](IMPORTANT): got command set keepstation.MissionTimeout 14 hour
2026-01-21T22:17:01.866Z,1769033821.866 [CommandExec](IMPORTANT): got command set keepstation.NeedCommsTime 90 minute
2026-01-21T22:17:01.867Z,1769033821.867 [CommandExec](IMPORTANT): got command set keepstation.Latitude 36.81643 degree
2026-01-21T22:17:01.868Z,1769033821.868 [CommandExec](IMPORTANT): got command set keepstation.Longitude -121.93932 degree
2026-01-21T22:17:01.869Z,1769033821.869 [CommandExec](IMPORTANT): got command set keepstation.Depth 20 meter
2026-01-21T22:17:11.255Z,1769033831.255 [DataOverHttps](INFO): Sending 40 bytes from file Logs/20260121T144500/Courier0057.lzma
2026-01-21T22:17:12.258Z,1769033832.258 [DataOverHttps](INFO): Moved sent file to Logs/20260121T144500/Courier0057.lzma.bak
2026-01-21T22:17:12.258Z,1769033832.258 [DataOverHttps](INFO): SBD MOMSN=26585318
2026-01-21T22:17:36.881Z,1769033856.881 [CommandExec](IMPORTANT): got command set keepstation.Speed .7 meter_per_second
2026-01-21T22:17:36.882Z,1769033856.882 [CommandExec](IMPORTANT): got command set keepstation.SinkOffSurface 1 bool
2026-01-21T22:17:36.882Z,1769033856.882 [CommandExec](IMPORTANT): got command set keepstation.MaxDepth 40 meter
2026-01-21T22:17:36.883Z,1769033856.883 [CommandExec](IMPORTANT): got command set keepstation:NeedComms.SurfaceSpeed 1 meter_per_second
2026-01-21T22:17:36.884Z,1769033856.884 [CommandExec](IMPORTANT): got command set keepstation:NeedComms.CommsTimeout 30 minute
2026-01-21T22:17:36.885Z,1769033856.885 [CommandExec](IMPORTANT): got command run
2026-01-21T22:17:36.887Z,1769033856.887 [CommandExec](IMPORTANT): Running 
2026-01-21T22:17:37.145Z,1769033857.145 [Default] Stopped
2026-01-21T22:17:37.146Z,1769033857.146 [Default](DEBUG): Aggregate::uninitialize Default
2026-01-21T22:17:37.146Z,1769033857.146 [Default:B.GoToSurface] Stopped
2026-01-21T22:17:37.146Z,1769033857.146 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2026-01-21T22:17:37.146Z,1769033857.146 [Default:CheckIn] Stopped
2026-01-21T22:17:37.146Z,1769033857.146 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2026-01-21T22:17:37.146Z,1769033857.146 [Default:CheckIn:Read_Iridium] Stopped
2026-01-21T22:17:37.146Z,1769033857.146 [MissionManager](IMPORTANT): Started mission keepstation
2026-01-21T22:17:37.146Z,1769033857.146 [keepstation] Running Loop=1
2026-01-21T22:17:37.147Z,1769033857.147 [keepstation](DEBUG): Aggregate::initialize keepstation
2026-01-21T22:17:37.147Z,1769033857.147 [keepstation:StandardEnvelopes] Running Loop=1
2026-01-21T22:17:37.147Z,1769033857.147 [keepstation:StandardEnvelopes](DEBUG): Aggregate::initialize keepstation:StandardEnvelopes
2026-01-21T22:17:37.147Z,1769033857.147 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2026-01-21T22:17:37.147Z,1769033857.147 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2026-01-21T22:17:37.147Z,1769033857.147 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2026-01-21T22:17:37.147Z,1769033857.147 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2026-01-21T22:17:37.147Z,1769033857.147 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2026-01-21T22:17:37.147Z,1769033857.147 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2026-01-21T22:17:37.147Z,1769033857.147 [keepstation:BackseatDriver] Running Loop=1
2026-01-21T22:17:37.148Z,1769033857.148 [keepstation:BackseatDriver](DEBUG): Aggregate::initialize keepstation:BackseatDriver
2026-01-21T22:17:37.148Z,1769033857.148 [keepstation:BackseatDriver:A.BackseatDriver] Running Loop=1
2026-01-21T22:17:37.148Z,1769033857.148 [keepstation:PowerOnly] Running Loop=1
2026-01-21T22:17:37.148Z,1769033857.148 [keepstation:PowerOnly](DEBUG): Aggregate::initialize keepstation:PowerOnly
2026-01-21T22:17:37.148Z,1769033857.148 [keepstation:PowerOnly:A] Running Loop=1
2026-01-21T22:17:37.148Z,1769033857.148 [keepstation:PowerOnly:B] Running Loop=1
2026-01-21T22:17:37.149Z,1769033857.149 [keepstation:PowerOnly:C] Running Loop=1
2026-01-21T22:17:37.149Z,1769033857.149 [keepstation:PowerOnly:D] Running Loop=1
2026-01-21T22:17:37.149Z,1769033857.149 [keepstation:PowerOnly:E.Wait] Running Loop=1
2026-01-21T22:17:37.149Z,1769033857.149 [keepstation:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2026-01-21T22:17:37.149Z,1769033857.149 [keepstation:H.Pitch] Running Loop=1
2026-01-21T22:17:37.149Z,1769033857.149 [keepstation:H.Pitch](DEBUG): Initialize.
2026-01-21T22:17:37.149Z,1769033857.149 [keepstation:B] Running Loop=1
2026-01-21T22:17:37.150Z,1769033857.150 [keepstation:H.Pitch] Running Loop=1
2026-01-21T22:17:37.150Z,1769033857.150 [keepstation:PowerOnly] Running Loop=1
2026-01-21T22:17:37.151Z,1769033857.151 [keepstation:PowerOnly:D] Stopped
2026-01-21T22:17:37.151Z,1769033857.151 [keepstation:PowerOnly:C] Stopped
2026-01-21T22:17:37.151Z,1769033857.151 [keepstation:PowerOnly:B] Stopped
2026-01-21T22:17:37.151Z,1769033857.151 [keepstation:PowerOnly:A] Stopped
2026-01-21T22:17:37.151Z,1769033857.151 [keepstation:BackseatDriver] Running Loop=1
2026-01-21T22:17:37.151Z,1769033857.151 [keepstation:StandardEnvelopes] Running Loop=1
2026-01-21T22:17:37.151Z,1769033857.151 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2026-01-21T22:17:37.151Z,1769033857.151 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2026-01-21T22:17:37.152Z,1769033857.152 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2026-01-21T22:17:37.152Z,1769033857.152 [keepstation:B] Stopped
2026-01-21T22:17:37.153Z,1769033857.153 [keepstation:D] Running Loop=1
2026-01-21T22:17:37.384Z,1769033857.384 [DataOverHttps](INFO): Sending 571 bytes from file Logs/20260121T144500/Express0049.lzma
2026-01-21T22:17:37.543Z,1769033857.543 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 0.80 m/s, pitch -20.00 deg, mass-position 30.65 mm.
2026-01-21T22:17:37.544Z,1769033857.544 [ElevatorOffsetCalculator](IMPORTANT): Completed estimation for commanded vars: speed 0.80 m/s, pitch 20.00 deg, mass-position 30.65 mm. Average elevator angle=-1.565062 +/- 0.090754 deg (conf. level 99.90%, sigma: 0.357790 deg).
2026-01-21T22:17:37.568Z,1769033857.568 [keepstation:D] Stopped
2026-01-21T22:17:37.568Z,1769033857.568 [keepstation:E] Running Loop=1
2026-01-21T22:17:37.943Z,1769033857.943 [keepstation:E] Stopped
2026-01-21T22:17:37.944Z,1769033857.944 [keepstation:StartingMission] Running Loop=1
2026-01-21T22:17:37.944Z,1769033857.944 [keepstation:StartingMission](DEBUG): Aggregate::initialize keepstation:StartingMission
2026-01-21T22:17:38.356Z,1769033858.356 [keepstation:SurfaceComms] Running Loop=1
2026-01-21T22:17:38.356Z,1769033858.356 [keepstation:SurfaceComms](DEBUG): Aggregate::initialize keepstation:SurfaceComms
2026-01-21T22:17:38.356Z,1769033858.356 [keepstation:SurfaceComms:A] Running Loop=1
2026-01-21T22:17:38.357Z,1769033858.357 [keepstation:SurfaceComms:A] Stopped
2026-01-21T22:17:38.357Z,1769033858.357 [keepstation:SurfaceComms:B] Running Loop=1
2026-01-21T22:17:38.357Z,1769033858.357 [keepstation:SurfaceComms:B](DEBUG): Aggregate::initialize keepstation:SurfaceComms:B
2026-01-21T22:17:38.402Z,1769033858.402 [DataOverHttps](INFO): Moved sent file to Logs/20260121T144500/Express0049.lzma.bak
2026-01-21T22:17:38.402Z,1769033858.402 [DataOverHttps](INFO): SBD MOMSN=26585320
2026-01-21T22:17:38.765Z,1769033858.765 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2026-01-21T22:17:38.765Z,1769033858.765 [keepstation:NeedComms] Running Loop=1
2026-01-21T22:17:38.765Z,1769033858.765 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2026-01-21T22:17:38.765Z,1769033858.765 [keepstation:NeedComms:C.GoToSurface] Running Loop=1
2026-01-21T22:17:38.766Z,1769033858.766 [keepstation:NeedComms:C.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2026-01-21T22:17:38.766Z,1769033858.766 [keepstation:NeedComms:C.GoToSurface](INFO): Received depth rate setting nan m/s.
2026-01-21T22:17:38.766Z,1769033858.766 [keepstation:NeedComms:C.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2026-01-21T22:17:38.767Z,1769033858.767 [keepstation:NeedComms:C.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2026-01-21T22:17:38.767Z,1769033858.767 [keepstation:NeedComms:C.GoToSurface](INFO): Received surface timeout setting 1500.000000 seconds.
2026-01-21T22:17:38.767Z,1769033858.767 [keepstation:NeedComms:C.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2026-01-21T22:17:38.768Z,1769033858.768 [keepstation:NeedComms:C.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2026-01-21T22:17:38.768Z,1769033858.768 [keepstation:NeedComms:A] Running Loop=1
2026-01-21T22:17:38.769Z,1769033858.769 [keepstation:NeedComms:A](INFO): last time_fix was:  1769033766.000000 second since 1970/01/01T00:00:00Z 
2026-01-21T22:17:38.769Z,1769033858.769 [keepstation:NeedComms:A] Stopped
2026-01-21T22:17:38.770Z,1769033858.770 [keepstation:NeedComms:setActive] Running Loop=1
2026-01-21T22:17:38.770Z,1769033858.770 [keepstation:NeedComms:setActive](DEBUG): Aggregate::initialize keepstation:NeedComms:setActive
2026-01-21T22:17:38.770Z,1769033858.770 [keepstation:NeedComms:setActive:A] Running Loop=1
2026-01-21T22:17:39.162Z,1769033859.162 [keepstation:NeedComms:setActive:A] Stopped
2026-01-21T22:17:39.162Z,1769033859.162 [keepstation:NeedComms:setActive:B] Running Loop=1
2026-01-21T22:17:39.564Z,1769033859.564 [keepstation:NeedComms:setActive:B] Stopped
2026-01-21T22:17:39.564Z,1769033859.564 [keepstation:NeedComms:setActive](INFO): Completed keepstation:NeedComms:setActive
2026-01-21T22:17:39.564Z,1769033859.564 [keepstation:NeedComms:setActive] Stopped
2026-01-21T22:17:39.564Z,1769033859.564 [keepstation:NeedComms:setActive](DEBUG): Aggregate::uninitialize keepstation:NeedComms:setActive
2026-01-21T22:17:39.969Z,1769033859.969 [keepstation:NeedComms:D] Running Loop=1
2026-01-21T22:17:40.379Z,1769033860.379 [keepstation:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense time_fix
2026-01-21T22:17:41.586Z,1769033861.586 [NAL9602](INFO): SBD MO Status=1, MOMSN=25362, MT Status=0, MTMSN=0
2026-01-21T22:17:41.586Z,1769033861.586 [NAL9602](INFO): No messages in MT queue
2026-01-21T22:17:42.783Z,1769033862.783 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,221740.00,A,3652.25387,N,12203.10183,W,0.952,318.09,210126,,,D*70
2026-01-21T22:17:42.785Z,1769033862.785 [NAL9602](INFO): GPS fix at 20260121T221740: (36.870898, -122.051697)
2026-01-21T22:17:42.840Z,1769033862.840 [keepstation:NeedComms:D] Stopped
2026-01-21T22:17:42.840Z,1769033862.840 [keepstation:NeedComms:E] Running Loop=1
2026-01-21T22:17:43.229Z,1769033863.229 [keepstation:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense platform_communications
2026-01-21T22:17:54.631Z,1769033874.631 [DataOverHttps](INFO): Sending 76 bytes from file Logs/20260121T144500/Courier0060.lzma
2026-01-21T22:17:55.634Z,1769033875.634 [DataOverHttps](INFO): Moved sent file to Logs/20260121T144500/Courier0060.lzma.bak
2026-01-21T22:17:55.634Z,1769033875.634 [DataOverHttps](INFO): SBD MOMSN=26585332
2026-01-21T22:18:12.719Z,1769033892.719 [DataOverHttps](INFO): Sending 70 bytes from file Logs/20260121T144500/Express0052.lzma
2026-01-21T22:18:13.722Z,1769033893.722 [DataOverHttps](INFO): Moved sent file to Logs/20260121T144500/Express0052.lzma.bak
2026-01-21T22:18:13.722Z,1769033893.722 [DataOverHttps](INFO): SBD MOMSN=26585335
2026-01-21T22:18:15.611Z,1769033895.611 [NAL9602](INFO): Not Powering down - fast GPS
2026-01-21T22:18:30.636Z,1769033910.636 [DataOverHttps](INFO): Sending 309 bytes from file Logs/20260121T144500/Express0055.lzma
2026-01-21T22:18:31.638Z,1769033911.638 [DataOverHttps](INFO): Moved sent file to Logs/20260121T144500/Express0055.lzma.bak
2026-01-21T22:18:31.638Z,1769033911.638 [DataOverHttps](INFO): SBD MOMSN=26585337
2026-01-21T22:18:52.368Z,1769033932.368 [DataOverHttps](INFO): Sending 379 bytes from file Logs/20260121T144500/Express0058.lzma
2026-01-21T22:18:53.370Z,1769033933.370 [DataOverHttps](INFO): Moved sent file to Logs/20260121T144500/Express0058.lzma.bak
2026-01-21T22:18:53.370Z,1769033933.370 [DataOverHttps](INFO): SBD MOMSN=26585343
2026-01-21T22:19:10.464Z,1769033950.464 [DataOverHttps](INFO): Sending 597 bytes from file Logs/20260121T144500/Express0061.lzma
2026-01-21T22:19:11.466Z,1769033951.466 [DataOverHttps](INFO): Moved sent file to Logs/20260121T144500/Express0061.lzma.bak
2026-01-21T22:19:11.467Z,1769033951.467 [DataOverHttps](INFO): SBD MOMSN=26585350
2026-01-21T22:19:12.997Z,1769033952.997 [keepstation:NeedComms:E] Stopped
2026-01-21T22:19:12.997Z,1769033952.997 [keepstation:NeedComms:F] Running Loop=1
2026-01-21T22:19:13.409Z,1769033953.409 [keepstation:NeedComms:F](DEBUG): Initialize ReadDataComponent to sense time_fix
2026-01-21T22:19:15.002Z,1769033955.002 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,221912.00,A,3652.26301,N,12203.11474,W,0.467,294.98,210126,,,D*7E
2026-01-21T22:19:15.005Z,1769033955.005 [NAL9602](INFO): GPS fix at 20260121T221912: (36.871050, -122.051912)
2026-01-21T22:19:15.032Z,1769033955.032 [keepstation:NeedComms:F] Stopped
2026-01-21T22:19:15.033Z,1769033955.033 [keepstation:NeedComms:setRestoreMode] Running Loop=1
2026-01-21T22:19:15.033Z,1769033955.033 [keepstation:NeedComms:setRestoreMode](DEBUG): Aggregate::initialize keepstation:NeedComms:setRestoreMode
2026-01-21T22:19:15.033Z,1769033955.033 [keepstation:NeedComms:setRestoreMode:A] Running Loop=1
2026-01-21T22:19:15.449Z,1769033955.449 [keepstation:NeedComms:setRestoreMode:A] Stopped
2026-01-21T22:19:15.450Z,1769033955.450 [keepstation:NeedComms:setRestoreMode](INFO): Completed keepstation:NeedComms:setRestoreMode
2026-01-21T22:19:15.450Z,1769033955.450 [keepstation:NeedComms:setRestoreMode] Stopped
2026-01-21T22:19:15.450Z,1769033955.450 [keepstation:NeedComms:setRestoreMode](DEBUG): Aggregate::uninitialize keepstation:NeedComms:setRestoreMode
2026-01-21T22:19:15.450Z,1769033955.450 [keepstation:NeedComms:setInactive] Running Loop=1
2026-01-21T22:19:15.450Z,1769033955.450 [keepstation:NeedComms:setInactive](DEBUG): Aggregate::initialize keepstation:NeedComms:setInactive
2026-01-21T22:19:15.450Z,1769033955.450 [keepstation:NeedComms:setInactive:A] Running Loop=1
2026-01-21T22:19:15.830Z,1769033955.830 [keepstation:NeedComms:setInactive:A] Stopped
2026-01-21T22:19:15.830Z,1769033955.830 [keepstation:NeedComms:setInactive](INFO): Completed keepstation:NeedComms:setInactive
2026-01-21T22:19:15.830Z,1769033955.830 [keepstation:NeedComms:setInactive] Stopped
2026-01-21T22:19:15.830Z,1769033955.830 [keepstation:NeedComms:setInactive](DEBUG): Aggregate::uninitialize keepstation:NeedComms:setInactive
2026-01-21T22:19:15.831Z,1769033955.831 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2026-01-21T22:19:15.831Z,1769033955.831 [keepstation:NeedComms] Stopped
2026-01-21T22:19:15.831Z,1769033955.831 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2026-01-21T22:19:15.831Z,1769033955.831 [keepstation:NeedComms:C.GoToSurface] Stopped
2026-01-21T22:19:15.831Z,1769033955.831 [keepstation:NeedComms:C.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2026-01-21T22:19:16.240Z,1769033956.240 [keepstation:SurfaceComms:B](INFO): Completed keepstation:SurfaceComms:B
2026-01-21T22:19:16.240Z,1769033956.240 [keepstation:SurfaceComms:B] Stopped
2026-01-21T22:19:16.241Z,1769033956.241 [keepstation:SurfaceComms:B](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:B
2026-01-21T22:19:16.241Z,1769033956.241 [keepstation:SurfaceComms:HandleNan] Running Loop=1
2026-01-21T22:19:16.241Z,1769033956.241 [keepstation:SurfaceComms:HandleNan](DEBUG): Aggregate::initialize keepstation:SurfaceComms:HandleNan
2026-01-21T22:19:16.241Z,1769033956.241 [keepstation:SurfaceComms:HandleNan:SetOnStation] Running Loop=1
2026-01-21T22:19:16.241Z,1769033956.241 [keepstation:SurfaceComms:HandleNan:SetOnStation](DEBUG): Aggregate::initialize keepstation:SurfaceComms:HandleNan:SetOnStation
2026-01-21T22:19:16.241Z,1769033956.241 [keepstation:SurfaceComms:HandleNan:SetOnStation:A] Running Loop=1
2026-01-21T22:19:16.648Z,1769033956.648 [keepstation:SurfaceComms:HandleNan] Stopped
2026-01-21T22:19:16.648Z,1769033956.648 [keepstation:SurfaceComms:HandleNan](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:HandleNan
2026-01-21T22:19:16.648Z,1769033956.648 [keepstation:SurfaceComms:HandleNan:SetOnStation] Stopped
2026-01-21T22:19:16.648Z,1769033956.648 [keepstation:SurfaceComms:HandleNan:SetOnStation](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:HandleNan:SetOnStation
2026-01-21T22:19:16.648Z,1769033956.648 [keepstation:SurfaceComms:HandleNan:SetOnStation:A] Stopped
2026-01-21T22:19:16.648Z,1769033956.648 [keepstation:SurfaceComms:setTransit] Running Loop=1
2026-01-21T22:19:16.648Z,1769033956.648 [keepstation:SurfaceComms:setTransit](DEBUG): Aggregate::initialize keepstation:SurfaceComms:setTransit
2026-01-21T22:19:16.649Z,1769033956.649 [keepstation:SurfaceComms:setTransit:A] Running Loop=1
2026-01-21T22:19:17.068Z,1769033957.068 [keepstation:SurfaceComms:setTransit] Stopped
2026-01-21T22:19:17.068Z,1769033957.068 [keepstation:SurfaceComms:setTransit](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:setTransit
2026-01-21T22:19:17.068Z,1769033957.068 [keepstation:SurfaceComms:setTransit:A] Stopped
2026-01-21T22:19:17.068Z,1769033957.068 [keepstation:SurfaceComms:setStation] Running Loop=1
2026-01-21T22:19:17.068Z,1769033957.068 [keepstation:SurfaceComms:setStation](DEBUG): Aggregate::initialize keepstation:SurfaceComms:setStation
2026-01-21T22:19:17.068Z,1769033957.068 [keepstation:SurfaceComms:setStation:A] Running Loop=1
2026-01-21T22:19:17.584Z,1769033957.584 [keepstation:SurfaceComms:setStation] Stopped
2026-01-21T22:19:17.584Z,1769033957.584 [keepstation:SurfaceComms:setStation](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:setStation
2026-01-21T22:19:17.585Z,1769033957.585 [keepstation:SurfaceComms:setStation:A] Stopped
2026-01-21T22:19:17.585Z,1769033957.585 [keepstation:SurfaceComms:setSink] Running Loop=1
2026-01-21T22:19:17.585Z,1769033957.585 [keepstation:SurfaceComms:setSink](DEBUG): Aggregate::initialize keepstation:SurfaceComms:setSink
2026-01-21T22:19:17.585Z,1769033957.585 [keepstation:SurfaceComms:setSink:A] Running Loop=1
2026-01-21T22:19:17.896Z,1769033957.896 [keepstation:SurfaceComms:setSink:A] Stopped
2026-01-21T22:19:17.896Z,1769033957.896 [keepstation:SurfaceComms:setSink](INFO): Completed keepstation:SurfaceComms:setSink
2026-01-21T22:19:17.896Z,1769033957.896 [keepstation:SurfaceComms:setSink] Stopped
2026-01-21T22:19:17.896Z,1769033957.896 [keepstation:SurfaceComms:setSink](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:setSink
2026-01-21T22:19:17.896Z,1769033957.896 [keepstation:SurfaceComms](INFO): Completed keepstation:SurfaceComms
2026-01-21T22:19:17.896Z,1769033957.896 [keepstation:SurfaceComms] Stopped
2026-01-21T22:19:17.897Z,1769033957.897 [keepstation:SurfaceComms](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms
2026-01-21T22:19:18.279Z,1769033958.279 [keepstation:StartingMission](INFO): Completed keepstation:StartingMission
2026-01-21T22:19:18.279Z,1769033958.279 [keepstation:StartingMission] Stopped
2026-01-21T22:19:18.279Z,1769033958.279 [keepstation:StartingMission](DEBUG): Aggregate::uninitialize keepstation:StartingMission
2026-01-21T22:19:18.279Z,1769033958.279 [keepstation:TransitToStation] Running Loop=1
2026-01-21T22:19:18.284Z,1769033958.284 [keepstation:TransitToStation](DEBUG): Aggregate::initialize keepstation:TransitToStation
2026-01-21T22:19:18.284Z,1769033958.284 [keepstation:TransitToStation:Dive] Running Loop=1
2026-01-21T22:19:18.284Z,1769033958.284 [keepstation:TransitToStation:Dive](DEBUG): Aggregate::initialize keepstation:TransitToStation:Dive
2026-01-21T22:19:18.284Z,1769033958.284 [keepstation:TransitToStation:Dive:A] Running Loop=1
2026-01-21T22:19:18.284Z,1769033958.284 [keepstation:TransitToStation:Dive:A](DEBUG): Aggregate::initialize keepstation:TransitToStation:Dive:A
2026-01-21T22:19:18.284Z,1769033958.284 [keepstation:TransitToStation:Wpt1.Waypoint] Running Loop=1
2026-01-21T22:19:18.284Z,1769033958.284 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2026-01-21T22:19:18.285Z,1769033958.285 [keepstation:TransitToStation:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.816429,-121.939323
2026-01-21T22:19:18.687Z,1769033958.687 [keepstation:TransitToStation:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.816429,-121.939323
2026-01-21T22:19:18.692Z,1769033958.692 [keepstation:TransitToStation:Dive] Running Loop=1
2026-01-21T22:19:18.692Z,1769033958.692 [keepstation:DiveCmd] Running Loop=1
2026-01-21T22:19:18.693Z,1769033958.693 [keepstation:DiveCmd](DEBUG): Aggregate::initialize keepstation:DiveCmd
2026-01-21T22:19:18.693Z,1769033958.693 [keepstation:DiveCmd:SurfaceSink] Running Loop=1
2026-01-21T22:19:18.693Z,1769033958.693 [keepstation:DiveCmd:SurfaceSink](DEBUG): Aggregate::initialize keepstation:DiveCmd:SurfaceSink
2026-01-21T22:19:18.693Z,1769033958.693 [keepstation:DiveCmd:SurfaceSink:sink] Running Loop=1
2026-01-21T22:19:18.693Z,1769033958.693 [keepstation:DiveCmd:SurfaceSink:sink](DEBUG): Aggregate::initialize keepstation:DiveCmd:SurfaceSink:sink
2026-01-21T22:19:18.693Z,1769033958.693 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy] Running Loop=1
2026-01-21T22:19:18.693Z,1769033958.693 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2026-01-21T22:19:18.693Z,1769033958.693 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed] Running Loop=1
2026-01-21T22:19:18.693Z,1769033958.693 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Initialize.
2026-01-21T22:19:18.694Z,1769033958.694 [keepstation:DiveCmd:SurfaceSink:sink:C] Running Loop=1
2026-01-21T22:19:18.694Z,1769033958.694 [keepstation:DiveCmd:TransitToStation] Running Loop=1
2026-01-21T22:19:18.694Z,1769033958.694 [keepstation:DiveCmd:TransitToStation](DEBUG): Aggregate::initialize keepstation:DiveCmd:TransitToStation
2026-01-21T22:19:18.694Z,1769033958.694 [keepstation:DiveCmd:TransitToStation:dive] Running Loop=1
2026-01-21T22:19:18.694Z,1769033958.694 [keepstation:DiveCmd:TransitToStation:dive](DEBUG): Aggregate::initialize keepstation:DiveCmd:TransitToStation:dive
2026-01-21T22:19:18.694Z,1769033958.694 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy] Running Loop=1
2026-01-21T22:19:18.694Z,1769033958.694 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2026-01-21T22:19:18.694Z,1769033958.694 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch] Running Loop=1
2026-01-21T22:19:18.694Z,1769033958.694 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch](DEBUG): Initialize.
2026-01-21T22:19:18.694Z,1769033958.694 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed] Running Loop=1
2026-01-21T22:19:18.695Z,1769033958.695 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed](DEBUG): Initialize.
2026-01-21T22:19:18.695Z,1769033958.695 [keepstation:DiveCmd:StationKeep] Running Loop=1
2026-01-21T22:19:18.695Z,1769033958.695 [keepstation:DiveCmd:StationKeep](DEBUG): Aggregate::initialize keepstation:DiveCmd:StationKeep
2026-01-21T22:19:18.695Z,1769033958.695 [keepstation:DiveCmd:StationKeep:A] Running Loop=1
2026-01-21T22:19:18.695Z,1769033958.695 [keepstation:DiveCmd:StationKeep:B.Pitch] Running Loop=1
2026-01-21T22:19:18.695Z,1769033958.695 [keepstation:DiveCmd:StationKeep:B.Pitch](DEBUG): Initialize.
2026-01-21T22:19:18.695Z,1769033958.695 [keepstation:DiveCmd:StationKeep:C.KeepStation] Running Loop=1
2026-01-21T22:19:18.695Z,1769033958.695 [keepstation:DiveCmd:StationKeep:C.KeepStation](DEBUG): Initialize KeepStationComponent.
2026-01-21T22:19:18.700Z,1769033958.700 [keepstation:DiveCmd:StationKeep] Stopped
2026-01-21T22:19:18.700Z,1769033958.700 [keepstation:DiveCmd:StationKeep](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:StationKeep
2026-01-21T22:19:18.701Z,1769033958.701 [keepstation:DiveCmd:StationKeep:A] Stopped
2026-01-21T22:19:18.701Z,1769033958.701 [keepstation:DiveCmd:StationKeep:B.Pitch] Stopped
2026-01-21T22:19:18.701Z,1769033958.701 [keepstation:DiveCmd:StationKeep:C.KeepStation] Stopped
2026-01-21T22:19:18.701Z,1769033958.701 [keepstation:DiveCmd:StationKeep:C.KeepStation](DEBUG): Uninitialize KeepStationComponent.
2026-01-21T22:19:18.701Z,1769033958.701 [keepstation:DiveCmd:TransitToStation] Stopped
2026-01-21T22:19:18.701Z,1769033958.701 [keepstation:DiveCmd:TransitToStation](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:TransitToStation
2026-01-21T22:19:18.701Z,1769033958.701 [keepstation:DiveCmd:TransitToStation:dive] Stopped
2026-01-21T22:19:18.701Z,1769033958.701 [keepstation:DiveCmd:TransitToStation:dive](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:TransitToStation:dive
2026-01-21T22:19:18.701Z,1769033958.701 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy] Stopped
2026-01-21T22:19:18.701Z,1769033958.701 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2026-01-21T22:19:18.701Z,1769033958.701 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch] Stopped
2026-01-21T22:19:18.701Z,1769033958.701 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed] Stopped
2026-01-21T22:19:18.701Z,1769033958.701 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed](DEBUG): Uninitialize.
2026-01-21T22:19:18.702Z,1769033958.702 [keepstation:DiveCmd:SurfaceSink] Running Loop=1
2026-01-21T22:19:18.702Z,1769033958.702 [keepstation:DiveCmd:SurfaceSink:sink:C](INFO): Sinking to  10.000000 m 
2026-01-21T22:19:18.702Z,1769033958.702 [keepstation:DiveCmd:SurfaceSink:sink:C] Stopped
2026-01-21T22:19:18.702Z,1769033958.702 [keepstation:DiveCmd:SurfaceSink:sink:D.Pitch] Running Loop=1
2026-01-21T22:19:18.702Z,1769033958.702 [keepstation:DiveCmd:SurfaceSink:sink:D.Pitch](DEBUG): Initialize.
2026-01-21T22:19:18.703Z,1769033958.703 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed] Running Loop=1
2026-01-21T22:19:18.703Z,1769033958.703 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy] Running Loop=1
2026-01-21T22:19:52.250Z,1769033992.250 [DataOverHttps](IMPORTANT): SBD MTMSN=20260121T221949
2026-01-21T22:20:00.246Z,1769034000.246 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2026-01-21T22:20:01.988Z,1769034001.988 [DataOverHttps](INFO): Received command: sched 20260122T1445 "load Science/sci2_vtyoyo.tl;set sci2_vtyoyo.MissionTimeout 8 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 1.0 m/s" 3urcz 1 3
2026-01-21T22:20:02.069Z,1769034002.069 [CommandExec](IMPORTANT): got command schedule 20260122T144500 "load Science/sci2_vtyoyo.tl;set sci2_vtyoyo.MissionTimeout 8 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 1.0 m/s" 3urcz 1 3.000000
2026-01-21T22:20:02.070Z,1769034002.070 [CommandExec](IMPORTANT): Scheduling command #1 of 3 with id=3urcz
2026-01-21T22:20:02.071Z,1769034002.071 [CommandExec](IMPORTANT): Scheduled #18 (#1 of 3 with id='3urcz'): "load Science/sci2_vtyoyo.tl;set sci2_vtyoyo.MissionTimeout 8 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 1.0 m/s", AT TIME: 2026-01-22T14:45:00Z
2026-01-21T22:20:03.994Z,1769034003.994 [DataOverHttps](IMPORTANT): SBD MTMSN=20260121T222000
2026-01-21T22:21:06.944Z,1769034066.944 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-21T22:21:30.456Z,1769034090.456 [Radio_Surface](INFO): Powering down
2026-01-21T22:21:38.076Z,1769034098.076 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-21T22:21:39.081Z,1769034099.081 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2026-01-21T22:22:18.431Z,1769034138.431 [keepstation:DiveCmd:SurfaceSink:sink:D.Pitch] Stopped
2026-01-21T22:22:18.432Z,1769034138.432 [keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit] Running Loop=1
2026-01-21T22:22:18.433Z,1769034138.433 [keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit](DEBUG): Aggregate::initialize keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit
2026-01-21T22:22:18.433Z,1769034138.433 [keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit:A] Running Loop=1
2026-01-21T22:22:18.854Z,1769034138.854 [keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit:A] Stopped
2026-01-21T22:22:18.854Z,1769034138.854 [keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit](INFO): Completed keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit
2026-01-21T22:22:18.854Z,1769034138.854 [keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit] Stopped
2026-01-21T22:22:18.854Z,1769034138.854 [keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit
2026-01-21T22:22:18.854Z,1769034138.854 [keepstation:DiveCmd:SurfaceSink:sink:sinkToStation] Running Loop=1
2026-01-21T22:22:18.854Z,1769034138.854 [keepstation:DiveCmd:SurfaceSink:sink:sinkToStation](DEBUG): Aggregate::initialize keepstation:DiveCmd:SurfaceSink:sink:sinkToStation
2026-01-21T22:22:18.854Z,1769034138.854 [keepstation:DiveCmd:SurfaceSink:sink:sinkToStation:A] Running Loop=1
2026-01-21T22:22:19.261Z,1769034139.261 [keepstation:DiveCmd:TransitToStation] Running Loop=1
2026-01-21T22:22:19.261Z,1769034139.261 [keepstation:DiveCmd:TransitToStation](DEBUG): Aggregate::initialize keepstation:DiveCmd:TransitToStation
2026-01-21T22:22:19.262Z,1769034139.262 [keepstation:DiveCmd:TransitToStation:dive] Running Loop=1
2026-01-21T22:22:19.262Z,1769034139.262 [keepstation:DiveCmd:TransitToStation:dive](DEBUG): Aggregate::initialize keepstation:DiveCmd:TransitToStation:dive
2026-01-21T22:22:19.262Z,1769034139.262 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy] Running Loop=1
2026-01-21T22:22:19.262Z,1769034139.262 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2026-01-21T22:22:19.262Z,1769034139.262 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch] Running Loop=1
2026-01-21T22:22:19.262Z,1769034139.262 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch](DEBUG): Initialize.
2026-01-21T22:22:19.262Z,1769034139.262 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed] Running Loop=1
2026-01-21T22:22:19.262Z,1769034139.262 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed](DEBUG): Initialize.
2026-01-21T22:22:19.262Z,1769034139.262 [keepstation:DiveCmd:TransitToStation] Running Loop=1
2026-01-21T22:22:19.262Z,1769034139.262 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed] Running Loop=1
2026-01-21T22:22:19.263Z,1769034139.263 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch] Running Loop=1
2026-01-21T22:22:19.263Z,1769034139.263 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy] Running Loop=1
2026-01-21T22:22:19.263Z,1769034139.263 [keepstation:DiveCmd:SurfaceSink] Stopped
2026-01-21T22:22:19.263Z,1769034139.263 [keepstation:DiveCmd:SurfaceSink](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:SurfaceSink
2026-01-21T22:22:19.264Z,1769034139.264 [keepstation:DiveCmd:SurfaceSink:sink] Stopped
2026-01-21T22:22:19.264Z,1769034139.264 [keepstation:DiveCmd:SurfaceSink:sink](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:SurfaceSink:sink
2026-01-21T22:22:19.264Z,1769034139.264 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy] Stopped
2026-01-21T22:22:19.264Z,1769034139.264 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2026-01-21T22:22:19.264Z,1769034139.264 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed] Stopped
2026-01-21T22:22:19.264Z,1769034139.264 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Uninitialize.
2026-01-21T22:22:19.264Z,1769034139.264 [keepstation:DiveCmd:SurfaceSink:sink:sinkToStation] Stopped
2026-01-21T22:22:19.264Z,1769034139.264 [keepstation:DiveCmd:SurfaceSink:sink:sinkToStation](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:SurfaceSink:sink:sinkToStation
2026-01-21T22:22:19.265Z,1769034139.265 [keepstation:DiveCmd:SurfaceSink:sink:sinkToStation:A] Stopped
2026-01-21T22:22:19.656Z,1769034139.656 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 0.70 m/s, pitch 20.00 deg, mass-position 30.65 mm (1 active estimators).
2026-01-21T22:22:38.622Z,1769034158.622 [BPC1](ERROR): BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).
2026-01-21T22:23:04.441Z,1769034184.441 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.447205
2026-01-21T22:24:17.597Z,1769034257.597 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2026-01-21T22:24:48.325Z,1769034288.325 [NAL9602](INFO): Not Powering down - fast GPS
2026-01-21T22:25:06.950Z,1769034306.950 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2026-01-21T22:29:11.735Z,1769034551.735 [BPC1](INFO): Calculating totals. Valid battery stick count: 49. Valid reserve battery stick count: 5.
2026-01-21T22:29:11.739Z,1769034551.739 [BPC1](FAULT): Failed to receive data from 8 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 1, 2, 3, 4, 5, 6, 7, 8.
2026-01-21T22:45:59.041Z,1769035559.041 [BPC1](ERROR): BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).
2026-01-21T23:01:01.533Z,1769036461.533 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2026-01-21T23:10:13.687Z,1769037013.687 [BPC1](INFO): Calculating totals. Valid battery stick count: 49. Valid reserve battery stick count: 5.
2026-01-21T23:10:13.690Z,1769037013.690 [BPC1](FAULT): Failed to receive data from 8 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 1, 2, 3, 4, 5, 6, 7, 8.
2026-01-21T23:32:27.306Z,1769038347.306 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2026-01-21T23:42:03.595Z,1769038923.595 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2026-01-21T23:49:15.057Z,1769039355.057 [keepstation:SurfaceComms] Running Loop=1
2026-01-21T23:49:15.057Z,1769039355.057 [keepstation:SurfaceComms](DEBUG): Aggregate::initialize keepstation:SurfaceComms
2026-01-21T23:49:15.058Z,1769039355.058 [keepstation:SurfaceComms:A] Running Loop=1
2026-01-21T23:49:15.058Z,1769039355.058 [keepstation:SurfaceComms:A] Stopped
2026-01-21T23:49:15.058Z,1769039355.058 [keepstation:SurfaceComms:B] Running Loop=1
2026-01-21T23:49:15.058Z,1769039355.058 [keepstation:SurfaceComms:B](DEBUG): Aggregate::initialize keepstation:SurfaceComms:B
2026-01-21T23:49:15.060Z,1769039355.060 [keepstation:NeedComms] Running Loop=1
2026-01-21T23:49:15.060Z,1769039355.060 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2026-01-21T23:49:15.060Z,1769039355.060 [keepstation:NeedComms:C.GoToSurface] Running Loop=1
2026-01-21T23:49:15.060Z,1769039355.060 [keepstation:NeedComms:C.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2026-01-21T23:49:15.061Z,1769039355.061 [keepstation:NeedComms:C.GoToSurface](INFO): Received depth rate setting nan m/s.
2026-01-21T23:49:15.061Z,1769039355.061 [keepstation:NeedComms:C.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2026-01-21T23:49:15.062Z,1769039355.062 [keepstation:NeedComms:C.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2026-01-21T23:49:15.062Z,1769039355.062 [keepstation:NeedComms:C.GoToSurface](INFO): Received surface timeout setting 1500.000000 seconds.
2026-01-21T23:49:15.062Z,1769039355.062 [keepstation:NeedComms:C.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2026-01-21T23:49:15.063Z,1769039355.063 [keepstation:NeedComms:C.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2026-01-21T23:49:15.063Z,1769039355.063 [keepstation:NeedComms:A] Running Loop=1
2026-01-21T23:49:15.065Z,1769039355.065 [keepstation:NeedComms:A](INFO): last time_fix was:  1769033952.000000 second since 1970/01/01T00:00:00Z 
2026-01-21T23:49:15.065Z,1769039355.065 [keepstation:NeedComms:A] Stopped
2026-01-21T23:49:15.065Z,1769039355.065 [keepstation:NeedComms:setActive] Running Loop=1
2026-01-21T23:49:15.065Z,1769039355.065 [keepstation:NeedComms:setActive](DEBUG): Aggregate::initialize keepstation:NeedComms:setActive
2026-01-21T23:49:15.065Z,1769039355.065 [keepstation:NeedComms:setActive:A] Running Loop=1
2026-01-21T23:49:15.461Z,1769039355.461 [keepstation:TransitToStation:Dive] Stopped
2026-01-21T23:49:15.461Z,1769039355.461 [keepstation:TransitToStation:Dive](DEBUG): Aggregate::uninitialize keepstation:TransitToStation:Dive
2026-01-21T23:49:15.461Z,1769039355.461 [keepstation:TransitToStation:Dive:A] Stopped
2026-01-21T23:49:15.461Z,1769039355.461 [keepstation:TransitToStation:Dive:A](DEBUG): Aggregate::uninitialize keepstation:TransitToStation:Dive:A
2026-01-21T23:49:15.462Z,1769039355.462 [keepstation:DiveCmd:TransitToStation] Stopped
2026-01-21T23:49:15.462Z,1769039355.462 [keepstation:DiveCmd:TransitToStation](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:TransitToStation
2026-01-21T23:49:15.462Z,1769039355.462 [keepstation:DiveCmd:TransitToStation:dive] Stopped
2026-01-21T23:49:15.462Z,1769039355.462 [keepstation:DiveCmd:TransitToStation:dive](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:TransitToStation:dive
2026-01-21T23:49:15.462Z,1769039355.462 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy] Stopped
2026-01-21T23:49:15.462Z,1769039355.462 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2026-01-21T23:49:15.462Z,1769039355.462 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch] Stopped
2026-01-21T23:49:15.462Z,1769039355.462 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed] Stopped
2026-01-21T23:49:15.462Z,1769039355.462 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed](DEBUG): Uninitialize.
2026-01-21T23:49:15.465Z,1769039355.465 [keepstation:NeedComms:setActive:A] Stopped
2026-01-21T23:49:15.465Z,1769039355.465 [keepstation:NeedComms:setActive:B] Running Loop=1
2026-01-21T23:49:15.875Z,1769039355.875 [keepstation:NeedComms:setActive:B] Stopped
2026-01-21T23:49:15.875Z,1769039355.875 [keepstation:NeedComms:setActive](INFO): Completed keepstation:NeedComms:setActive
2026-01-21T23:49:15.875Z,1769039355.875 [keepstation:NeedComms:setActive] Stopped
2026-01-21T23:49:15.875Z,1769039355.875 [keepstation:NeedComms:setActive](DEBUG): Aggregate::uninitialize keepstation:NeedComms:setActive
2026-01-21T23:50:25.954Z,1769039425.954 [keepstation:NeedComms:D] Running Loop=1
2026-01-21T23:50:26.368Z,1769039426.368 [Radio_Surface](INFO): Powering up
2026-01-21T23:50:32.312Z,1769039432.312 [DataOverHttps](INFO): Radio surface powered ON.
2026-01-21T23:50:58.679Z,1769039458.679 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2026-01-21T23:50:58.752Z,1769039458.752 [NAL9602](ERROR): received: 
+CSQ:0

OK362, 0, 0, 0, 0

OK
2026-01-21T23:51:02.436Z,1769039462.436 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-21T23:51:15.239Z,1769039475.239 [BPC1](INFO): Calculating totals. Valid battery stick count: 49. Valid reserve battery stick count: 5.
2026-01-21T23:51:15.243Z,1769039475.243 [BPC1](FAULT): Failed to receive data from 8 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 1, 2, 3, 4, 5, 6, 7, 8.
2026-01-21T23:51:33.561Z,1769039493.561 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-21T23:52:04.692Z,1769039524.692 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-21T23:52:35.816Z,1769039555.816 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-21T23:52:44.620Z,1769039564.620 [DataOverHttps](INFO): Received command: sched 20260122T1445 "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" 3urcz 2 3
2026-01-21T23:52:44.701Z,1769039564.701 [CommandExec](IMPORTANT): got command schedule 20260122T144500 "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" 3urcz 2 3.000000
2026-01-21T23:52:44.701Z,1769039564.701 [CommandExec](IMPORTANT): Scheduling command #2 of 3 with id=3urcz
2026-01-21T23:52:44.703Z,1769039564.703 [CommandExec](IMPORTANT): Scheduled #19 (#2 of 3 with id='3urcz'): "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: 2026-01-22T14:45:00Z
2026-01-21T23:52:45.621Z,1769039565.621 [DataOverHttps](IMPORTANT): SBD MTMSN=20260121T235242
2026-01-21T23:52:45.625Z,1769039565.625 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003843
2026-01-21T23:52:50.578Z,1769039570.578 [NAL9602](INFO): SBD MO Status=1, MOMSN=25363, MT Status=0, MTMSN=0
2026-01-21T23:52:50.579Z,1769039570.579 [NAL9602](INFO): No messages in MT queue
2026-01-21T23:52:51.803Z,1769039571.803 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,235249.00,A,3651.85102,N,12202.21500,W,1.089,292.91,210126,,,D*7F
2026-01-21T23:52:51.805Z,1769039571.805 [NAL9602](INFO): GPS fix at 20260121T235249: (36.864184, -122.036917)
2026-01-21T23:52:51.842Z,1769039571.842 [UniversalFixResidualReporter](INFO): Fix residual: 41.0 %DT, over the last 2851.2 m. Residual distance 1167.7 m at bearing 123.4 degrees. Fix at (36.8642, -122.0369) with 1537.0 m made good.
2026-01-21T23:52:51.848Z,1769039571.848 [keepstation:TransitToStation:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.816429,-121.939323
2026-01-21T23:52:51.851Z,1769039571.851 [keepstation:NeedComms:D] Stopped
2026-01-21T23:52:51.851Z,1769039571.851 [keepstation:NeedComms:E] Running Loop=1
2026-01-21T23:52:53.416Z,1769039573.416 [DataOverHttps](INFO): Sending 100 bytes from file Logs/20260121T144500/Courier0063.lzma
2026-01-21T23:52:53.418Z,1769039573.418 [DataOverHttps](INFO): Received command: stop
2026-01-21T23:52:53.445Z,1769039573.445 [CommandExec](IMPORTANT): got command stop
2026-01-21T23:52:53.445Z,1769039573.445 [CommandExec](IMPORTANT): Scheduling is paused for 8 commands
2026-01-21T23:52:53.445Z,1769039573.445 [Supervisor](INFO): Stop Mission called by CommandExec::commandStop
2026-01-21T23:52:53.598Z,1769039573.598 [MissionManager](INFO): MissionManager is completed.
2026-01-21T23:52:53.599Z,1769039573.599 [MissionManager](INFO): Uninitializing Mission keepstation
2026-01-21T23:52:53.599Z,1769039573.599 [keepstation] Stopped
2026-01-21T23:52:53.599Z,1769039573.599 [keepstation](DEBUG): Aggregate::uninitialize keepstation
2026-01-21T23:52:53.599Z,1769039573.599 [keepstation:NeedComms] Stopped
2026-01-21T23:52:53.599Z,1769039573.599 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2026-01-21T23:52:53.599Z,1769039573.599 [keepstation:NeedComms:C.GoToSurface] Stopped
2026-01-21T23:52:53.599Z,1769039573.599 [keepstation:NeedComms:C.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2026-01-21T23:52:53.599Z,1769039573.599 [keepstation:NeedComms:E] Stopped
2026-01-21T23:52:53.599Z,1769039573.599 [keepstation:StandardEnvelopes] Stopped
2026-01-21T23:52:53.599Z,1769039573.599 [keepstation:StandardEnvelopes](DEBUG): Aggregate::uninitialize keepstation:StandardEnvelopes
2026-01-21T23:52:53.599Z,1769039573.599 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2026-01-21T23:52:53.599Z,1769039573.599 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2026-01-21T23:52:53.604Z,1769039573.604 [keepstation:StandardEnvelopes:B.DepthEnvelope] Stopped
2026-01-21T23:52:53.604Z,1769039573.604 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2026-01-21T23:52:53.604Z,1769039573.604 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2026-01-21T23:52:53.604Z,1769039573.604 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2026-01-21T23:52:53.604Z,1769039573.604 [keepstation:BackseatDriver] Stopped
2026-01-21T23:52:53.604Z,1769039573.604 [keepstation:BackseatDriver](DEBUG): Aggregate::uninitialize keepstation:BackseatDriver
2026-01-21T23:52:53.604Z,1769039573.604 [keepstation:BackseatDriver:A.BackseatDriver] Stopped
2026-01-21T23:52:53.604Z,1769039573.604 [keepstation:PowerOnly] Stopped
2026-01-21T23:52:53.604Z,1769039573.604 [keepstation:PowerOnly](DEBUG): Aggregate::uninitialize keepstation:PowerOnly
2026-01-21T23:52:53.605Z,1769039573.605 [keepstation:PowerOnly:E.Wait] Stopped
2026-01-21T23:52:53.605Z,1769039573.605 [keepstation:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2026-01-21T23:52:53.605Z,1769039573.605 [keepstation:H.Pitch] Stopped
2026-01-21T23:52:53.605Z,1769039573.605 [keepstation:SurfaceComms] Stopped
2026-01-21T23:52:53.605Z,1769039573.605 [keepstation:SurfaceComms](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms
2026-01-21T23:52:53.605Z,1769039573.605 [keepstation:SurfaceComms:B] Stopped
2026-01-21T23:52:53.605Z,1769039573.605 [keepstation:SurfaceComms:B](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:B
2026-01-21T23:52:53.605Z,1769039573.605 [keepstation:DiveCmd] Stopped
2026-01-21T23:52:53.605Z,1769039573.605 [keepstation:DiveCmd](DEBUG): Aggregate::uninitialize keepstation:DiveCmd
2026-01-21T23:52:53.605Z,1769039573.605 [keepstation:TransitToStation] Stopped
2026-01-21T23:52:53.605Z,1769039573.605 [keepstation:TransitToStation](DEBUG): Aggregate::uninitialize keepstation:TransitToStation
2026-01-21T23:52:53.606Z,1769039573.606 [keepstation:TransitToStation:Wpt1.Waypoint] Stopped
2026-01-21T23:52:53.606Z,1769039573.606 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2026-01-21T23:52:53.990Z,1769039573.990 [MissionManager](IMPORTANT): Started mission Default
2026-01-21T23:52:53.990Z,1769039573.990 [Default] Running Loop=1
2026-01-21T23:52:53.991Z,1769039573.991 [Default](DEBUG): Aggregate::initialize Default
2026-01-21T23:52:53.991Z,1769039573.991 [Default:B.GoToSurface] Running Loop=1
2026-01-21T23:52:53.991Z,1769039573.991 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2026-01-21T23:52:53.991Z,1769039573.991 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2026-01-21T23:52:53.991Z,1769039573.991 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2026-01-21T23:52:53.992Z,1769039573.992 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2026-01-21T23:52:53.992Z,1769039573.992 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2026-01-21T23:52:53.992Z,1769039573.992 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2026-01-21T23:52:53.993Z,1769039573.993 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2026-01-21T23:52:53.993Z,1769039573.993 [Default:A.Wait] Running Loop=1
2026-01-21T23:52:53.993Z,1769039573.993 [Default:A.Wait](DEBUG): Initialize Wait Component.
2026-01-21T23:52:54.050Z,1769039574.050 [DataOverHttps](INFO): Moved sent file to Logs/20260121T144500/Courier0063.lzma.bak
2026-01-21T23:52:54.050Z,1769039574.050 [DataOverHttps](INFO): SBD MOMSN=26585463
2026-01-21T23:53:07.315Z,1769039587.315 [Default:A.Wait](INFO): Done Waiting.
2026-01-21T23:53:07.315Z,1769039587.315 [Default:A.Wait] Stopped
2026-01-21T23:53:07.315Z,1769039587.315 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2026-01-21T23:53:07.723Z,1769039587.723 [Default:CheckIn] Running Loop=1
2026-01-21T23:53:07.723Z,1769039587.723 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2026-01-21T23:53:07.723Z,1769039587.723 [Default:CheckIn:Read_GPS] Running Loop=1
2026-01-21T23:53:09.729Z,1769039589.729 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,235306.00,A,3651.85259,N,12202.21669,W,0.486,339.52,210126,,,D*71
2026-01-21T23:53:09.731Z,1769039589.731 [NAL9602](INFO): GPS fix at 20260121T235306: (36.864210, -122.036945)
2026-01-21T23:53:09.758Z,1769039589.758 [Default:CheckIn:Read_GPS] Stopped
2026-01-21T23:53:09.758Z,1769039589.758 [Default:CheckIn:Read_Iridium] Running Loop=1
2026-01-21T23:53:18.655Z,1769039598.655 [DataOverHttps](INFO): Sending 77 bytes from file Logs/20260121T144500/Courier0069.lzma
2026-01-21T23:53:19.658Z,1769039599.658 [DataOverHttps](INFO): Moved sent file to Logs/20260121T144500/Courier0069.lzma.bak
2026-01-21T23:53:19.658Z,1769039599.658 [DataOverHttps](INFO): SBD MOMSN=26585467
2026-01-21T23:53:36.882Z,1769039616.882 [DataOverHttps](INFO): Sending 1378 bytes from file Logs/20260121T144500/Express0064.lzma
2026-01-21T23:53:37.882Z,1769039617.882 [DataOverHttps](INFO): Moved sent file to Logs/20260121T144500/Express0064.lzma.bak
2026-01-21T23:53:37.882Z,1769039617.882 [DataOverHttps](INFO): SBD MOMSN=26585470
2026-01-21T23:53:42.461Z,1769039622.461 [NAL9602](INFO): Not Powering down - fast GPS
2026-01-21T23:53:54.213Z,1769039634.213 [DataOverHttps](INFO): Sending 70 bytes from file Logs/20260121T144500/Express0067.lzma
2026-01-21T23:53:55.214Z,1769039635.214 [DataOverHttps](INFO): Moved sent file to Logs/20260121T144500/Express0067.lzma.bak
2026-01-21T23:53:55.214Z,1769039635.214 [DataOverHttps](INFO): SBD MOMSN=26585489
2026-01-21T23:54:13.444Z,1769039653.444 [DataOverHttps](INFO): Sending 182 bytes from file Logs/20260121T144500/Express0070.lzma
2026-01-21T23:54:14.446Z,1769039654.446 [DataOverHttps](INFO): Moved sent file to Logs/20260121T144500/Express0070.lzma.bak
2026-01-21T23:54:14.446Z,1769039654.446 [DataOverHttps](INFO): SBD MOMSN=26585491
2026-01-21T23:54:30.688Z,1769039670.688 [DataOverHttps](INFO): Sending 70 bytes from file Logs/20260121T144500/Express0073.lzma
2026-01-21T23:54:31.690Z,1769039671.690 [DataOverHttps](INFO): Moved sent file to Logs/20260121T144500/Express0073.lzma.bak
2026-01-21T23:54:31.690Z,1769039671.690 [DataOverHttps](INFO): SBD MOMSN=26585496
2026-01-21T23:54:32.988Z,1769039672.988 [Default:CheckIn:Read_Iridium] Stopped
2026-01-21T23:54:32.988Z,1769039672.988 [Default:CheckIn:C.Wait] Running Loop=1
2026-01-21T23:54:32.988Z,1769039672.988 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2026-01-21T23:56:12.706Z,1769039772.706 [DataOverHttps](IMPORTANT): SBD MTMSN=20260121T235609
2026-01-21T23:56:20.211Z,1769039780.211 [DataOverHttps](INFO): Received command: schedule clear;schedule resume
2026-01-21T23:56:20.295Z,1769039780.295 [CommandExec](IMPORTANT): got command schedule clear
2026-01-21T23:56:20.295Z,1769039780.295 [CommandExec](IMPORTANT): Cleared 8 scheduled commands.
2026-01-21T23:56:20.296Z,1769039780.296 [CommandExec](IMPORTANT): got command schedule resume
2026-01-21T23:56:20.296Z,1769039780.296 [CommandExec](IMPORTANT): Scheduling is resumed
2026-01-21T23:56:52.993Z,1769039812.993 [DataOverHttps](IMPORTANT): SBD MTMSN=20260121T235649
2026-01-21T23:57:00.601Z,1769039820.601 [DataOverHttps](INFO): Received command: sched 20260122T0145 "restart logs"
2026-01-21T23:57:00.608Z,1769039820.608 [CommandExec](IMPORTANT): got command schedule 20260122T014500 "restart logs"
2026-01-21T23:57:00.609Z,1769039820.609 [CommandExec](IMPORTANT): Scheduled #20: "restart logs", AT TIME: 2026-01-22T01:45:00Z
2026-01-21T23:57:01.601Z,1769039821.601 [DataOverHttps](IMPORTANT): SBD MTMSN=20260121T235658
2026-01-21T23:57:10.525Z,1769039830.525 [DataOverHttps](INFO): Received command: sched 20260122T1445 "restart logs"
2026-01-21T23:57:10.619Z,1769039830.619 [CommandExec](IMPORTANT): got command schedule 20260122T144500 "restart logs"
2026-01-21T23:57:10.620Z,1769039830.620 [CommandExec](IMPORTANT): Scheduled #21: "restart logs", AT TIME: 2026-01-22T14:45:00Z
2026-01-21T23:59:13.634Z,1769039953.634 [DataOverHttps](IMPORTANT): SBD MTMSN=20260121T235910
2026-01-21T23:59:24.212Z,1769039964.212 [DataOverHttps](INFO): Received command: sched 20260122T0145 "load Science/sci2.tl;set sci2.MissionTimeout 14 h;set sci2.NeedCommsTime 90 min;set sci2.Lat1 36.81643 degree;set sci2.Lon1 -121.93932 degree;set sci2.Speed .7 m/s;set sci2.YoYoMinDepth 4 m;set sci2.YoYoMaxDepth 50 m" 3uvyh 1 2
2026-01-21T23:59:24.294Z,1769039964.294 [CommandExec](IMPORTANT): got command schedule 20260122T014500 "load Science/sci2.tl;set sci2.MissionTimeout 14 h;set sci2.NeedCommsTime 90 min;set sci2.Lat1 36.81643 degree;set sci2.Lon1 -121.93932 degree;set sci2.Speed .7 m/s;set sci2.YoYoMinDepth 4 m;set sci2.YoYoMaxDepth 50 m" 3uvyh 1 2.000000
2026-01-21T23:59:24.294Z,1769039964.294 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=3uvyh
2026-01-21T23:59:24.295Z,1769039964.295 [CommandExec](IMPORTANT): Scheduled #22 (#1 of 2 with id='3uvyh'): "load Science/sci2.tl;set sci2.MissionTimeout 14 h;set sci2.NeedCommsTime 90 min;set sci2.Lat1 36.81643 degree;set sci2.Lon1 -121.93932 degree;set sci2.Speed .7 m/s;set sci2.YoYoMinDepth 4 m;set sci2.YoYoMaxDepth 50 m", AT TIME: 2026-01-22T01:45:00Z
2026-01-21T23:59:25.214Z,1769039965.214 [DataOverHttps](IMPORTANT): SBD MTMSN=20260121T235922
2026-01-21T23:59:33.160Z,1769039973.160 [DataOverHttps](INFO): Received command: sched 20260122T0145 "set sci2.SinkOffSurface 1 bool;set sci2.SinkDepthTimeout 2 min;set sci2.MaxDepth 60 m;run" 3uvyh 2 2
2026-01-21T23:59:33.236Z,1769039973.236 [CommandExec](IMPORTANT): got command schedule 20260122T014500 "set sci2.SinkOffSurface 1 bool;set sci2.SinkDepthTimeout 2 min;set sci2.MaxDepth 60 m;run" 3uvyh 2 2.000000
2026-01-21T23:59:33.237Z,1769039973.237 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=3uvyh
2026-01-21T23:59:33.238Z,1769039973.238 [CommandExec](IMPORTANT): Scheduled #23 (#2 of 2 with id='3uvyh'): "set sci2.SinkOffSurface 1 bool;set sci2.SinkDepthTimeout 2 min;set sci2.MaxDepth 60 m;run", AT TIME: 2026-01-22T01:45:00Z
2026-01-21T23:59:33.570Z,1769039973.570 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2026-01-21T23:59:33.570Z,1769039973.570 [Default:CheckIn:C.Wait] Stopped
2026-01-21T23:59:33.570Z,1769039973.570 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2026-01-21T23:59:33.570Z,1769039973.570 [Default:CheckIn:D] Running Loop=1
2026-01-21T23:59:33.976Z,1769039973.976 [Default:CheckIn:D] Stopped
2026-01-21T23:59:33.976Z,1769039973.976 [Default:CheckIn:E] Running Loop=1
2026-01-21T23:59:34.385Z,1769039974.385 [Default:CheckIn:E](IMPORTANT): Default mission has been running for  6.666417 min 
2026-01-21T23:59:34.385Z,1769039974.385 [Default:CheckIn:E] Stopped
2026-01-21T23:59:34.385Z,1769039974.385 [Default:CheckIn](INFO): Completed Default:CheckIn
2026-01-21T23:59:34.385Z,1769039974.385 [Default:CheckIn] Stopped
2026-01-21T23:59:34.385Z,1769039974.385 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2026-01-21T23:59:34.385Z,1769039974.385 [Default:CheckIn](INFO): Running loop #2
2026-01-21T23:59:34.386Z,1769039974.386 [Default:CheckIn] Running Loop=2
2026-01-21T23:59:34.386Z,1769039974.386 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2026-01-21T23:59:34.386Z,1769039974.386 [Default:CheckIn:Read_GPS] Running Loop=1
2026-01-21T23:59:36.390Z,1769039976.390 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,235933.00,A,3651.88470,N,12202.26129,W,0.700,349.51,210126,,,D*70
2026-01-21T23:59:36.392Z,1769039976.392 [NAL9602](INFO): GPS fix at 20260121T235933: (36.864745, -122.037688)
2026-01-21T23:59:36.403Z,1769039976.403 [Default:CheckIn:Read_GPS] Stopped
2026-01-21T23:59:36.403Z,1769039976.403 [Default:CheckIn:Read_Iridium] Running Loop=1
2026-01-21T23:59:43.791Z,1769039983.791 [DataOverHttps](INFO): Sending 77 bytes from file Logs/20260121T144500/Courier0075.lzma
2026-01-21T23:59:44.794Z,1769039984.794 [DataOverHttps](INFO): Moved sent file to Logs/20260121T144500/Courier0075.lzma.bak
2026-01-21T23:59:44.794Z,1769039984.794 [DataOverHttps](INFO): SBD MOMSN=26585513
2026-01-22T00:00:02.092Z,1769040002.092 [DataOverHttps](INFO): Sending 659 bytes from file Logs/20260121T144500/Express0076.lzma
2026-01-22T00:00:04.098Z,1769040004.098 [DataOverHttps](INFO): Moved sent file to Logs/20260121T144500/Express0076.lzma.bak
2026-01-22T00:00:04.098Z,1769040004.098 [DataOverHttps](INFO): SBD MOMSN=26585516
2026-01-22T00:00:05.548Z,1769040005.548 [Default:CheckIn:Read_Iridium] Stopped
2026-01-22T00:00:05.548Z,1769040005.548 [Default:CheckIn:C.Wait] Running Loop=1
2026-01-22T00:00:05.548Z,1769040005.548 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2026-01-22T00:00:37.022Z,1769040037.022 [NAL9602](INFO): SBD MO Status=2, MOMSN=25364, MT Status=2, MTMSN=0
2026-01-22T00:00:37.023Z,1769040037.023 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-01-22T00:01:02.475Z,1769040062.475 [NAL9602](INFO): SBD MO Status=2, MOMSN=25364, MT Status=2, MTMSN=0
2026-01-22T00:01:02.475Z,1769040062.475 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-01-22T00:01:16.128Z,1769040076.128 [DataOverHttps](IMPORTANT): SBD MTMSN=20260122T000113
2026-01-22T00:01:24.712Z,1769040084.712 [DataOverHttps](INFO): Received command: sched "load Transport/keepstation.tl;set keepstation.MissionTimeout 14 h;set keepstation.NeedCommsTime 90 min;set keepstation.Latitude 36.81643 degree;set keepstation.Longitude -121.93932 degree;set keepstation.Depth 20 m" 3uw15 1 2
2026-01-22T00:01:24.769Z,1769040084.769 [CommandExec](IMPORTANT): got command schedule "load Transport/keepstation.tl;set keepstation.MissionTimeout 14 h;set keepstation.NeedCommsTime 90 min;set keepstation.Latitude 36.81643 degree;set keepstation.Longitude -121.93932 degree;set keepstation.Depth 20 m" 3uw15 1 2.000000
2026-01-22T00:01:24.770Z,1769040084.770 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=3uw15
2026-01-22T00:01:24.771Z,1769040084.771 [CommandExec](IMPORTANT): Scheduled #24 (#1 of 2 with id='3uw15'): "load Transport/keepstation.tl;set keepstation.MissionTimeout 14 h;set keepstation.NeedCommsTime 90 min;set keepstation.Latitude 36.81643 degree;set keepstation.Longitude -121.93932 degree;set keepstation.Depth 20 m", AFTER MISSION
2026-01-22T00:01:28.726Z,1769040088.726 [DataOverHttps](IMPORTANT): SBD MTMSN=20260122T000122
2026-01-22T00:01:36.312Z,1769040096.312 [DataOverHttps](INFO): Received command: sched "set keepstation.Speed .7 m/s;set keepstation.SinkOffSurface 1 bool;set keepstation.MaxDepth 40 m;set keepstation:NeedComms.SurfaceSpeed 1 m/s;set keepstation:NeedComms.CommsTimeout 30 min;run" 3uw15 2 2
2026-01-22T00:01:36.340Z,1769040096.340 [CommandExec](IMPORTANT): got command schedule "set keepstation.Speed .7 m/s;set keepstation.SinkOffSurface 1 bool;set keepstation.MaxDepth 40 m;set keepstation:NeedComms.SurfaceSpeed 1 m/s;set keepstation:NeedComms.CommsTimeout 30 min;run" 3uw15 2 2.000000
2026-01-22T00:01:36.341Z,1769040096.341 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=3uw15
2026-01-22T00:01:36.342Z,1769040096.342 [CommandExec](IMPORTANT): Scheduled #25 (#2 of 2 with id='3uw15'): "set keepstation.Speed .7 m/s;set keepstation.SinkOffSurface 1 bool;set keepstation.MaxDepth 40 m;set keepstation:NeedComms.SurfaceSpeed 1 m/s;set keepstation:NeedComms.CommsTimeout 30 min;run", AFTER MISSION
2026-01-22T00:01:36.449Z,1769040096.449 [CommandExec](IMPORTANT): got command load ./Missions/Transport/keepstation.tl
2026-01-22T00:01:36.450Z,1769040096.450 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/keepstation.tl
2026-01-22T00:01:36.450Z,1769040096.450 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/keepstation.tl
2026-01-22T00:01:36.453Z,1769040096.453 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/keepstation.tl
2026-01-22T00:01:37.865Z,1769040097.865 [MissionManager](DEBUG): TethyslAPI: ./Missions/Transport/keepstation.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="keepstation">
    <DefineArg Name="MissionTimeout">
        <Units:hour />
        <Value>4</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>45</Value>
    </DefineArg>
    <DefineArg Name="Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth">
        <Units:meter />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepth">
        <Units:meter />
        <Value>15</Value>
    </DefineArg>
    <DefineArg Name="DepthDeadband">
        <Units:meter />
        <Value>4</Value>
    </DefineArg>
    <DefineArg Name="Speed">
        <Units:meter_per_second />
        <Value>0.75</Value>
    </DefineArg>
    <DefineArg Name="Radius">
        <Units:meter />
        <Value>200</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>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>45</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="TransitToStation">
        <Units:count />
        <Value>2</Value>
    </DefineOutput>
    <DefineOutput Name="StationKeep">
        <Units:count />
        <Value>3</Value>
    </DefineOutput>
    <DefineOutput Name="OnStation">
        <False />
    </DefineOutput>
    <Timeout Duration="MissionTimeout" />
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="NeedCommsTime" />
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Guidance:Pitch>
        <Parallel />
        <Setting>
            <Guidance:Pitch.massPosition />
            <Control:VerticalControl.massDefault />
        </Setting>
    </Guidance:Pitch>
    <Aggregate Id="SurfaceComms">
        <When>
            <Called />
            <Or>
                <Elapsed>
                    <Universal:time_fix />
                </Elapsed>
                <Gt>
                    <Arg Name="NeedCommsTime" />
                </Gt>
            </Or>
        </When>
        <Assign>
            <Sequence />
            <Arg Name="DiveMode" />
            <Arg Name="DoingComms" />
        </Assign>
        <Call RefId="NeedComms" PriorityHere="false" />
        <Aggregate Id="HandleNan">
            <Sequence />
            <Break>
                <Not>
                    <IsNaN>
                        <Arg Name="Latitude" />
                    </IsNaN>
                </Not>
                <And>
                    <Not>
                        <IsNaN>
                            <Arg Name="Longitude" />
                        </IsNaN>
                    </Not>
                </And>
            </Break>
            <Aggregate Id="SetOnStation">
                <Sequence />
                <Break>
                    <Not>
                        <IsNaN>
                            <Arg Name="Latitude" />
                        </IsNaN>
                    </Not>
                    <Or>
                        <Not>
                            <IsNaN>
                                <Arg Name="Longitude" />
                            </IsNaN>
                        </Not>
                    </Or>
                </Break>
                <Assign>
                    <Sequence />
                    <Arg Name="OnStation" />
                    <True />
                </Assign>
            </Aggregate>
            <Aggregate Id="SetLat">
                <Sequence />
                <Break>
                    <Not>
                        <IsNaN>
                            <Arg Name="Latitude" />
                        </IsNaN>
                    </Not>
                </Break>
                <Assign>
                    <Sequence />
                    <Arg Name="Latitude" />
                    <Universal:latitude_fix />
                </Assign>
            </Aggregate>
            <Aggregate Id="SetLon">
                <Sequence />
                <Break>
                    <Not>
                        <IsNaN>
                            <Arg Name="Longitude" />
                        </IsNaN>
                    </Not>
                </Break>
                <Assign>
                    <Sequence />
                    <Arg Name="Longitude" />
                    <Universal:longitude_fix />
                </Assign>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="setTransit">
            <Sequence />
            <Break>
                <Arg Name="SinkOffSurface" />
                <Or>
                    <Arg Name="OnStation" />
                </Or>
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="DiveMode" />
                <Arg Name="TransitToStation" />
            </Assign>
        </Aggregate>
        <Aggregate Id="setStation">
            <Sequence />
            <Break>
                <Arg Name="SinkOffSurface" />
                <Or>
                    <Not>
                        <Arg Name="OnStation" />
                    </Not>
                </Or>
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="DiveMode" />
                <Arg Name="StationKeep" />
            </Assign>
        </Aggregate>
        <Aggregate Id="setSink">
            <Sequence />
            <Break>
                <Not>
                    <Arg Name="SinkOffSurface" />
                </Not>
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="DiveMode" />
                <Arg Name="SurfaceSink" />
            </Assign>
        </Aggregate>
    </Aggregate>
    <Call RefId="SurfaceComms" Id="StartingMission" PriorityHere="false" />
    <Aggregate Id="DiveCmd">
        <When>
            <Called />
        </When>
        <Aggregate Id="SurfaceSink">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="SurfaceSink" />
                </Eq>
            </While>
            <Aggregate Id="sink">
                <Sequence />
                <Guidance:Buoyancy Id="BuoyancyHold">
                    <Parallel />
                    <Setting>
                        <Guidance:Buoyancy.position />
                        <Units:cubic_centimeter />
                        <Value>NaN</Value>
                    </Setting>
                </Guidance:Buoyancy>
                <Guidance:SetSpeed>
                    <Parallel />
                    <Setting>
                        <Guidance:SetSpeed.speed />
                        <Units:meter_per_second />
                        <Value>0</Value>
                    </Setting>
                </Guidance:SetSpeed>
                <Syslog Severity="Info">
                    Sinking to 
                    <Arg Name="SinkDepth" />
                    <Units:meter />
                </Syslog>
                <Guidance:Pitch>
                    <Sequence />
                    <Timeout Duration="SinkDepthTimeout">
                        <Syslog Severity="Important">
                            Timed out while trying to reach target sink depth at current depth of 
                            <Universal:depth />
                            <Units:meter />
                        </Syslog>
                    </Timeout>
                    <Setting>
                        <Guidance:Pitch.depth />
                        <Arg Name="SinkDepth" />
                    </Setting>
                </Guidance:Pitch>
                <Aggregate Id="sinkToTransit">
                    <Sequence />
                    <Break>
                        <Arg Name="OnStation" />
                    </Break>
                    <Assign>
                        <Sequence />
                        <Arg Name="DiveMode" />
                        <Arg Name="TransitToStation" />
                    </Assign>
                </Aggregate>
                <Aggregate Id="sinkToStation">
                    <Sequence />
                    <Break>
                        <Not>
                            <Arg Name="OnStation" />
                        </Not>
                    </Break>
                    <Assign>
                        <Sequence />
                        <Arg Name="DiveMode" />
                        <Arg Name="StationKeep" />
                    </Assign>
                </Aggregate>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="TransitToStation">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="TransitToStation" />
                </Eq>
            </While>
            <Aggregate Id="dive">
                <Sequence />
                <Guidance:Buoyancy>
                    <Parallel />
                    <Setting>
                        <Guidance:Buoyancy.position />
                        <Control:VerticalControl.buoyancyNeutral />
                    </Setting>
                </Guidance:Buoyancy>
                <Guidance:Pitch>
                    <Parallel />
                    <Setting>
                        <Guidance:Pitch.depth />
                        <Arg Name="ApproachDepth" />
                    </Setting>
                </Guidance:Pitch>
                <Guidance:SetSpeed>
                    <Parallel />
                    <Setting>
                        <Guidance:SetSpeed.speed />
                        <Arg Name="Speed" />
                    </Setting>
                </Guidance:SetSpeed>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="StationKeep">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="StationKeep" />
                </Eq>
            </While>
            <Assign>
                <Parallel />
                <Control:VerticalControl.depthDeadband />
                <Arg Name="DepthDeadband" />
            </Assign>
            <Guidance:Pitch>
                <Parallel />
                <Setting>
                    <Guidance:Pitch.depth />
                    <Arg Name="Depth" />
                </Setting>
            </Guidance:Pitch>
            <Guidance:KeepStation>
                <Parallel />
                <Setting>
                    <Guidance:KeepStation.latitude />
                    <Arg Name="Latitude" />
                </Setting>
                <Setting>
                    <Guidance:KeepStation.longitude />
                    <Arg Name="Longitude" />
                </Setting>
                <Setting>
                    <Guidance:KeepStation.radius />
                    <Arg Name="Radius" />
                </Setting>
                <Setting>
                    <Guidance:KeepStation.speed />
                    <Arg Name="Speed" />
                </Setting>
            </Guidance:KeepStation>
        </Aggregate>
    </Aggregate>
    <Aggregate Id="TransitToStation">
        <Sequence />
        <Aggregate Id="Dive">
            <While>
                <Not>
                    <Arg Name="DiveMode" />
                    <Eq>
                        <Arg Name="DoingComms" />
                    </Eq>
                </Not>
            </While>
            <Call RefId="DiveCmd" PriorityHere="false" />
        </Aggregate>
        <Guidance:Waypoint Id="Wpt1">
            <Sequence />
            <Setting>
                <Guidance:Waypoint.latitude />
                <Arg Name="Latitude" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.longitude />
                <Arg Name="Longitude" />
            </Setting>
        </Guidance:Waypoint>
        <Assign>
            <Sequence />
            <Arg Name="DiveMode" />
            <Arg Name="StationKeep" />
        </Assign>
        <Assign>
            <Sequence />
            <Arg Name="OnStation" />
            <True />
        </Assign>
    </Aggregate>
    <Call RefId="NeedComms" Id="OnStation" PriorityHere="false" />
    <Aggregate Id="KeepStation">
        <Sequence />
        <Aggregate Id="Dive">
            <While>
                <Not>
                    <Arg Name="DiveMode" />
                    <Eq>
                        <Arg Name="DoingComms" />
                    </Eq>
                </Not>
            </While>
            <Call RefId="DiveCmd" PriorityHere="false" />
        </Aggregate>
        <Guidance:Wait>
            <Sequence />
            <Setting>
                <Guidance:Wait.duration />
                <Arg Name="MissionTimeout" />
            </Setting>
        </Guidance:Wait>
    </Aggregate>
</Mission>

2026-01-22T00:01:37.873Z,1769040097.873 [MissionManager](INFO): DefineArg keepstation.MissionTimeout = 4.000000 h
2026-01-22T00:01:37.876Z,1769040097.876 [MissionManager](INFO): DefineArg keepstation.NeedCommsTime = 45.000000 min
2026-01-22T00:01:37.878Z,1769040097.878 [MissionManager](INFO): DefineArg keepstation.Latitude = nan arcdeg
2026-01-22T00:01:37.880Z,1769040097.880 [MissionManager](INFO): DefineArg keepstation.Longitude = nan arcdeg
2026-01-22T00:01:37.883Z,1769040097.883 [MissionManager](INFO): DefineArg keepstation.Depth = 30.000000 m
2026-01-22T00:01:37.885Z,1769040097.885 [MissionManager](INFO): DefineArg keepstation.ApproachDepth = 15.000000 m
2026-01-22T00:01:37.887Z,1769040097.887 [MissionManager](INFO): DefineArg keepstation.DepthDeadband = 4.000000 m
2026-01-22T00:01:37.891Z,1769040097.891 [MissionManager](INFO): DefineArg keepstation.Speed = 0.750000 m/s
2026-01-22T00:01:37.893Z,1769040097.893 [MissionManager](INFO): DefineArg keepstation.Radius = 200.000000 m
2026-01-22T00:01:37.895Z,1769040097.895 [MissionManager](INFO): DefineArg keepstation.SinkOffSurface = 0 bool
2026-01-22T00:01:37.897Z,1769040097.897 [MissionManager](INFO): DefineArg keepstation.SinkDepth = 10.000000 m
2026-01-22T00:01:37.900Z,1769040097.900 [MissionManager](INFO): DefineArg keepstation.SinkDepthTimeout = 10.000000 min
2026-01-22T00:01:37.902Z,1769040097.902 [MissionManager](INFO): DefineArg keepstation.MaxDepth = 45.000000 m
2026-01-22T00:01:37.905Z,1769040097.905 [MissionManager](INFO): DefineArg keepstation.MinOffshore = 2.000000 km
2026-01-22T00:01:37.907Z,1769040097.907 [MissionManager](INFO): DefineOutput keepstation.DiveMode = 0.000000 count
2026-01-22T00:01:37.909Z,1769040097.909 [MissionManager](INFO): DefineOutput keepstation.DoingComms = 0.000000 count
2026-01-22T00:01:37.912Z,1769040097.912 [MissionManager](INFO): DefineOutput keepstation.SurfaceSink = 1.000000 count
2026-01-22T00:01:37.914Z,1769040097.914 [MissionManager](INFO): DefineOutput keepstation.TransitToStation = 2.000000 count
2026-01-22T00:01:37.957Z,1769040097.957 [MissionManager](INFO): DefineOutput keepstation.StationKeep = 3.000000 count
2026-01-22T00:01:37.959Z,1769040097.959 [MissionManager](INFO): DefineOutput keepstation.OnStation = 0 bool
2026-01-22T00:01:37.960Z,1769040097.960 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2026-01-22T00:01:37.960Z,1769040097.960 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2026-01-22T00:01:37.962Z,1769040097.962 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2026-01-22T00:01:38.363Z,1769040098.363 [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>

2026-01-22T00:01:38.369Z,1769040098.369 [MissionManager](INFO): DefineArg keepstation:NeedComms.DiveInterval = 1.000000 h
2026-01-22T00:01:38.371Z,1769040098.371 [MissionManager](INFO): DefineArg keepstation:NeedComms.WaitForPitchUp = 10.000000 min
2026-01-22T00:01:38.374Z,1769040098.374 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacePitch = 20.000000 arcdeg
2026-01-22T00:01:38.376Z,1769040098.376 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceDepthRate = nan m/s
2026-01-22T00:01:38.378Z,1769040098.378 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceSpeed = 1.000000 m/s
2026-01-22T00:01:38.381Z,1769040098.381 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacingTimeout = 1500.000000 s
2026-01-22T00:01:38.383Z,1769040098.383 [MissionManager](INFO): DefineArg keepstation:NeedComms.GPSTimeout = 7.000000 min
2026-01-22T00:01:38.385Z,1769040098.385 [MissionManager](INFO): DefineArg keepstation:NeedComms.CommsTimeout = 30.000000 min
2026-01-22T00:01:38.388Z,1769040098.388 [MissionManager](INFO): DefineArg keepstation:NeedComms.DoingCommsMode = 0.000000 count
2026-01-22T00:01:38.390Z,1769040098.390 [MissionManager](INFO): DefineArg keepstation:NeedComms.RestoreMode = 0.000000 count
2026-01-22T00:01:38.394Z,1769040098.394 [MissionManager](INFO): DefineOutput keepstation:NeedComms.IsActive = 0 bool
2026-01-22T00:01:38.396Z,1769040098.396 [MissionManager](INFO): DefineOutput keepstation:NeedComms.RequiredDiveMode = 0.000000 count
2026-01-22T00:01:38.457Z,1769040098.457 [keepstation:NeedComms:C.GoToSurface](DEBUG): Construct GoToSurface.
2026-01-22T00:01:38.527Z,1769040098.527 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2026-01-22T00:01:38.536Z,1769040098.536 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2026-01-22T00:01:38.537Z,1769040098.537 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2026-01-22T00:01:38.653Z,1769040098.653 [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>

2026-01-22T00:01:38.657Z,1769040098.657 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinAltitude = 5.000000 m
2026-01-22T00:01:38.659Z,1769040098.659 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2026-01-22T00:01:38.661Z,1769040098.661 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepth = 200.000000 m
2026-01-22T00:01:38.683Z,1769040098.683 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinOffshore = 2000.000000 m
2026-01-22T00:01:38.685Z,1769040098.685 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2026-01-22T00:01:38.690Z,1769040098.690 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2026-01-22T00:01:38.697Z,1769040098.697 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2026-01-22T00:01:38.704Z,1769040098.704 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2026-01-22T00:01:38.705Z,1769040098.705 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2026-01-22T00:01:38.706Z,1769040098.706 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2026-01-22T00:01:38.741Z,1769040098.741 [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>

2026-01-22T00:01:38.745Z,1769040098.745 [MissionManager](INFO): DefineArg keepstation:BackseatDriver.EnableBackseat = 0 bool
2026-01-22T00:01:38.747Z,1769040098.747 [keepstation:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2026-01-22T00:01:38.749Z,1769040098.749 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2026-01-22T00:01:38.750Z,1769040098.750 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2026-01-22T00:01:38.751Z,1769040098.751 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2026-01-22T00:01:38.932Z,1769040098.932 [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>

2026-01-22T00:01:38.936Z,1769040098.936 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleAll = 0 bool
2026-01-22T00:01:38.938Z,1769040098.938 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad1 = 0 bool
2026-01-22T00:01:38.940Z,1769040098.940 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad2 = 0 bool
2026-01-22T00:01:38.942Z,1769040098.942 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad3 = 0 bool
2026-01-22T00:01:38.945Z,1769040098.945 [MissionManager](INFO): DefineArg keepstation:PowerOnly.EnabledPowerOnly = 1 bool
2026-01-22T00:01:38.951Z,1769040098.951 [keepstation:PowerOnly:E.Wait](DEBUG): Construct Wait.
2026-01-22T00:01:38.953Z,1769040098.953 [keepstation:H.Pitch](DEBUG): Construct.
2026-01-22T00:01:39.015Z,1769040099.015 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2026-01-22T00:01:39.018Z,1769040099.018 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Construct.
2026-01-22T00:01:39.034Z,1769040099.034 [keepstation:DiveCmd:SurfaceSink:sink:D.Pitch](DEBUG): Construct.
2026-01-22T00:01:39.063Z,1769040099.063 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy](DEBUG): Construct Buoyancy.
2026-01-22T00:01:39.125Z,1769040099.125 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch](DEBUG): Construct.
2026-01-22T00:01:39.133Z,1769040099.133 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed](DEBUG): Construct.
2026-01-22T00:01:39.137Z,1769040099.137 [keepstation:DiveCmd:StationKeep:B.Pitch](DEBUG): Construct.
2026-01-22T00:01:39.142Z,1769040099.142 [keepstation:DiveCmd:StationKeep:C.KeepStation](DEBUG): Construct KeepStation.
2026-01-22T00:01:39.158Z,1769040099.158 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2026-01-22T00:01:39.169Z,1769040099.169 [keepstation:KeepStation:B.Wait](DEBUG): Construct Wait.
2026-01-22T00:01:39.190Z,1769040099.190 [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 keepstation {
  """
  Vehicle transits to desired waypoint (or stays put if none is commanded)
  and stays within the specified radius.
  """

  arguments {
    MissionTimeout = 4 hour
      """
      Maximum duration of mission
      """

    NeedCommsTime = 45 minute
      """
      How often to surface for communications
      """

    Latitude = NaN degree
      """
      Latitude of waypoint to hold. If NaN, hold the latitude at start of
      mission.
      """

    Longitude = NaN degree
      """
      Longitude of waypoint to hold. If NaN, hold the longitude at start of
      mission.
      """

    Depth = 30 meter
      """
      Depth held during drift mode
      """

    ApproachDepth = 15 meter
      """
      Depth for initial approach to station.
      """

    DepthDeadband = 4 meter
      """
      How much vertical drift from the specified depth is allowed in drift
      mode
      """

    Speed = 0.75 meter_per_second
      """
      Vehicle transit speed.
      """

    Radius = 200 meter
      """
      Radius of circle around waypoint to hold.
      """

    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
      """

    MaxDepth = 45 meter
      """
      Maximum allowable depth during the mission.
      """

    MinOffshore = 2 kilometer
      """
      Minimum distance from the shoreline to maintain
      """
  }

  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.
      """

    TransitToStation = 2 count
      """
      Mission variable (don't change). The mission will run in this mode
      when performing the transit to station
      """

    StationKeep = 3 count
      """
      Mission variable (don't change). The mission will run in this mode
      when keeping station
      """

    OnStation = false
      """
      Mission variable (don't change). Determines last mode (Transit or StationKeep)
      to resume after needcomms
      """
  }

  timeout duration=MissionTimeout

  insert id="NeedComms" Insert/NeedComms.tl

  assign in sequence NeedComms:DiveInterval = NeedCommsTime

  insert Insert/StandardEnvelopes.tl

  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth

  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

  behavior Guidance:Pitch {
    run in parallel

    set massPosition = Control:VerticalControl.massDefault
  }

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

    assign in sequence DiveMode = DoingComms

    call priorityHere=false refId="NeedComms"

    aggregate HandleNan {
      run in sequence

      break if (
        not isNaN ( Latitude )
        and not isNaN ( Longitude )
      )

      # If both lat and lon are nan, we are implicitly on station and should skip initial transit, so force OnStation to true
      aggregate SetOnStation {
        run in sequence

        break if (
          not isNaN ( Latitude )
          or not isNaN ( Longitude )
        )

        assign in sequence OnStation = true
      }

      # The "assigns" here mean we should only ever run these aggregates once
      # An initial NaN lat/lon should be set here during the initial surface NeedComms call
      # Use the most recent fix -- if there isn't one, the keepstation behavior will use Universal:lat/lon
      aggregate SetLat {
        run in sequence

        break if ( not isNaN ( Latitude ) )

        assign in sequence Latitude = Universal:latitude_fix
      }

      aggregate SetLon {
        run in sequence

        break if ( not isNaN ( Longitude ) )

        assign in sequence Longitude = Universal:longitude_fix
      }
    }

    aggregate setTransit {
      run in sequence

      break if (
        SinkOffSurface
        or OnStation
      )

      assign in sequence DiveMode = TransitToStation
    }

    aggregate setStation {
      run in sequence

      break if (
        SinkOffSurface
        or not OnStation
      )

      assign in sequence DiveMode = StationKeep
    }

    aggregate setSink {
      run in sequence

      break if ( not SinkOffSurface )

      assign in sequence DiveMode = SurfaceSink
    }
  }

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

  aggregate DiveCmd {
    run when ( called )

    aggregate SurfaceSink {
      run while ( DiveMode == SurfaceSink )

      aggregate sink {
        run in sequence

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

          set position = NaN cc
        }

        behavior Guidance:SetSpeed {
          run in parallel

          set speed = 0 m/s
        }

        syslog info "Sinking to " + SinkDepth~meter

        behavior Guidance:Pitch {
          run in sequence

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

          set depth = SinkDepth
        }

        # Once we've sunk, either resume transit or station keeping depths and speeds
        aggregate sinkToTransit {
          run in sequence

          break if ( OnStation )

          assign in sequence DiveMode = TransitToStation
        }

        aggregate sinkToStation {
          run in sequence

          break if ( not OnStation )

          assign in sequence DiveMode = StationKeep
        }
      }
    }

    aggregate TransitToStation {
      run while ( DiveMode == TransitToStation )

      aggregate dive {
        run in sequence

        behavior Guidance:Buoyancy {
          run in parallel

          set position = Control:VerticalControl.buoyancyNeutral
        }

        behavior Guidance:Pitch {
          run in parallel

          set depth = ApproachDepth
        }

        behavior Guidance:SetSpeed {
          run in parallel

          set speed = Speed
        }
      }
    }

    aggregate StationKeep {
      run while ( DiveMode == StationKeep )

      assign in parallel Control:VerticalControl.depthDeadband = DepthDeadband

      behavior Guidance:Pitch {
        run in parallel

        set depth = Depth
      }

      behavior Guidance:KeepStation {
        run in parallel

        set latitude = Latitude
        set longitude = Longitude
        set radius = Radius
        set speed = Speed
      }
    }
  }

  aggregate TransitToStation {
    """
    Need a separate aggregate for transit if we want to specify a
    different depth for the approach.
    """

    run in sequence

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

      call priorityHere=false refId="DiveCmd"
    }

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

      set latitude = Latitude
      set longitude = Longitude
    }

    assign in sequence DiveMode = StationKeep
    assign in sequence OnStation = true
  }

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

  aggregate KeepStation {
    run in sequence

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

      call priorityHere=false refId="DiveCmd"
    }

    behavior Guidance:Wait {
      """
      Due to the way the KeepStation behavior is currently
      implemented, we must run it in parallel and use a Wait to keep
      from completing the mission before the timeout expires. However,
      this new version of the mission uses a top-level timeout so that
      the entire mission will not run for longer then MissionTimeout.
      """

      run in sequence

      set duration = MissionTimeout
    }
  }
}


2026-01-22T00:01:39.191Z,1769040099.191 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/keepstation.tl id=keepstation
2026-01-22T00:01:41.254Z,1769040101.254 [NAL9602](INFO): SBD MO Status=2, MOMSN=25364, MT Status=2, MTMSN=0
2026-01-22T00:01:41.255Z,1769040101.255 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-01-22T00:01:59.653Z,1769040119.653 [CommandExec](IMPORTANT): got command set keepstation.MissionTimeout 14 hour
2026-01-22T00:01:59.654Z,1769040119.654 [CommandExec](IMPORTANT): got command set keepstation.NeedCommsTime 90 minute
2026-01-22T00:01:59.654Z,1769040119.654 [CommandExec](IMPORTANT): got command set keepstation.Latitude 36.81643 degree
2026-01-22T00:01:59.655Z,1769040119.655 [CommandExec](IMPORTANT): got command set keepstation.Longitude -121.93932 degree
2026-01-22T00:01:59.656Z,1769040119.656 [CommandExec](IMPORTANT): got command set keepstation.Depth 20 meter
2026-01-22T00:02:11.964Z,1769040131.964 [NAL9602](INFO): SBD MO Status=1, MOMSN=25364, MT Status=0, MTMSN=0
2026-01-22T00:02:11.964Z,1769040131.964 [NAL9602](INFO): No messages in MT queue
2026-01-22T00:02:27.947Z,1769040147.947 [CommandExec](IMPORTANT): got command set keepstation.Speed .7 meter_per_second
2026-01-22T00:02:27.954Z,1769040147.954 [CommandExec](IMPORTANT): got command set keepstation.SinkOffSurface 1 bool
2026-01-22T00:02:27.955Z,1769040147.955 [CommandExec](IMPORTANT): got command set keepstation.MaxDepth 40 meter
2026-01-22T00:02:27.955Z,1769040147.955 [CommandExec](IMPORTANT): got command set keepstation:NeedComms.SurfaceSpeed 1 meter_per_second
2026-01-22T00:02:27.956Z,1769040147.956 [CommandExec](IMPORTANT): got command set keepstation:NeedComms.CommsTimeout 30 minute
2026-01-22T00:02:27.957Z,1769040147.957 [CommandExec](IMPORTANT): got command run
2026-01-22T00:02:27.959Z,1769040147.959 [CommandExec](IMPORTANT): Running 
2026-01-22T00:02:28.135Z,1769040148.135 [Default] Stopped
2026-01-22T00:02:28.135Z,1769040148.135 [Default](DEBUG): Aggregate::uninitialize Default
2026-01-22T00:02:28.135Z,1769040148.135 [Default:B.GoToSurface] Stopped
2026-01-22T00:02:28.135Z,1769040148.135 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2026-01-22T00:02:28.135Z,1769040148.135 [Default:CheckIn] Stopped
2026-01-22T00:02:28.135Z,1769040148.135 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2026-01-22T00:02:28.135Z,1769040148.135 [Default:CheckIn:C.Wait] Stopped
2026-01-22T00:02:28.135Z,1769040148.135 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2026-01-22T00:02:28.135Z,1769040148.135 [MissionManager](IMPORTANT): Started mission keepstation
2026-01-22T00:02:28.136Z,1769040148.136 [keepstation] Running Loop=1
2026-01-22T00:02:28.136Z,1769040148.136 [keepstation](DEBUG): Aggregate::initialize keepstation
2026-01-22T00:02:28.136Z,1769040148.136 [keepstation:StandardEnvelopes] Running Loop=1
2026-01-22T00:02:28.136Z,1769040148.136 [keepstation:StandardEnvelopes](DEBUG): Aggregate::initialize keepstation:StandardEnvelopes
2026-01-22T00:02:28.136Z,1769040148.136 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2026-01-22T00:02:28.136Z,1769040148.136 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2026-01-22T00:02:28.137Z,1769040148.137 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2026-01-22T00:02:28.137Z,1769040148.137 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2026-01-22T00:02:28.137Z,1769040148.137 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2026-01-22T00:02:28.137Z,1769040148.137 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2026-01-22T00:02:28.137Z,1769040148.137 [keepstation:BackseatDriver] Running Loop=1
2026-01-22T00:02:28.137Z,1769040148.137 [keepstation:BackseatDriver](DEBUG): Aggregate::initialize keepstation:BackseatDriver
2026-01-22T00:02:28.137Z,1769040148.137 [keepstation:BackseatDriver:A.BackseatDriver] Running Loop=1
2026-01-22T00:02:28.137Z,1769040148.137 [keepstation:PowerOnly] Running Loop=1
2026-01-22T00:02:28.137Z,1769040148.137 [keepstation:PowerOnly](DEBUG): Aggregate::initialize keepstation:PowerOnly
2026-01-22T00:02:28.138Z,1769040148.138 [keepstation:PowerOnly:A] Running Loop=1
2026-01-22T00:02:28.138Z,1769040148.138 [keepstation:PowerOnly:B] Running Loop=1
2026-01-22T00:02:28.138Z,1769040148.138 [keepstation:PowerOnly:C] Running Loop=1
2026-01-22T00:02:28.138Z,1769040148.138 [keepstation:PowerOnly:D] Running Loop=1
2026-01-22T00:02:28.138Z,1769040148.138 [keepstation:PowerOnly:E.Wait] Running Loop=1
2026-01-22T00:02:28.138Z,1769040148.138 [keepstation:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2026-01-22T00:02:28.138Z,1769040148.138 [keepstation:H.Pitch] Running Loop=1
2026-01-22T00:02:28.138Z,1769040148.138 [keepstation:H.Pitch](DEBUG): Initialize.
2026-01-22T00:02:28.138Z,1769040148.138 [keepstation:B] Running Loop=1
2026-01-22T00:02:28.139Z,1769040148.139 [keepstation:H.Pitch] Running Loop=1
2026-01-22T00:02:28.139Z,1769040148.139 [keepstation:PowerOnly] Running Loop=1
2026-01-22T00:02:28.140Z,1769040148.140 [keepstation:PowerOnly:D] Stopped
2026-01-22T00:02:28.140Z,1769040148.140 [keepstation:PowerOnly:C] Stopped
2026-01-22T00:02:28.140Z,1769040148.140 [keepstation:PowerOnly:B] Stopped
2026-01-22T00:02:28.140Z,1769040148.140 [keepstation:PowerOnly:A] Stopped
2026-01-22T00:02:28.140Z,1769040148.140 [keepstation:BackseatDriver] Running Loop=1
2026-01-22T00:02:28.140Z,1769040148.140 [keepstation:StandardEnvelopes] Running Loop=1
2026-01-22T00:02:28.140Z,1769040148.140 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2026-01-22T00:02:28.141Z,1769040148.141 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2026-01-22T00:02:28.141Z,1769040148.141 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2026-01-22T00:02:28.142Z,1769040148.142 [keepstation:B] Stopped
2026-01-22T00:02:28.142Z,1769040148.142 [keepstation:D] Running Loop=1
2026-01-22T00:02:28.543Z,1769040148.543 [keepstation:D] Stopped
2026-01-22T00:02:28.543Z,1769040148.543 [keepstation:E] Running Loop=1
2026-01-22T00:02:28.939Z,1769040148.939 [keepstation:E] Stopped
2026-01-22T00:02:28.939Z,1769040148.939 [keepstation:StartingMission] Running Loop=1
2026-01-22T00:02:28.939Z,1769040148.939 [keepstation:StartingMission](DEBUG): Aggregate::initialize keepstation:StartingMission
2026-01-22T00:02:29.343Z,1769040149.343 [keepstation:SurfaceComms] Running Loop=1
2026-01-22T00:02:29.343Z,1769040149.343 [keepstation:SurfaceComms](DEBUG): Aggregate::initialize keepstation:SurfaceComms
2026-01-22T00:02:29.343Z,1769040149.343 [keepstation:SurfaceComms:A] Running Loop=1
2026-01-22T00:02:29.343Z,1769040149.343 [keepstation:SurfaceComms:A] Stopped
2026-01-22T00:02:29.343Z,1769040149.343 [keepstation:SurfaceComms:B] Running Loop=1
2026-01-22T00:02:29.343Z,1769040149.343 [keepstation:SurfaceComms:B](DEBUG): Aggregate::initialize keepstation:SurfaceComms:B
2026-01-22T00:02:29.749Z,1769040149.749 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2026-01-22T00:02:29.749Z,1769040149.749 [keepstation:NeedComms] Running Loop=1
2026-01-22T00:02:29.749Z,1769040149.749 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2026-01-22T00:02:29.750Z,1769040149.750 [keepstation:NeedComms:C.GoToSurface] Running Loop=1
2026-01-22T00:02:29.750Z,1769040149.750 [keepstation:NeedComms:C.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2026-01-22T00:02:29.750Z,1769040149.750 [keepstation:NeedComms:C.GoToSurface](INFO): Received depth rate setting nan m/s.
2026-01-22T00:02:29.750Z,1769040149.750 [keepstation:NeedComms:C.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2026-01-22T00:02:29.751Z,1769040149.751 [keepstation:NeedComms:C.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2026-01-22T00:02:29.751Z,1769040149.751 [keepstation:NeedComms:C.GoToSurface](INFO): Received surface timeout setting 1500.000000 seconds.
2026-01-22T00:02:29.751Z,1769040149.751 [keepstation:NeedComms:C.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2026-01-22T00:02:29.752Z,1769040149.752 [keepstation:NeedComms:C.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2026-01-22T00:02:29.752Z,1769040149.752 [keepstation:NeedComms:A] Running Loop=1
2026-01-22T00:02:29.753Z,1769040149.753 [keepstation:NeedComms:A](INFO): last time_fix was:  1769039973.000000 second since 1970/01/01T00:00:00Z 
2026-01-22T00:02:29.753Z,1769040149.753 [keepstation:NeedComms:A] Stopped
2026-01-22T00:02:29.754Z,1769040149.754 [keepstation:NeedComms:setActive] Running Loop=1
2026-01-22T00:02:29.754Z,1769040149.754 [keepstation:NeedComms:setActive](DEBUG): Aggregate::initialize keepstation:NeedComms:setActive
2026-01-22T00:02:29.754Z,1769040149.754 [keepstation:NeedComms:setActive:A] Running Loop=1
2026-01-22T00:02:30.158Z,1769040150.158 [keepstation:NeedComms:setActive:A] Stopped
2026-01-22T00:02:30.158Z,1769040150.158 [keepstation:NeedComms:setActive:B] Running Loop=1
2026-01-22T00:02:30.600Z,1769040150.600 [keepstation:NeedComms:setActive:B] Stopped
2026-01-22T00:02:30.600Z,1769040150.600 [keepstation:NeedComms:setActive](INFO): Completed keepstation:NeedComms:setActive
2026-01-22T00:02:30.600Z,1769040150.600 [keepstation:NeedComms:setActive] Stopped
2026-01-22T00:02:30.601Z,1769040150.601 [keepstation:NeedComms:setActive](DEBUG): Aggregate::uninitialize keepstation:NeedComms:setActive
2026-01-22T00:02:30.977Z,1769040150.977 [keepstation:NeedComms:D] Running Loop=1
2026-01-22T00:02:31.364Z,1769040151.364 [keepstation:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense time_fix
2026-01-22T00:02:32.971Z,1769040152.971 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,000230.00,A,3651.89960,N,12202.28117,W,1.050,303.75,220126,,,D*7A
2026-01-22T00:02:32.977Z,1769040152.977 [NAL9602](INFO): GPS fix at 20260122T000230: (36.864993, -122.038020)
2026-01-22T00:02:33.023Z,1769040153.023 [keepstation:NeedComms:D] Stopped
2026-01-22T00:02:33.023Z,1769040153.023 [keepstation:NeedComms:E] Running Loop=1
2026-01-22T00:02:33.430Z,1769040153.430 [keepstation:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense platform_communications
2026-01-22T00:02:39.743Z,1769040159.743 [DataOverHttps](INFO): Sending 77 bytes from file Logs/20260121T144500/Courier0080.lzma
2026-01-22T00:02:40.182Z,1769040160.182 [DataOverHttps](INFO): Moved sent file to Logs/20260121T144500/Courier0080.lzma.bak
2026-01-22T00:02:40.182Z,1769040160.182 [DataOverHttps](IMPORTANT): SBD MOMSN=26585542, MTMSN=20260122T000237
2026-01-22T00:02:48.340Z,1769040168.340 [DataOverHttps](INFO): Received command: sched "configSet CBIT.navErrorThreshold 300 percent persist"
2026-01-22T00:02:48.396Z,1769040168.396 [CommandExec](IMPORTANT): got command schedule "configSet CBIT.navErrorThreshold 300 percent persist"
2026-01-22T00:02:48.397Z,1769040168.397 [CommandExec](IMPORTANT): Scheduled #26: "configSet CBIT.navErrorThreshold 300 percent persist", AFTER MISSION
2026-01-22T00:02:57.035Z,1769040177.035 [DataOverHttps](INFO): Sending 40 bytes from file Logs/20260121T144500/Courier0084.lzma
2026-01-22T00:02:58.038Z,1769040178.038 [DataOverHttps](INFO): Moved sent file to Logs/20260121T144500/Courier0084.lzma.bak
2026-01-22T00:02:58.038Z,1769040178.038 [DataOverHttps](INFO): SBD MOMSN=26585547
2026-01-22T00:03:05.781Z,1769040185.781 [NAL9602](INFO): Not Powering down - fast GPS
2026-01-22T00:03:14.387Z,1769040194.387 [DataOverHttps](INFO): Sending 40 bytes from file Logs/20260121T144500/Courier0087.lzma
2026-01-22T00:03:15.390Z,1769040195.390 [DataOverHttps](INFO): Moved sent file to Logs/20260121T144500/Courier0087.lzma.bak
2026-01-22T00:03:15.390Z,1769040195.390 [DataOverHttps](INFO): SBD MOMSN=26585549
2026-01-22T00:03:31.745Z,1769040211.745 [DataOverHttps](INFO): Sending 682 bytes from file Logs/20260121T144500/Express0082.lzma
2026-01-22T00:03:32.746Z,1769040212.746 [DataOverHttps](INFO): Moved sent file to Logs/20260121T144500/Express0082.lzma.bak
2026-01-22T00:03:32.747Z,1769040212.747 [DataOverHttps](IMPORTANT): SBD MOMSN=26585552, MTMSN=20260122T000329
2026-01-22T00:03:40.284Z,1769040220.284 [DataOverHttps](INFO): Received command: sched 20260122T1445 "configSet CBIT.navErrorThreshold 100 percent persist"
2026-01-22T00:03:40.339Z,1769040220.339 [CommandExec](IMPORTANT): got command schedule 20260122T144500 "configSet CBIT.navErrorThreshold 100 percent persist"
2026-01-22T00:03:40.340Z,1769040220.340 [CommandExec](IMPORTANT): Scheduled #27: "configSet CBIT.navErrorThreshold 100 percent persist", AT TIME: 2026-01-22T14:45:00Z
2026-01-22T00:03:49.159Z,1769040229.159 [DataOverHttps](INFO): Sending 70 bytes from file Logs/20260121T144500/Express0085.lzma
2026-01-22T00:03:50.166Z,1769040230.166 [DataOverHttps](INFO): Moved sent file to Logs/20260121T144500/Express0085.lzma.bak
2026-01-22T00:03:50.166Z,1769040230.166 [DataOverHttps](INFO): SBD MOMSN=26585578
2026-01-22T00:04:06.387Z,1769040246.387 [DataOverHttps](INFO): Sending 40 bytes from file Logs/20260121T144500/Courier0090.lzma
2026-01-22T00:04:07.390Z,1769040247.390 [DataOverHttps](INFO): Moved sent file to Logs/20260121T144500/Courier0090.lzma.bak
2026-01-22T00:04:07.390Z,1769040247.390 [DataOverHttps](INFO): SBD MOMSN=26585580
2026-01-22T00:04:23.980Z,1769040263.980 [DataOverHttps](INFO): Sending 220 bytes from file Logs/20260121T144500/Express0088.lzma
2026-01-22T00:04:24.983Z,1769040264.983 [DataOverHttps](INFO): Moved sent file to Logs/20260121T144500/Express0088.lzma.bak
2026-01-22T00:04:24.983Z,1769040264.983 [DataOverHttps](IMPORTANT): SBD MOMSN=26585583, MTMSN=20260122T000421
2026-01-22T00:04:32.664Z,1769040272.664 [DataOverHttps](INFO): Received command: sched 20260122T1445 "load Science/sci2_vtyoyo.tl;set sci2_vtyoyo.MissionTimeout 8 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 1.0 m/s" 3uw71 1 3
2026-01-22T00:04:32.673Z,1769040272.673 [CommandExec](IMPORTANT): got command schedule 20260122T144500 "load Science/sci2_vtyoyo.tl;set sci2_vtyoyo.MissionTimeout 8 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 1.0 m/s" 3uw71 1 3.000000
2026-01-22T00:04:32.674Z,1769040272.674 [CommandExec](IMPORTANT): Scheduling command #1 of 3 with id=3uw71
2026-01-22T00:04:32.675Z,1769040272.675 [CommandExec](IMPORTANT): Scheduled #28 (#1 of 3 with id='3uw71'): "load Science/sci2_vtyoyo.tl;set sci2_vtyoyo.MissionTimeout 8 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 1.0 m/s", AT TIME: 2026-01-22T14:45:00Z
2026-01-22T00:04:34.603Z,1769040274.603 [DataOverHttps](IMPORTANT): SBD MTMSN=20260122T000430
2026-01-22T00:04:42.092Z,1769040282.092 [DataOverHttps](INFO): Sending 251 bytes from file Logs/20260121T144500/Express0091.lzma
2026-01-22T00:04:42.099Z,1769040282.099 [DataOverHttps](INFO): Received command: sched 20260122T1445 "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" 3uw71 2 3
2026-01-22T00:04:42.161Z,1769040282.161 [CommandExec](IMPORTANT): got command schedule 20260122T144500 "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" 3uw71 2 3.000000
2026-01-22T00:04:42.162Z,1769040282.162 [CommandExec](IMPORTANT): Scheduling command #2 of 3 with id=3uw71
2026-01-22T00:04:42.163Z,1769040282.163 [CommandExec](IMPORTANT): Scheduled #29 (#2 of 3 with id='3uw71'): "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: 2026-01-22T14:45:00Z
2026-01-22T00:04:43.343Z,1769040283.343 [DataOverHttps](INFO): Moved sent file to Logs/20260121T144500/Express0091.lzma.bak
2026-01-22T00:04:43.344Z,1769040283.344 [DataOverHttps](IMPORTANT): SBD MOMSN=26585589, MTMSN=20260122T000440
2026-01-22T00:04:50.848Z,1769040290.848 [DataOverHttps](INFO): Received command: sched 20260122T1445 "set sci2_vtyoyo:BackseatDriver.EnableBackseat 1 bool;run" 3uw71 3 3
2026-01-22T00:04:50.924Z,1769040290.924 [CommandExec](IMPORTANT): got command schedule 20260122T144500 "set sci2_vtyoyo:BackseatDriver.EnableBackseat 1 bool;run" 3uw71 3 3.000000
2026-01-22T00:04:50.925Z,1769040290.925 [CommandExec](IMPORTANT): Scheduling command #3 of 3 with id=3uw71
2026-01-22T00:04:50.926Z,1769040290.926 [CommandExec](IMPORTANT): Scheduled #30 (#3 of 3 with id='3uw71'): "set sci2_vtyoyo:BackseatDriver.EnableBackseat 1 bool;run", AT TIME: 2026-01-22T14:45:00Z
2026-01-22T00:04:59.635Z,1769040299.635 [DataOverHttps](INFO): Sending 40 bytes from file Logs/20260121T144500/Courier0093.lzma
2026-01-22T00:05:00.638Z,1769040300.638 [DataOverHttps](INFO): Moved sent file to Logs/20260121T144500/Courier0093.lzma.bak
2026-01-22T00:05:00.638Z,1769040300.638 [DataOverHttps](INFO): SBD MOMSN=26585596
2026-01-22T00:05:17.331Z,1769040317.331 [DataOverHttps](INFO): Sending 40 bytes from file Logs/20260121T144500/Courier0096.lzma
2026-01-22T00:05:18.334Z,1769040318.334 [DataOverHttps](INFO): Moved sent file to Logs/20260121T144500/Courier0096.lzma.bak
2026-01-22T00:05:18.334Z,1769040318.334 [DataOverHttps](INFO): SBD MOMSN=26585598
2026-01-22T00:05:34.869Z,1769040334.869 [DataOverHttps](INFO): Sending 40 bytes from file Logs/20260121T144500/Courier0099.lzma
2026-01-22T00:05:35.870Z,1769040335.870 [DataOverHttps](INFO): Moved sent file to Logs/20260121T144500/Courier0099.lzma.bak
2026-01-22T00:05:35.871Z,1769040335.871 [DataOverHttps](INFO): SBD MOMSN=26585600
2026-01-22T00:05:52.696Z,1769040352.696 [DataOverHttps](INFO): Sending 360 bytes from file Logs/20260121T144500/Express0094.lzma
2026-01-22T00:05:53.699Z,1769040353.699 [DataOverHttps](INFO): Moved sent file to Logs/20260121T144500/Express0094.lzma.bak
2026-01-22T00:05:53.699Z,1769040353.699 [DataOverHttps](INFO): SBD MOMSN=26585602
2026-01-22T00:06:10.685Z,1769040370.685 [DataOverHttps](INFO): Sending 312 bytes from file Logs/20260121T144500/Express0097.lzma
2026-01-22T00:06:11.686Z,1769040371.686 [DataOverHttps](INFO): Moved sent file to Logs/20260121T144500/Express0097.lzma.bak
2026-01-22T00:06:11.686Z,1769040371.686 [DataOverHttps](INFO): SBD MOMSN=26585608
2026-01-22T00:06:28.816Z,1769040388.816 [DataOverHttps](INFO): Sending 290 bytes from file Logs/20260121T144500/Express0100.lzma
2026-01-22T00:06:29.822Z,1769040389.822 [DataOverHttps](INFO): Moved sent file to Logs/20260121T144500/Express0100.lzma.bak
2026-01-22T00:06:29.823Z,1769040389.823 [DataOverHttps](INFO): SBD MOMSN=26585614
2026-01-22T00:06:31.157Z,1769040391.157 [keepstation:NeedComms:E] Stopped
2026-01-22T00:06:31.158Z,1769040391.158 [keepstation:NeedComms:F] Running Loop=1
2026-01-22T00:06:31.572Z,1769040391.572 [keepstation:NeedComms:F](DEBUG): Initialize ReadDataComponent to sense time_fix
2026-01-22T00:06:33.159Z,1769040393.159 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,000630.00,A,3651.91823,N,12202.30941,W,0.544,308.62,220126,,,D*7F
2026-01-22T00:06:33.161Z,1769040393.161 [NAL9602](INFO): GPS fix at 20260122T000630: (36.865304, -122.038490)
2026-01-22T00:06:33.198Z,1769040393.198 [keepstation:NeedComms:F] Stopped
2026-01-22T00:06:33.198Z,1769040393.198 [keepstation:NeedComms:setRestoreMode] Running Loop=1
2026-01-22T00:06:33.198Z,1769040393.198 [keepstation:NeedComms:setRestoreMode](DEBUG): Aggregate::initialize keepstation:NeedComms:setRestoreMode
2026-01-22T00:06:33.198Z,1769040393.198 [keepstation:NeedComms:setRestoreMode:A] Running Loop=1
2026-01-22T00:06:33.618Z,1769040393.618 [keepstation:NeedComms:setRestoreMode:A] Stopped
2026-01-22T00:06:33.618Z,1769040393.618 [keepstation:NeedComms:setRestoreMode](INFO): Completed keepstation:NeedComms:setRestoreMode
2026-01-22T00:06:33.618Z,1769040393.618 [keepstation:NeedComms:setRestoreMode] Stopped
2026-01-22T00:06:33.618Z,1769040393.618 [keepstation:NeedComms:setRestoreMode](DEBUG): Aggregate::uninitialize keepstation:NeedComms:setRestoreMode
2026-01-22T00:06:33.618Z,1769040393.618 [keepstation:NeedComms:setInactive] Running Loop=1
2026-01-22T00:06:33.618Z,1769040393.618 [keepstation:NeedComms:setInactive](DEBUG): Aggregate::initialize keepstation:NeedComms:setInactive
2026-01-22T00:06:33.618Z,1769040393.618 [keepstation:NeedComms:setInactive:A] Running Loop=1
2026-01-22T00:06:34.018Z,1769040394.018 [keepstation:NeedComms:setInactive:A] Stopped
2026-01-22T00:06:34.018Z,1769040394.018 [keepstation:NeedComms:setInactive](INFO): Completed keepstation:NeedComms:setInactive
2026-01-22T00:06:34.018Z,1769040394.018 [keepstation:NeedComms:setInactive] Stopped
2026-01-22T00:06:34.018Z,1769040394.018 [keepstation:NeedComms:setInactive](DEBUG): Aggregate::uninitialize keepstation:NeedComms:setInactive
2026-01-22T00:06:34.019Z,1769040394.019 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2026-01-22T00:06:34.019Z,1769040394.019 [keepstation:NeedComms] Stopped
2026-01-22T00:06:34.019Z,1769040394.019 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2026-01-22T00:06:34.019Z,1769040394.019 [keepstation:NeedComms:C.GoToSurface] Stopped
2026-01-22T00:06:34.019Z,1769040394.019 [keepstation:NeedComms:C.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2026-01-22T00:06:34.478Z,1769040394.478 [keepstation:SurfaceComms:B](INFO): Completed keepstation:SurfaceComms:B
2026-01-22T00:06:34.478Z,1769040394.478 [keepstation:SurfaceComms:B] Stopped
2026-01-22T00:06:34.479Z,1769040394.479 [keepstation:SurfaceComms:B](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:B
2026-01-22T00:06:34.479Z,1769040394.479 [keepstation:SurfaceComms:HandleNan] Running Loop=1
2026-01-22T00:06:34.479Z,1769040394.479 [keepstation:SurfaceComms:HandleNan](DEBUG): Aggregate::initialize keepstation:SurfaceComms:HandleNan
2026-01-22T00:06:34.479Z,1769040394.479 [keepstation:SurfaceComms:HandleNan:SetOnStation] Running Loop=1
2026-01-22T00:06:34.479Z,1769040394.479 [keepstation:SurfaceComms:HandleNan:SetOnStation](DEBUG): Aggregate::initialize keepstation:SurfaceComms:HandleNan:SetOnStation
2026-01-22T00:06:34.479Z,1769040394.479 [keepstation:SurfaceComms:HandleNan:SetOnStation:A] Running Loop=1
2026-01-22T00:06:34.862Z,1769040394.862 [keepstation:SurfaceComms:HandleNan] Stopped
2026-01-22T00:06:34.862Z,1769040394.862 [keepstation:SurfaceComms:HandleNan](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:HandleNan
2026-01-22T00:06:34.862Z,1769040394.862 [keepstation:SurfaceComms:HandleNan:SetOnStation] Stopped
2026-01-22T00:06:34.862Z,1769040394.862 [keepstation:SurfaceComms:HandleNan:SetOnStation](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:HandleNan:SetOnStation
2026-01-22T00:06:34.862Z,1769040394.862 [keepstation:SurfaceComms:HandleNan:SetOnStation:A] Stopped
2026-01-22T00:06:34.862Z,1769040394.862 [keepstation:SurfaceComms:setTransit] Running Loop=1
2026-01-22T00:06:34.862Z,1769040394.862 [keepstation:SurfaceComms:setTransit](DEBUG): Aggregate::initialize keepstation:SurfaceComms:setTransit
2026-01-22T00:06:34.863Z,1769040394.863 [keepstation:SurfaceComms:setTransit:A] Running Loop=1
2026-01-22T00:06:35.278Z,1769040395.278 [keepstation:SurfaceComms:setTransit] Stopped
2026-01-22T00:06:35.278Z,1769040395.278 [keepstation:SurfaceComms:setTransit](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:setTransit
2026-01-22T00:06:35.278Z,1769040395.278 [keepstation:SurfaceComms:setTransit:A] Stopped
2026-01-22T00:06:35.279Z,1769040395.279 [keepstation:SurfaceComms:setStation] Running Loop=1
2026-01-22T00:06:35.279Z,1769040395.279 [keepstation:SurfaceComms:setStation](DEBUG): Aggregate::initialize keepstation:SurfaceComms:setStation
2026-01-22T00:06:35.279Z,1769040395.279 [keepstation:SurfaceComms:setStation:A] Running Loop=1
2026-01-22T00:06:35.663Z,1769040395.663 [keepstation:SurfaceComms:setStation] Stopped
2026-01-22T00:06:35.676Z,1769040395.676 [keepstation:SurfaceComms:setStation](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:setStation
2026-01-22T00:06:35.676Z,1769040395.676 [keepstation:SurfaceComms:setStation:A] Stopped
2026-01-22T00:06:35.676Z,1769040395.676 [keepstation:SurfaceComms:setSink] Running Loop=1
2026-01-22T00:06:35.676Z,1769040395.676 [keepstation:SurfaceComms:setSink](DEBUG): Aggregate::initialize keepstation:SurfaceComms:setSink
2026-01-22T00:06:35.676Z,1769040395.676 [keepstation:SurfaceComms:setSink:A] Running Loop=1
2026-01-22T00:06:36.095Z,1769040396.095 [keepstation:SurfaceComms:setSink:A] Stopped
2026-01-22T00:06:36.095Z,1769040396.095 [keepstation:SurfaceComms:setSink](INFO): Completed keepstation:SurfaceComms:setSink
2026-01-22T00:06:36.095Z,1769040396.095 [keepstation:SurfaceComms:setSink] Stopped
2026-01-22T00:06:36.095Z,1769040396.095 [keepstation:SurfaceComms:setSink](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:setSink
2026-01-22T00:06:36.095Z,1769040396.095 [keepstation:SurfaceComms](INFO): Completed keepstation:SurfaceComms
2026-01-22T00:06:36.095Z,1769040396.095 [keepstation:SurfaceComms] Stopped
2026-01-22T00:06:36.108Z,1769040396.108 [keepstation:SurfaceComms](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms
2026-01-22T00:06:36.486Z,1769040396.486 [keepstation:StartingMission](INFO): Completed keepstation:StartingMission
2026-01-22T00:06:36.486Z,1769040396.486 [keepstation:StartingMission] Stopped
2026-01-22T00:06:36.487Z,1769040396.487 [keepstation:StartingMission](DEBUG): Aggregate::uninitialize keepstation:StartingMission
2026-01-22T00:06:36.487Z,1769040396.487 [keepstation:TransitToStation] Running Loop=1
2026-01-22T00:06:36.487Z,1769040396.487 [keepstation:TransitToStation](DEBUG): Aggregate::initialize keepstation:TransitToStation
2026-01-22T00:06:36.487Z,1769040396.487 [keepstation:TransitToStation:Dive] Running Loop=1
2026-01-22T00:06:36.487Z,1769040396.487 [keepstation:TransitToStation:Dive](DEBUG): Aggregate::initialize keepstation:TransitToStation:Dive
2026-01-22T00:06:36.487Z,1769040396.487 [keepstation:TransitToStation:Dive:A] Running Loop=1
2026-01-22T00:06:36.487Z,1769040396.487 [keepstation:TransitToStation:Dive:A](DEBUG): Aggregate::initialize keepstation:TransitToStation:Dive:A
2026-01-22T00:06:36.487Z,1769040396.487 [keepstation:TransitToStation:Wpt1.Waypoint] Running Loop=1
2026-01-22T00:06:36.487Z,1769040396.487 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2026-01-22T00:06:36.501Z,1769040396.501 [keepstation:TransitToStation:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.816429,-121.939323
2026-01-22T00:06:36.864Z,1769040396.864 [keepstation:TransitToStation:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.816429,-121.939323
2026-01-22T00:06:36.865Z,1769040396.865 [keepstation:TransitToStation:Dive] Running Loop=1
2026-01-22T00:06:36.865Z,1769040396.865 [keepstation:DiveCmd] Running Loop=1
2026-01-22T00:06:36.865Z,1769040396.865 [keepstation:DiveCmd](DEBUG): Aggregate::initialize keepstation:DiveCmd
2026-01-22T00:06:36.865Z,1769040396.865 [keepstation:DiveCmd:SurfaceSink] Running Loop=1
2026-01-22T00:06:36.865Z,1769040396.865 [keepstation:DiveCmd:SurfaceSink](DEBUG): Aggregate::initialize keepstation:DiveCmd:SurfaceSink
2026-01-22T00:06:36.865Z,1769040396.865 [keepstation:DiveCmd:SurfaceSink:sink] Running Loop=1
2026-01-22T00:06:36.865Z,1769040396.865 [keepstation:DiveCmd:SurfaceSink:sink](DEBUG): Aggregate::initialize keepstation:DiveCmd:SurfaceSink:sink
2026-01-22T00:06:36.865Z,1769040396.865 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy] Running Loop=1
2026-01-22T00:06:36.865Z,1769040396.865 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2026-01-22T00:06:36.865Z,1769040396.865 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed] Running Loop=1
2026-01-22T00:06:36.866Z,1769040396.866 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Initialize.
2026-01-22T00:06:36.866Z,1769040396.866 [keepstation:DiveCmd:SurfaceSink:sink:C] Running Loop=1
2026-01-22T00:06:36.866Z,1769040396.866 [keepstation:DiveCmd:TransitToStation] Running Loop=1
2026-01-22T00:06:36.866Z,1769040396.866 [keepstation:DiveCmd:TransitToStation](DEBUG): Aggregate::initialize keepstation:DiveCmd:TransitToStation
2026-01-22T00:06:36.866Z,1769040396.866 [keepstation:DiveCmd:TransitToStation:dive] Running Loop=1
2026-01-22T00:06:36.867Z,1769040396.867 [keepstation:DiveCmd:TransitToStation:dive](DEBUG): Aggregate::initialize keepstation:DiveCmd:TransitToStation:dive
2026-01-22T00:06:36.867Z,1769040396.867 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy] Running Loop=1
2026-01-22T00:06:36.867Z,1769040396.867 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2026-01-22T00:06:36.867Z,1769040396.867 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch] Running Loop=1
2026-01-22T00:06:36.867Z,1769040396.867 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch](DEBUG): Initialize.
2026-01-22T00:06:36.867Z,1769040396.867 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed] Running Loop=1
2026-01-22T00:06:36.867Z,1769040396.867 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed](DEBUG): Initialize.
2026-01-22T00:06:36.867Z,1769040396.867 [keepstation:DiveCmd:StationKeep] Running Loop=1
2026-01-22T00:06:36.867Z,1769040396.867 [keepstation:DiveCmd:StationKeep](DEBUG): Aggregate::initialize keepstation:DiveCmd:StationKeep
2026-01-22T00:06:36.876Z,1769040396.876 [keepstation:DiveCmd:StationKeep:A] Running Loop=1
2026-01-22T00:06:36.876Z,1769040396.876 [keepstation:DiveCmd:StationKeep:B.Pitch] Running Loop=1
2026-01-22T00:06:36.876Z,1769040396.876 [keepstation:DiveCmd:StationKeep:B.Pitch](DEBUG): Initialize.
2026-01-22T00:06:36.876Z,1769040396.876 [keepstation:DiveCmd:StationKeep:C.KeepStation] Running Loop=1
2026-01-22T00:06:36.876Z,1769040396.876 [keepstation:DiveCmd:StationKeep:C.KeepStation](DEBUG): Initialize KeepStationComponent.
2026-01-22T00:06:36.877Z,1769040396.877 [keepstation:DiveCmd:StationKeep] Stopped
2026-01-22T00:06:36.877Z,1769040396.877 [keepstation:DiveCmd:StationKeep](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:StationKeep
2026-01-22T00:06:36.877Z,1769040396.877 [keepstation:DiveCmd:StationKeep:A] Stopped
2026-01-22T00:06:36.877Z,1769040396.877 [keepstation:DiveCmd:StationKeep:B.Pitch] Stopped
2026-01-22T00:06:36.877Z,1769040396.877 [keepstation:DiveCmd:StationKeep:C.KeepStation] Stopped
2026-01-22T00:06:36.877Z,1769040396.877 [keepstation:DiveCmd:StationKeep:C.KeepStation](DEBUG): Uninitialize KeepStationComponent.
2026-01-22T00:06:36.877Z,1769040396.877 [keepstation:DiveCmd:TransitToStation] Stopped
2026-01-22T00:06:36.878Z,1769040396.878 [keepstation:DiveCmd:TransitToStation](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:TransitToStation
2026-01-22T00:06:36.878Z,1769040396.878 [keepstation:DiveCmd:TransitToStation:dive] Stopped
2026-01-22T00:06:36.878Z,1769040396.878 [keepstation:DiveCmd:TransitToStation:dive](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:TransitToStation:dive
2026-01-22T00:06:36.878Z,1769040396.878 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy] Stopped
2026-01-22T00:06:36.878Z,1769040396.878 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2026-01-22T00:06:36.878Z,1769040396.878 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch] Stopped
2026-01-22T00:06:36.878Z,1769040396.878 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed] Stopped
2026-01-22T00:06:36.878Z,1769040396.878 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed](DEBUG): Uninitialize.
2026-01-22T00:06:36.878Z,1769040396.878 [keepstation:DiveCmd:SurfaceSink] Running Loop=1
2026-01-22T00:06:36.879Z,1769040396.879 [keepstation:DiveCmd:SurfaceSink:sink:C](INFO): Sinking to  10.000000 m 
2026-01-22T00:06:36.879Z,1769040396.879 [keepstation:DiveCmd:SurfaceSink:sink:C] Stopped
2026-01-22T00:06:36.879Z,1769040396.879 [keepstation:DiveCmd:SurfaceSink:sink:D.Pitch] Running Loop=1
2026-01-22T00:06:36.879Z,1769040396.879 [keepstation:DiveCmd:SurfaceSink:sink:D.Pitch](DEBUG): Initialize.
2026-01-22T00:06:36.879Z,1769040396.879 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed] Running Loop=1
2026-01-22T00:06:36.879Z,1769040396.879 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy] Running Loop=1
2026-01-22T00:07:19.884Z,1769040439.884 [NAL9602](INFO): SBD MO Status=2, MOMSN=25365, MT Status=2, MTMSN=0
2026-01-22T00:07:19.884Z,1769040439.884 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-01-22T00:07:33.225Z,1769040453.225 [BPC1](ERROR): BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).
2026-01-22T00:08:02.588Z,1769040482.588 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-22T00:08:33.712Z,1769040513.712 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-22T00:08:48.004Z,1769040528.004 [Radio_Surface](INFO): Powering down
2026-01-22T00:09:04.836Z,1769040544.836 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-22T00:09:05.840Z,1769040545.840 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2026-01-22T00:09:40.906Z,1769040580.906 [keepstation:DiveCmd:SurfaceSink:sink:D.Pitch] Stopped
2026-01-22T00:09:40.906Z,1769040580.906 [keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit] Running Loop=1
2026-01-22T00:09:40.907Z,1769040580.907 [keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit](DEBUG): Aggregate::initialize keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit
2026-01-22T00:09:40.907Z,1769040580.907 [keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit:A] Running Loop=1
2026-01-22T00:09:41.251Z,1769040581.251 [keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit:A] Stopped
2026-01-22T00:09:41.251Z,1769040581.251 [keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit](INFO): Completed keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit
2026-01-22T00:09:41.251Z,1769040581.251 [keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit] Stopped
2026-01-22T00:09:41.251Z,1769040581.251 [keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit
2026-01-22T00:09:41.251Z,1769040581.251 [keepstation:DiveCmd:SurfaceSink:sink:sinkToStation] Running Loop=1
2026-01-22T00:09:41.252Z,1769040581.252 [keepstation:DiveCmd:SurfaceSink:sink:sinkToStation](DEBUG): Aggregate::initialize keepstation:DiveCmd:SurfaceSink:sink:sinkToStation
2026-01-22T00:09:41.252Z,1769040581.252 [keepstation:DiveCmd:SurfaceSink:sink:sinkToStation:A] Running Loop=1
2026-01-22T00:09:41.669Z,1769040581.669 [keepstation:DiveCmd:TransitToStation] Running Loop=1
2026-01-22T00:09:41.669Z,1769040581.669 [keepstation:DiveCmd:TransitToStation](DEBUG): Aggregate::initialize keepstation:DiveCmd:TransitToStation
2026-01-22T00:09:41.670Z,1769040581.670 [keepstation:DiveCmd:TransitToStation:dive] Running Loop=1
2026-01-22T00:09:41.670Z,1769040581.670 [keepstation:DiveCmd:TransitToStation:dive](DEBUG): Aggregate::initialize keepstation:DiveCmd:TransitToStation:dive
2026-01-22T00:09:41.670Z,1769040581.670 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy] Running Loop=1
2026-01-22T00:09:41.670Z,1769040581.670 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2026-01-22T00:09:41.670Z,1769040581.670 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch] Running Loop=1
2026-01-22T00:09:41.670Z,1769040581.670 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch](DEBUG): Initialize.
2026-01-22T00:09:41.670Z,1769040581.670 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed] Running Loop=1
2026-01-22T00:09:41.670Z,1769040581.670 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed](DEBUG): Initialize.
2026-01-22T00:09:41.670Z,1769040581.670 [keepstation:DiveCmd:TransitToStation] Running Loop=1
2026-01-22T00:09:41.670Z,1769040581.670 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed] Running Loop=1
2026-01-22T00:09:41.671Z,1769040581.671 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch] Running Loop=1
2026-01-22T00:09:41.671Z,1769040581.671 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy] Running Loop=1
2026-01-22T00:09:41.671Z,1769040581.671 [keepstation:DiveCmd:SurfaceSink] Stopped
2026-01-22T00:09:41.671Z,1769040581.671 [keepstation:DiveCmd:SurfaceSink](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:SurfaceSink
2026-01-22T00:09:41.672Z,1769040581.672 [keepstation:DiveCmd:SurfaceSink:sink] Stopped
2026-01-22T00:09:41.672Z,1769040581.672 [keepstation:DiveCmd:SurfaceSink:sink](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:SurfaceSink:sink
2026-01-22T00:09:41.672Z,1769040581.672 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy] Stopped
2026-01-22T00:09:41.672Z,1769040581.672 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2026-01-22T00:09:41.672Z,1769040581.672 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed] Stopped
2026-01-22T00:09:41.672Z,1769040581.672 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Uninitialize.
2026-01-22T00:09:41.672Z,1769040581.672 [keepstation:DiveCmd:SurfaceSink:sink:sinkToStation] Stopped
2026-01-22T00:09:41.672Z,1769040581.672 [keepstation:DiveCmd:SurfaceSink:sink:sinkToStation](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:SurfaceSink:sink:sinkToStation
2026-01-22T00:09:41.672Z,1769040581.672 [keepstation:DiveCmd:SurfaceSink:sink:sinkToStation:A] Stopped
2026-01-22T00:10:11.104Z,1769040611.104 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.723465
2026-01-22T00:11:35.427Z,1769040695.427 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2026-01-22T00:12:06.131Z,1769040726.131 [NAL9602](INFO): Not Powering down - fast GPS
2026-01-22T00:13:01.101Z,1769040781.101 [BPC1](ERROR): BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).
2026-01-22T00:23:04.992Z,1769041384.992 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2026-01-22T00:32:16.909Z,1769041936.909 [BPC1](INFO): Calculating totals. Valid battery stick count: 49. Valid reserve battery stick count: 5.
2026-01-22T00:32:16.912Z,1769041936.912 [BPC1](FAULT): Failed to receive data from 8 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 1, 2, 3, 4, 5, 6, 7, 8.
2026-01-22T00:36:12.672Z,1769042172.672 [RudderServo](ERROR): getPosition uart error serial timeout
2026-01-22T00:36:12.672Z,1769042172.672 [RudderServo](FAULT): Rudder uart error - getPosition..serial timeout
2026-01-22T00:36:12.672Z,1769042172.672 [RudderServo] Communications Fault, FailCount= 1
2026-01-22T00:36:12.672Z,1769042172.672 [RudderServo](ERROR): Communications Fault
2026-01-22T00:36:12.752Z,1769042172.752 [CBIT](ERROR): Communications Fault in component: RudderServo
2026-01-22T00:36:12.937Z,1769042172.937 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2026-01-22T00:36:12.937Z,1769042172.937 [RudderServo](INFO): Powering down
2026-01-22T00:36:13.755Z,1769042173.755 [RudderServo](DEBUG): Initializing EZServoServo.
2026-01-22T00:36:13.873Z,1769042173.873 [RudderServo](DEBUG): Initializing RudderServo.
2026-01-22T00:36:13.891Z,1769042173.891 [CBIT](INFO): Clearing failed state for component RudderServo
2026-01-22T00:36:13.891Z,1769042173.891 [RudderServo] No Fault, FailCount= 1
2026-01-22T00:49:39.830Z,1769042979.830 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2026-01-22T01:04:06.970Z,1769043846.970 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2026-01-22T01:13:18.675Z,1769044398.675 [BPC1](INFO): Calculating totals. Valid battery stick count: 49. Valid reserve battery stick count: 5.
2026-01-22T01:13:18.678Z,1769044398.678 [BPC1](FAULT): Failed to receive data from 8 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 1, 2, 3, 4, 5, 6, 7, 8.
2026-01-22T01:27:06.711Z,1769045226.711 [BPC1](ERROR): BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).
2026-01-22T01:35:32.144Z,1769045732.144 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2026-01-22T01:36:33.182Z,1769045793.182 [keepstation:SurfaceComms] Running Loop=1
2026-01-22T01:36:33.183Z,1769045793.183 [keepstation:SurfaceComms](DEBUG): Aggregate::initialize keepstation:SurfaceComms
2026-01-22T01:36:33.183Z,1769045793.183 [keepstation:SurfaceComms:A] Running Loop=1
2026-01-22T01:36:33.183Z,1769045793.183 [keepstation:SurfaceComms:A] Stopped
2026-01-22T01:36:33.183Z,1769045793.183 [keepstation:SurfaceComms:B] Running Loop=1
2026-01-22T01:36:33.183Z,1769045793.183 [keepstation:SurfaceComms:B](DEBUG): Aggregate::initialize keepstation:SurfaceComms:B
2026-01-22T01:36:33.570Z,1769045793.570 [keepstation:TransitToStation:Dive] Stopped
2026-01-22T01:36:33.570Z,1769045793.570 [keepstation:TransitToStation:Dive](DEBUG): Aggregate::uninitialize keepstation:TransitToStation:Dive
2026-01-22T01:36:33.570Z,1769045793.570 [keepstation:TransitToStation:Dive:A] Stopped
2026-01-22T01:36:33.570Z,1769045793.570 [keepstation:TransitToStation:Dive:A](DEBUG): Aggregate::uninitialize keepstation:TransitToStation:Dive:A
2026-01-22T01:36:33.571Z,1769045793.571 [keepstation:DiveCmd:TransitToStation] Stopped
2026-01-22T01:36:33.571Z,1769045793.571 [keepstation:DiveCmd:TransitToStation](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:TransitToStation
2026-01-22T01:36:33.571Z,1769045793.571 [keepstation:DiveCmd:TransitToStation:dive] Stopped
2026-01-22T01:36:33.571Z,1769045793.571 [keepstation:DiveCmd:TransitToStation:dive](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:TransitToStation:dive
2026-01-22T01:36:33.571Z,1769045793.571 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy] Stopped
2026-01-22T01:36:33.571Z,1769045793.571 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2026-01-22T01:36:33.571Z,1769045793.571 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch] Stopped
2026-01-22T01:36:33.571Z,1769045793.571 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed] Stopped
2026-01-22T01:36:33.571Z,1769045793.571 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed](DEBUG): Uninitialize.
2026-01-22T01:36:33.573Z,1769045793.573 [keepstation:NeedComms] Running Loop=1
2026-01-22T01:36:33.573Z,1769045793.573 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2026-01-22T01:36:33.573Z,1769045793.573 [keepstation:NeedComms:C.GoToSurface] Running Loop=1
2026-01-22T01:36:33.573Z,1769045793.573 [keepstation:NeedComms:C.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2026-01-22T01:36:33.574Z,1769045793.574 [keepstation:NeedComms:C.GoToSurface](INFO): Received depth rate setting nan m/s.
2026-01-22T01:36:33.574Z,1769045793.574 [keepstation:NeedComms:C.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2026-01-22T01:36:33.575Z,1769045793.575 [keepstation:NeedComms:C.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2026-01-22T01:36:33.575Z,1769045793.575 [keepstation:NeedComms:C.GoToSurface](INFO): Received surface timeout setting 1500.000000 seconds.
2026-01-22T01:36:33.575Z,1769045793.575 [keepstation:NeedComms:C.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2026-01-22T01:36:33.576Z,1769045793.576 [keepstation:NeedComms:C.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2026-01-22T01:36:33.576Z,1769045793.576 [keepstation:NeedComms:A] Running Loop=1
2026-01-22T01:36:33.578Z,1769045793.578 [keepstation:NeedComms:A](INFO): last time_fix was:  1769040390.000000 second since 1970/01/01T00:00:00Z 
2026-01-22T01:36:33.578Z,1769045793.578 [keepstation:NeedComms:A] Stopped
2026-01-22T01:36:33.578Z,1769045793.578 [keepstation:NeedComms:setActive] Running Loop=1
2026-01-22T01:36:33.578Z,1769045793.578 [keepstation:NeedComms:setActive](DEBUG): Aggregate::initialize keepstation:NeedComms:setActive
2026-01-22T01:36:33.578Z,1769045793.578 [keepstation:NeedComms:setActive:A] Running Loop=1
2026-01-22T01:36:33.991Z,1769045793.991 [keepstation:NeedComms:setActive:A] Stopped
2026-01-22T01:36:33.991Z,1769045793.991 [keepstation:NeedComms:setActive:B] Running Loop=1
2026-01-22T01:36:34.378Z,1769045794.378 [keepstation:NeedComms:setActive:B] Stopped
2026-01-22T01:36:34.378Z,1769045794.378 [keepstation:NeedComms:setActive](INFO): Completed keepstation:NeedComms:setActive
2026-01-22T01:36:34.378Z,1769045794.378 [keepstation:NeedComms:setActive] Stopped
2026-01-22T01:36:34.378Z,1769045794.378 [keepstation:NeedComms:setActive](DEBUG): Aggregate::uninitialize keepstation:NeedComms:setActive
2026-01-22T01:38:00.780Z,1769045880.780 [keepstation:NeedComms:D] Running Loop=1
2026-01-22T01:38:01.299Z,1769045881.299 [Radio_Surface](INFO): Powering up
2026-01-22T01:38:06.996Z,1769045886.996 [DataOverHttps](INFO): Radio surface powered ON.
2026-01-22T01:38:33.960Z,1769045913.960 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2026-01-22T01:38:34.036Z,1769045914.036 [NAL9602](ERROR): received: 
+CSQ:0

OK365, 2, 0, 0, 0

OK
2026-01-22T01:38:37.134Z,1769045917.134 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-22T01:38:54.913Z,1769045934.913 [NAL9602](INFO): SBD MO Status=2, MOMSN=25365, MT Status=2, MTMSN=0
2026-01-22T01:38:54.913Z,1769045934.913 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-01-22T01:39:08.260Z,1769045948.260 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-22T01:39:27.313Z,1769045967.313 [NAL9602](INFO): SBD MO Status=1, MOMSN=25365, MT Status=0, MTMSN=0
2026-01-22T01:39:27.313Z,1769045967.313 [NAL9602](INFO): No messages in MT queue
2026-01-22T01:39:28.459Z,1769045968.459 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,013925.00,A,3651.30214,N,12201.36765,W,0.447,277.70,220126,,,A*73
2026-01-22T01:39:28.462Z,1769045968.462 [NAL9602](INFO): GPS fix at 20260122T013925: (36.855036, -122.022794)
2026-01-22T01:39:28.474Z,1769045968.474 [UniversalFixResidualReporter](INFO): Fix residual: 35.3 %DT, over the last 2865.4 m. Residual distance 1012.7 m at bearing 108.3 degrees. Fix at (36.8550, -122.0228) with 1803.8 m made good.
2026-01-22T01:39:28.496Z,1769045968.496 [keepstation:TransitToStation:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.816429,-121.939323
2026-01-22T01:39:28.499Z,1769045968.499 [keepstation:NeedComms:D] Stopped
2026-01-22T01:39:28.499Z,1769045968.499 [keepstation:NeedComms:E] Running Loop=1
2026-01-22T01:39:39.388Z,1769045979.388 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-22T01:39:50.628Z,1769045990.628 [NAL9602](INFO): SBD MO Status=2, MOMSN=25366, MT Status=2, MTMSN=0
2026-01-22T01:39:50.628Z,1769045990.628 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-01-22T01:40:10.520Z,1769046010.520 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-22T01:40:19.421Z,1769046019.421 [DataOverHttps](IMPORTANT): SBD MTMSN=20260122T014016
2026-01-22T01:40:19.424Z,1769046019.424 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003341
2026-01-22T01:40:27.056Z,1769046027.056 [DataOverHttps](INFO): Sending 100 bytes from file Logs/20260121T144500/Courier0102.lzma
2026-01-22T01:40:27.059Z,1769046027.059 [DataOverHttps](INFO): Received command: stop
2026-01-22T01:40:27.113Z,1769046027.113 [CommandExec](IMPORTANT): got command stop
2026-01-22T01:40:27.113Z,1769046027.113 [CommandExec](IMPORTANT): Scheduling is paused for 9 commands
2026-01-22T01:40:27.114Z,1769046027.114 [Supervisor](INFO): Stop Mission called by CommandExec::commandStop
2026-01-22T01:40:27.393Z,1769046027.393 [MissionManager](INFO): MissionManager is completed.
2026-01-22T01:40:27.393Z,1769046027.393 [MissionManager](INFO): Uninitializing Mission keepstation
2026-01-22T01:40:27.393Z,1769046027.393 [keepstation] Stopped
2026-01-22T01:40:27.393Z,1769046027.393 [keepstation](DEBUG): Aggregate::uninitialize keepstation
2026-01-22T01:40:27.393Z,1769046027.393 [keepstation:NeedComms] Stopped
2026-01-22T01:40:27.393Z,1769046027.393 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2026-01-22T01:40:27.393Z,1769046027.393 [keepstation:NeedComms:C.GoToSurface] Stopped
2026-01-22T01:40:27.393Z,1769046027.393 [keepstation:NeedComms:C.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2026-01-22T01:40:27.394Z,1769046027.394 [keepstation:NeedComms:E] Stopped
2026-01-22T01:40:27.394Z,1769046027.394 [keepstation:StandardEnvelopes] Stopped
2026-01-22T01:40:27.394Z,1769046027.394 [keepstation:StandardEnvelopes](DEBUG): Aggregate::uninitialize keepstation:StandardEnvelopes
2026-01-22T01:40:27.394Z,1769046027.394 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2026-01-22T01:40:27.394Z,1769046027.394 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2026-01-22T01:40:27.394Z,1769046027.394 [keepstation:StandardEnvelopes:B.DepthEnvelope] Stopped
2026-01-22T01:40:27.394Z,1769046027.394 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2026-01-22T01:40:27.394Z,1769046027.394 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2026-01-22T01:40:27.394Z,1769046027.394 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2026-01-22T01:40:27.394Z,1769046027.394 [keepstation:BackseatDriver] Stopped
2026-01-22T01:40:27.394Z,1769046027.394 [keepstation:BackseatDriver](DEBUG): Aggregate::uninitialize keepstation:BackseatDriver
2026-01-22T01:40:27.394Z,1769046027.394 [keepstation:BackseatDriver:A.BackseatDriver] Stopped
2026-01-22T01:40:27.394Z,1769046027.394 [keepstation:PowerOnly] Stopped
2026-01-22T01:40:27.395Z,1769046027.395 [keepstation:PowerOnly](DEBUG): Aggregate::uninitialize keepstation:PowerOnly
2026-01-22T01:40:27.395Z,1769046027.395 [keepstation:PowerOnly:E.Wait] Stopped
2026-01-22T01:40:27.395Z,1769046027.395 [keepstation:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2026-01-22T01:40:27.395Z,1769046027.395 [keepstation:H.Pitch] Stopped
2026-01-22T01:40:27.395Z,1769046027.395 [keepstation:SurfaceComms] Stopped
2026-01-22T01:40:27.395Z,1769046027.395 [keepstation:SurfaceComms](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms
2026-01-22T01:40:27.395Z,1769046027.395 [keepstation:SurfaceComms:B] Stopped
2026-01-22T01:40:27.395Z,1769046027.395 [keepstation:SurfaceComms:B](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:B
2026-01-22T01:40:27.395Z,1769046027.395 [keepstation:DiveCmd] Stopped
2026-01-22T01:40:27.395Z,1769046027.395 [keepstation:DiveCmd](DEBUG): Aggregate::uninitialize keepstation:DiveCmd
2026-01-22T01:40:27.395Z,1769046027.395 [keepstation:TransitToStation] Stopped
2026-01-22T01:40:27.396Z,1769046027.396 [keepstation:TransitToStation](DEBUG): Aggregate::uninitialize keepstation:TransitToStation
2026-01-22T01:40:27.396Z,1769046027.396 [keepstation:TransitToStation:Wpt1.Waypoint] Stopped
2026-01-22T01:40:27.396Z,1769046027.396 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2026-01-22T01:40:27.787Z,1769046027.787 [MissionManager](IMPORTANT): Started mission Default
2026-01-22T01:40:27.804Z,1769046027.804 [Default] Running Loop=1
2026-01-22T01:40:27.804Z,1769046027.804 [Default](DEBUG): Aggregate::initialize Default
2026-01-22T01:40:27.804Z,1769046027.804 [Default:B.GoToSurface] Running Loop=1
2026-01-22T01:40:27.804Z,1769046027.804 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2026-01-22T01:40:27.804Z,1769046027.804 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2026-01-22T01:40:27.805Z,1769046027.805 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2026-01-22T01:40:27.805Z,1769046027.805 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2026-01-22T01:40:27.805Z,1769046027.805 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2026-01-22T01:40:27.806Z,1769046027.806 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2026-01-22T01:40:27.806Z,1769046027.806 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2026-01-22T01:40:27.807Z,1769046027.807 [Default:A.Wait] Running Loop=1
2026-01-22T01:40:27.807Z,1769046027.807 [Default:A.Wait](DEBUG): Initialize Wait Component.
2026-01-22T01:40:28.058Z,1769046028.058 [DataOverHttps](INFO): Moved sent file to Logs/20260121T144500/Courier0102.lzma.bak
2026-01-22T01:40:28.058Z,1769046028.058 [DataOverHttps](INFO): SBD MOMSN=26585629
2026-01-22T01:40:29.414Z,1769046029.414 [NAL9602](INFO): SBD MO Status=2, MOMSN=25366, MT Status=2, MTMSN=0
2026-01-22T01:40:29.414Z,1769046029.414 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-01-22T01:40:41.141Z,1769046041.141 [Default:A.Wait](INFO): Done Waiting.
2026-01-22T01:40:41.142Z,1769046041.142 [Default:A.Wait] Stopped
2026-01-22T01:40:41.142Z,1769046041.142 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2026-01-22T01:40:41.551Z,1769046041.551 [Default:CheckIn] Running Loop=1
2026-01-22T01:40:41.551Z,1769046041.551 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2026-01-22T01:40:41.551Z,1769046041.551 [Default:CheckIn:Read_GPS] Running Loop=1
2026-01-22T01:40:43.547Z,1769046043.547 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,014040.00,A,3651.30337,N,12201.37870,W,0.194,284.04,220126,,,D*75
2026-01-22T01:40:43.550Z,1769046043.550 [NAL9602](INFO): GPS fix at 20260122T014040: (36.855056, -122.022978)
2026-01-22T01:40:43.560Z,1769046043.560 [Default:CheckIn:Read_GPS] Stopped
2026-01-22T01:40:43.560Z,1769046043.560 [Default:CheckIn:Read_Iridium] Running Loop=1
2026-01-22T01:40:50.967Z,1769046050.967 [DataOverHttps](INFO): Sending 76 bytes from file Logs/20260121T144500/Courier0105.lzma
2026-01-22T01:40:51.970Z,1769046051.970 [DataOverHttps](INFO): Moved sent file to Logs/20260121T144500/Courier0105.lzma.bak
2026-01-22T01:40:51.970Z,1769046051.970 [DataOverHttps](INFO): SBD MOMSN=26585633
2026-01-22T01:41:08.419Z,1769046068.419 [DataOverHttps](INFO): Sending 974 bytes from file Logs/20260121T144500/Express0103.lzma
2026-01-22T01:41:09.418Z,1769046069.418 [DataOverHttps](INFO): Moved sent file to Logs/20260121T144500/Express0103.lzma.bak
2026-01-22T01:41:09.419Z,1769046069.419 [DataOverHttps](INFO): SBD MOMSN=26585636
2026-01-22T01:41:15.234Z,1769046075.234 [NAL9602](INFO): Not Powering down - fast GPS
2026-01-22T01:41:25.804Z,1769046085.804 [DataOverHttps](INFO): Sending 224 bytes from file Logs/20260121T144500/Express0106.lzma
2026-01-22T01:41:26.806Z,1769046086.806 [DataOverHttps](INFO): Moved sent file to Logs/20260121T144500/Express0106.lzma.bak
2026-01-22T01:41:26.806Z,1769046086.806 [DataOverHttps](INFO): SBD MOMSN=26585645
2026-01-22T01:41:28.172Z,1769046088.172 [Default:CheckIn:Read_Iridium] Stopped
2026-01-22T01:41:28.172Z,1769046088.172 [Default:CheckIn:C.Wait] Running Loop=1
2026-01-22T01:41:28.172Z,1769046088.172 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2026-01-22T01:41:44.164Z,1769046104.164 [RudderServo](ERROR): getPosition uart error serial timeout
2026-01-22T01:41:44.164Z,1769046104.164 [RudderServo](FAULT): Rudder uart error - getPosition..serial timeout
2026-01-22T01:41:44.165Z,1769046104.165 [RudderServo] Communications Fault, FailCount= 1
2026-01-22T01:41:44.165Z,1769046104.165 [RudderServo](ERROR): Communications Fault
2026-01-22T01:41:44.172Z,1769046104.172 [CBIT](ERROR): Communications Fault in component: RudderServo
2026-01-22T01:41:44.355Z,1769046104.355 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2026-01-22T01:41:44.355Z,1769046104.355 [RudderServo](INFO): Powering down
2026-01-22T01:41:45.135Z,1769046105.135 [RudderServo](DEBUG): Initializing EZServoServo.
2026-01-22T01:41:45.250Z,1769046105.250 [RudderServo](DEBUG): Initializing RudderServo.
2026-01-22T01:41:45.254Z,1769046105.254 [CBIT](INFO): Clearing failed state for component RudderServo
2026-01-22T01:41:45.254Z,1769046105.254 [RudderServo] No Fault, FailCount= 1
2026-01-22T01:43:08.033Z,1769046188.033 [DataOverHttps](IMPORTANT): SBD MTMSN=20260122T014305
2026-01-22T01:43:15.495Z,1769046195.495 [DataOverHttps](INFO): Received command: schedule clear
2026-01-22T01:43:15.561Z,1769046195.561 [CommandExec](IMPORTANT): got command schedule clear
2026-01-22T01:43:15.562Z,1769046195.562 [CommandExec](IMPORTANT): Cleared 9 scheduled commands.
2026-01-22T01:43:47.241Z,1769046227.241 [DataOverHttps](IMPORTANT): SBD MTMSN=20260122T014344
2026-01-22T01:43:54.731Z,1769046234.731 [DataOverHttps](INFO): Received command: restart logs