2025-05-14T18:27:57.511Z,1747247277.511 [DataOverHttps](INFO): Received command: restart logs
2025-05-14T18:27:57.521Z,1747247277.521 [CommandExec](IMPORTANT): got command restart logs
2025-05-14T18:28:32.614Z,1747247312.614 [DataOverHttps](IMPORTANT): SBD MTMSN=20250514T182830
2025-05-14T18:28:33.128Z,1747247313.128 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2025-05-14T18:28:33.128Z,1747247313.128 [Default:CheckIn:C.Wait] Stopped
2025-05-14T18:28:33.128Z,1747247313.128 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-05-14T18:28:33.129Z,1747247313.129 [Default:CheckIn:D] Running Loop=1
2025-05-14T18:28:33.531Z,1747247313.531 [Default:CheckIn:D] Stopped
2025-05-14T18:28:33.531Z,1747247313.531 [Default:CheckIn:E] Running Loop=1
2025-05-14T18:28:33.998Z,1747247313.998 [Default:CheckIn:E](IMPORTANT): Default mission has been running for  48.451978 min 
2025-05-14T18:28:33.998Z,1747247313.998 [Default:CheckIn:E] Stopped
2025-05-14T18:28:33.998Z,1747247313.998 [Default:CheckIn](INFO): Completed Default:CheckIn
2025-05-14T18:28:33.998Z,1747247313.998 [Default:CheckIn] Stopped
2025-05-14T18:28:33.998Z,1747247313.998 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-05-14T18:28:33.998Z,1747247313.998 [Default:CheckIn](INFO): Running loop #9
2025-05-14T18:28:33.998Z,1747247313.998 [Default:CheckIn] Running Loop=9
2025-05-14T18:28:33.999Z,1747247313.999 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-05-14T18:28:33.999Z,1747247313.999 [Default:CheckIn:Read_GPS] Running Loop=1
2025-05-14T18:28:35.958Z,1747247315.958 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,182834.00,A,3648.26323,N,12149.87400,W,1.808,104.29,140525,,,A*7B
2025-05-14T18:28:35.961Z,1747247315.961 [NAL9602](INFO): GPS fix at 20250514T182834: (36.804387, -121.831233)
2025-05-14T18:28:36.071Z,1747247316.071 [Default:CheckIn:Read_GPS] Stopped
2025-05-14T18:28:36.071Z,1747247316.071 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-05-14T18:28:44.916Z,1747247324.916 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250514T161756/Courier0085.lzma
2025-05-14T18:28:44.919Z,1747247324.919 [DataOverHttps](INFO): Received command: load Transport/transit.tl;set transit.MissionTimeout 30 min;set transit.NeedCommsTime 5 min;set transit.Latitude 36.797 degree;set transit.Longitude -121.847 degree;set transit.Speed 1.5 m/s;run
2025-05-14T18:28:44.996Z,1747247324.996 [CommandExec](IMPORTANT): got command load ./Missions/Transport/transit.tl
2025-05-14T18:28:44.997Z,1747247324.997 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/transit.tl
2025-05-14T18:28:44.997Z,1747247324.997 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/transit.tl
2025-05-14T18:28:44.998Z,1747247324.998 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/transit.tl
2025-05-14T18:28:46.173Z,1747247326.173 [DataOverHttps](INFO): Moved sent file to Logs/20250514T161756/Courier0085.lzma.bak
2025-05-14T18:28:46.174Z,1747247326.174 [DataOverHttps](INFO): SBD MOMSN=24874624
2025-05-14T18:28:47.511Z,1747247327.511 [MissionManager](DEBUG): TethyslAPI: ./Missions/Transport/transit.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="transit">
    <DefineArg Name="MissionTimeout">
        <Units:minute />
        <Value>60</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Northings">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="Eastings">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="Depth">
        <Units:meter />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="Speed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="MassHold">
        <True />
    </DefineArg>
    <DefineArg Name="BuoyancyHold">
        <True />
    </DefineArg>
    <Timeout Duration="MissionTimeout" />
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="NeedCommsTime" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:WaitForPitchUp" />
        <Units:second />
        <Value>1</Value>
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Guidance:Buoyancy Id="BuoyancyHold">
        <While>
            <Arg Name="BuoyancyHold" />
        </While>
        <Setting>
            <Guidance:Buoyancy.position />
            <Control:VerticalControl.buoyancyNeutral />
        </Setting>
    </Guidance:Buoyancy>
    <Guidance:Pitch Id="MassHold">
        <While>
            <Arg Name="MassHold" />
        </While>
        <Setting>
            <Guidance:Pitch.massPosition />
            <Control:VerticalControl.massDefault />
        </Setting>
    </Guidance:Pitch>
    <Aggregate Id="Transit">
        <Sequence />
        <Guidance:Pitch>
            <Parallel />
            <Setting>
                <Guidance:Pitch.depth />
                <Arg Name="Depth" />
            </Setting>
        </Guidance:Pitch>
        <Guidance:SetSpeed>
            <Parallel />
            <Setting>
                <Guidance:SetSpeed.speed />
                <Arg Name="Speed" />
            </Setting>
        </Guidance:SetSpeed>
        <Guidance:Waypoint Id="Wpt1">
            <Sequence />
            <Setting>
                <Guidance:Waypoint.latitude />
                <Arg Name="Latitude" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.longitude />
                <Arg Name="Longitude" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.northingsDelta />
                <Arg Name="Northings" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.eastingsDelta />
                <Arg Name="Eastings" />
            </Setting>
        </Guidance:Waypoint>
        <Call RefId="NeedComms" Id="PhoneHome" PriorityHere="false" />
    </Aggregate>
</Mission>

2025-05-14T18:28:47.523Z,1747247327.523 [MissionManager](INFO): DefineArg transit.MissionTimeout = 60.000000 min
2025-05-14T18:28:47.526Z,1747247327.526 [MissionManager](INFO): DefineArg transit.NeedCommsTime = 30.000000 min
2025-05-14T18:28:47.612Z,1747247327.612 [MissionManager](INFO): DefineArg transit.Latitude = nan arcdeg
2025-05-14T18:28:47.632Z,1747247327.632 [MissionManager](INFO): DefineArg transit.Longitude = nan arcdeg
2025-05-14T18:28:47.635Z,1747247327.635 [MissionManager](INFO): DefineArg transit.Northings = 0.000000 m
2025-05-14T18:28:47.697Z,1747247327.697 [MissionManager](INFO): DefineArg transit.Eastings = 0.000000 m
2025-05-14T18:28:47.710Z,1747247327.710 [MissionManager](INFO): DefineArg transit.Depth = 10.000000 m
2025-05-14T18:28:47.723Z,1747247327.723 [MissionManager](INFO): DefineArg transit.Speed = 1.000000 m/s
2025-05-14T18:28:47.741Z,1747247327.741 [MissionManager](INFO): DefineArg transit.MaxDepth = 20.000000 m
2025-05-14T18:28:47.752Z,1747247327.752 [MissionManager](INFO): DefineArg transit.MinOffshore = 1.000000 km
2025-05-14T18:28:47.754Z,1747247327.754 [MissionManager](INFO): DefineArg transit.MinAltitude = 7.000000 m
2025-05-14T18:28:47.765Z,1747247327.765 [MissionManager](INFO): DefineArg transit.MassHold = 1 bool
2025-05-14T18:28:47.767Z,1747247327.767 [MissionManager](INFO): DefineArg transit.BuoyancyHold = 1 bool
2025-05-14T18:28:47.780Z,1747247327.780 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-05-14T18:28:47.780Z,1747247327.780 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-05-14T18:28:47.781Z,1747247327.781 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-05-14T18:28:48.892Z,1747247328.892 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/NeedComms.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="NeedComms">
    <DefineArg Name="DiveInterval">
        <Units:hour />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="WaitForPitchUp">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="SurfacePitch">
        <Units:degree />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="SurfaceDepthRate">
        <Units:meter_per_second />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="SurfaceSpeed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="SurfacingTimeout">
        <Units:second />
        <Value>1000</Value>
    </DefineArg>
    <DefineArg Name="GPSTimeout">
        <Units:minute />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="CommsTimeout">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <When>
        <Called />
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
                <Add>
                    <Arg Name="WaitForPitchUp" />
                </Add>
            </Gt>
        </Or>
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
            </Gt>
            <And>
                <Universal:platform_pitch_angle />
                <Gt>
                    <Units:degree />
                    <Value>0</Value>
                </Gt>
            </And>
        </Or>
    </When>
    <Syslog Severity="Info">
        last time_fix was: 
        <Universal:time_fix />
        <Units:epoch_second />
    </Syslog>
    <Guidance:GoToSurface>
        <Progression />
        <Setting>
            <Guidance:GoToSurface.pitch />
            <Arg Name="SurfacePitch" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.depthRate />
            <Arg Name="SurfaceDepthRate" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.speed />
            <Arg Name="SurfaceSpeed" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.surfaceTimeout />
            <Arg Name="SurfacingTimeout" />
        </Setting>
    </Guidance:GoToSurface>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">first GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="CommsTimeout">
            <Syslog Severity="Important">
                Comms timed out after 
                <Arg Name="CommsTimeout" />
                <Units:minute />
                minutes
            </Syslog>
        </Timeout>
        <Universal:platform_communications />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">second GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
</Aggregate>

2025-05-14T18:28:48.913Z,1747247328.913 [MissionManager](INFO): DefineArg transit:NeedComms.DiveInterval = 1.000000 h
2025-05-14T18:28:48.963Z,1747247328.963 [MissionManager](INFO): DefineArg transit:NeedComms.WaitForPitchUp = 10.000000 min
2025-05-14T18:28:48.965Z,1747247328.965 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-05-14T18:28:49.015Z,1747247329.015 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceDepthRate = nan m/s
2025-05-14T18:28:49.017Z,1747247329.017 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-05-14T18:28:49.052Z,1747247329.052 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacingTimeout = 1000.000000 s
2025-05-14T18:28:49.054Z,1747247329.054 [MissionManager](INFO): DefineArg transit:NeedComms.GPSTimeout = 7.000000 min
2025-05-14T18:28:49.062Z,1747247329.062 [MissionManager](INFO): DefineArg transit:NeedComms.CommsTimeout = 30.000000 min
2025-05-14T18:28:49.129Z,1747247329.129 [transit:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-05-14T18:28:49.324Z,1747247329.324 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-05-14T18:28:49.325Z,1747247329.325 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-05-14T18:28:49.327Z,1747247329.327 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-05-14T18:28:49.803Z,1747247329.803 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-05-14T18:28:49.824Z,1747247329.824 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinAltitude = 5.000000 m
2025-05-14T18:28:49.826Z,1747247329.826 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-05-14T18:28:49.833Z,1747247329.833 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepth = 200.000000 m
2025-05-14T18:28:49.848Z,1747247329.848 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-05-14T18:28:49.849Z,1747247329.849 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-05-14T18:28:49.900Z,1747247329.900 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-05-14T18:28:49.954Z,1747247329.954 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-05-14T18:28:50.010Z,1747247330.010 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-05-14T18:28:50.011Z,1747247330.011 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-05-14T18:28:50.056Z,1747247330.056 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-05-14T18:28:50.248Z,1747247330.248 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="BackseatDriver">
    <DefineArg Name="EnableBackseat">
        <False />
    </DefineArg>
    <Parallel />
    <Guidance:BackseatDriver>
        <Sequence />
        <Setting>
            <Guidance:BackseatDriver.powerBackseat />
            <Arg Name="EnableBackseat" />
        </Setting>
    </Guidance:BackseatDriver>
</Aggregate>

2025-05-14T18:28:50.264Z,1747247330.264 [MissionManager](INFO): DefineArg transit:BackseatDriver.EnableBackseat = 0 bool
2025-05-14T18:28:50.266Z,1747247330.266 [transit:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-05-14T18:28:50.289Z,1747247330.289 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-05-14T18:28:50.289Z,1747247330.289 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-05-14T18:28:50.291Z,1747247330.291 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-05-14T18:28:51.013Z,1747247331.013 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="PowerOnly">
    <DefineArg Name="SampleAll">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad1">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad2">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad3">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledPowerOnly">
        <Sensor:PowerOnly.loadAtStartup />
    </DefineArg>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleAll" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.samplePowerOnly />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad1" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad1 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad2" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad2 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad3" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad3 />
    </ReadData>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:hour />
            <Value>99999</Value>
        </Setting>
    </Guidance:Wait>
</Aggregate>

2025-05-14T18:28:51.021Z,1747247331.021 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleAll = 0 bool
2025-05-14T18:28:51.036Z,1747247331.036 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad1 = 0 bool
2025-05-14T18:28:51.038Z,1747247331.038 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad2 = 0 bool
2025-05-14T18:28:51.045Z,1747247331.045 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad3 = 0 bool
2025-05-14T18:28:51.059Z,1747247331.059 [MissionManager](INFO): DefineArg transit:PowerOnly.EnabledPowerOnly = 0 bool
2025-05-14T18:28:51.140Z,1747247331.140 [transit:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-05-14T18:28:51.141Z,1747247331.141 [transit:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-05-14T18:28:51.161Z,1747247331.161 [transit:MassHold.Pitch](DEBUG): Construct.
2025-05-14T18:28:51.241Z,1747247331.241 [transit:Transit:A.Pitch](DEBUG): Construct.
2025-05-14T18:28:51.271Z,1747247331.271 [transit:Transit:B.SetSpeed](DEBUG): Construct.
2025-05-14T18:28:51.297Z,1747247331.297 [transit:Transit:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-05-14T18:28:51.393Z,1747247331.393 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

  timeout duration=MissionTimeout

  insert id="NeedComms" Insert/NeedComms.tl

  assign in sequence NeedComms:DiveInterval = NeedCommsTime

  assign in sequence NeedComms:WaitForPitchUp = 1 second

  insert Insert/StandardEnvelopes.tl

  assign in sequence StandardEnvelopes:MinAltitude = MinAltitude

  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth

  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

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

    set position = Control:VerticalControl.buoyancyNeutral
  }

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

    set massPosition = Control:VerticalControl.massDefault
  }

  aggregate Transit {
    run in sequence

    behavior Guidance:Pitch {
      run in parallel

      set depth = Depth
    }

    behavior Guidance:SetSpeed {
      run in parallel

      set speed = Speed
    }

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

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

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


2025-05-14T18:28:51.394Z,1747247331.394 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/transit.tl id=transit
2025-05-14T18:28:54.933Z,1747247334.933 [NAL9602](INFO): SBD MO Status=0, MOMSN=10228, MT Status=0, MTMSN=0
2025-05-14T18:28:54.933Z,1747247334.933 [NAL9602](INFO): No messages in MT queue
2025-05-14T18:29:18.802Z,1747247358.802 [DataOverHttps](INFO): Sending 268 bytes from file Logs/20250514T182757/Courier0000.lzma
2025-05-14T18:29:19.801Z,1747247359.801 [DataOverHttps](INFO): Moved sent file to Logs/20250514T182757/Courier0000.lzma.bak
2025-05-14T18:29:19.801Z,1747247359.801 [DataOverHttps](INFO): SBD MOMSN=24874627
2025-05-14T18:29:20.237Z,1747247360.237 [CommandExec](IMPORTANT): got command set transit.MissionTimeout 30 minute
2025-05-14T18:29:20.238Z,1747247360.238 [CommandExec](IMPORTANT): got command set transit.NeedCommsTime 5 minute
2025-05-14T18:29:20.251Z,1747247360.251 [CommandExec](IMPORTANT): got command set transit.Latitude 36.797 degree
2025-05-14T18:29:20.252Z,1747247360.252 [CommandExec](IMPORTANT): got command set transit.Longitude -121.847 degree
2025-05-14T18:29:20.253Z,1747247360.253 [CommandExec](IMPORTANT): got command set transit.Speed 1.5 meter_per_second
2025-05-14T18:29:20.253Z,1747247360.253 [CommandExec](IMPORTANT): got command run
2025-05-14T18:29:20.284Z,1747247360.284 [CommandExec](IMPORTANT): Running 
2025-05-14T18:29:20.619Z,1747247360.619 [Default] Stopped
2025-05-14T18:29:20.619Z,1747247360.619 [Default](DEBUG): Aggregate::uninitialize Default
2025-05-14T18:29:20.619Z,1747247360.619 [Default:B.GoToSurface] Stopped
2025-05-14T18:29:20.619Z,1747247360.619 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-05-14T18:29:20.619Z,1747247360.619 [Default:CheckIn] Stopped
2025-05-14T18:29:20.619Z,1747247360.619 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-05-14T18:29:20.619Z,1747247360.619 [Default:CheckIn:Read_Iridium] Stopped
2025-05-14T18:29:20.620Z,1747247360.620 [MissionManager](IMPORTANT): Started mission transit
2025-05-14T18:29:20.620Z,1747247360.620 [transit] Running Loop=1
2025-05-14T18:29:20.620Z,1747247360.620 [transit](DEBUG): Aggregate::initialize transit
2025-05-14T18:29:20.620Z,1747247360.620 [transit:StandardEnvelopes] Running Loop=1
2025-05-14T18:29:20.620Z,1747247360.620 [transit:StandardEnvelopes](DEBUG): Aggregate::initialize transit:StandardEnvelopes
2025-05-14T18:29:20.620Z,1747247360.620 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-05-14T18:29:20.620Z,1747247360.620 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-05-14T18:29:20.620Z,1747247360.620 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-05-14T18:29:20.621Z,1747247360.621 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-05-14T18:29:20.621Z,1747247360.621 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-05-14T18:29:20.621Z,1747247360.621 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-05-14T18:29:20.621Z,1747247360.621 [transit:BackseatDriver] Running Loop=1
2025-05-14T18:29:20.621Z,1747247360.621 [transit:BackseatDriver](DEBUG): Aggregate::initialize transit:BackseatDriver
2025-05-14T18:29:20.621Z,1747247360.621 [transit:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-05-14T18:29:20.621Z,1747247360.621 [transit:PowerOnly] Running Loop=1
2025-05-14T18:29:20.621Z,1747247360.621 [transit:PowerOnly](DEBUG): Aggregate::initialize transit:PowerOnly
2025-05-14T18:29:20.621Z,1747247360.621 [transit:PowerOnly:A] Running Loop=1
2025-05-14T18:29:20.621Z,1747247360.621 [transit:PowerOnly:B] Running Loop=1
2025-05-14T18:29:20.621Z,1747247360.621 [transit:PowerOnly:C] Running Loop=1
2025-05-14T18:29:20.622Z,1747247360.622 [transit:PowerOnly:D] Running Loop=1
2025-05-14T18:29:20.622Z,1747247360.622 [transit:PowerOnly:E.Wait] Running Loop=1
2025-05-14T18:29:20.622Z,1747247360.622 [transit:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-05-14T18:29:20.622Z,1747247360.622 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-05-14T18:29:20.622Z,1747247360.622 [transit:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-05-14T18:29:20.622Z,1747247360.622 [transit:MassHold.Pitch] Running Loop=1
2025-05-14T18:29:20.622Z,1747247360.622 [transit:MassHold.Pitch](DEBUG): Initialize.
2025-05-14T18:29:20.622Z,1747247360.622 [transit:B] Running Loop=1
2025-05-14T18:29:20.627Z,1747247360.627 [transit:MassHold.Pitch] Running Loop=1
2025-05-14T18:29:20.628Z,1747247360.628 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-05-14T18:29:20.628Z,1747247360.628 [transit:PowerOnly] Running Loop=1
2025-05-14T18:29:20.628Z,1747247360.628 [transit:PowerOnly:D] Stopped
2025-05-14T18:29:20.628Z,1747247360.628 [transit:PowerOnly:C] Stopped
2025-05-14T18:29:20.628Z,1747247360.628 [transit:PowerOnly:B] Stopped
2025-05-14T18:29:20.628Z,1747247360.628 [transit:PowerOnly:A] Stopped
2025-05-14T18:29:20.628Z,1747247360.628 [transit:BackseatDriver] Running Loop=1
2025-05-14T18:29:20.629Z,1747247360.629 [transit:StandardEnvelopes] Running Loop=1
2025-05-14T18:29:20.629Z,1747247360.629 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-05-14T18:29:20.629Z,1747247360.629 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-05-14T18:29:20.629Z,1747247360.629 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-05-14T18:29:20.631Z,1747247360.631 [transit:B] Stopped
2025-05-14T18:29:20.635Z,1747247360.635 [transit:C] Running Loop=1
2025-05-14T18:29:21.018Z,1747247361.018 [transit:C] Stopped
2025-05-14T18:29:21.018Z,1747247361.018 [transit:E] Running Loop=1
2025-05-14T18:29:21.446Z,1747247361.446 [transit:E] Stopped
2025-05-14T18:29:21.446Z,1747247361.446 [transit:F] Running Loop=1
2025-05-14T18:29:21.888Z,1747247361.888 [transit:F] Stopped
2025-05-14T18:29:21.888Z,1747247361.888 [transit:G] Running Loop=1
2025-05-14T18:29:22.242Z,1747247362.242 [transit:G] Stopped
2025-05-14T18:29:22.242Z,1747247362.242 [transit:Transit] Running Loop=1
2025-05-14T18:29:22.242Z,1747247362.242 [transit:Transit](DEBUG): Aggregate::initialize transit:Transit
2025-05-14T18:29:22.242Z,1747247362.242 [transit:Transit:A.Pitch] Running Loop=1
2025-05-14T18:29:22.242Z,1747247362.242 [transit:Transit:A.Pitch](DEBUG): Initialize.
2025-05-14T18:29:22.243Z,1747247362.243 [transit:Transit:B.SetSpeed] Running Loop=1
2025-05-14T18:29:22.243Z,1747247362.243 [transit:Transit:B.SetSpeed](DEBUG): Initialize.
2025-05-14T18:29:22.243Z,1747247362.243 [transit:Transit:Wpt1.Waypoint] Running Loop=1
2025-05-14T18:29:22.243Z,1747247362.243 [transit:Transit:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-05-14T18:29:22.244Z,1747247362.244 [transit:Transit:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.797001,-121.847000
2025-05-14T18:29:22.633Z,1747247362.634 [transit:Transit:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.797001,-121.847000
2025-05-14T18:29:22.634Z,1747247362.634 [transit:Transit:B.SetSpeed] Running Loop=1
2025-05-14T18:29:22.634Z,1747247362.634 [transit:Transit:A.Pitch] Running Loop=1
2025-05-14T18:29:25.452Z,1747247365.452 [NAL9602](INFO): Not Powering down - fast GPS
2025-05-14T18:30:21.875Z,1747247421.875 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-14T18:30:44.111Z,1747247444.111 [Radio_Surface](INFO): Powering down
2025-05-14T18:30:53.007Z,1747247453.007 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-14T18:30:54.011Z,1747247454.011 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-05-14T18:32:31.443Z,1747247551.443 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.771240
2025-05-14T18:33:36.095Z,1747247616.095 [transit:NeedComms] Running Loop=1
2025-05-14T18:33:36.095Z,1747247616.095 [transit:NeedComms](DEBUG): Aggregate::initialize transit:NeedComms
2025-05-14T18:33:36.095Z,1747247616.095 [transit:NeedComms:B.GoToSurface] Running Loop=1
2025-05-14T18:33:36.095Z,1747247616.095 [transit:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-05-14T18:33:36.095Z,1747247616.095 [transit:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-05-14T18:33:36.096Z,1747247616.096 [transit:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-05-14T18:33:36.096Z,1747247616.096 [transit:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-05-14T18:33:36.097Z,1747247616.097 [transit:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-05-14T18:33:36.097Z,1747247616.097 [transit:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-05-14T18:33:36.097Z,1747247616.097 [transit:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-05-14T18:33:36.098Z,1747247616.098 [transit:NeedComms:A] Running Loop=1
2025-05-14T18:33:36.100Z,1747247616.100 [transit:NeedComms:A](INFO): last time_fix was:  1747247314.000000 second since 1970/01/01T00:00:00Z 
2025-05-14T18:33:36.100Z,1747247616.100 [transit:NeedComms:A] Stopped
2025-05-14T18:33:40.491Z,1747247620.491 [ThrusterHE](FAULT): Could not get status:serial timeout
2025-05-14T18:33:40.587Z,1747247620.587 [ThrusterHE](FAULT): getSpeed error serial timeout
2025-05-14T18:33:40.587Z,1747247620.587 [ThrusterHE](FAULT): Thruster uart error: serial timeout
2025-05-14T18:33:40.587Z,1747247620.587 [ThrusterHE] Communications Fault, FailCount= 1
2025-05-14T18:33:40.587Z,1747247620.587 [ThrusterHE](ERROR): Communications Fault
2025-05-14T18:33:40.591Z,1747247620.591 [CBIT](ERROR): Communications Fault in component: ThrusterHE
2025-05-14T18:33:40.772Z,1747247620.772 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-05-14T18:33:40.772Z,1747247620.772 [ThrusterHE](INFO): Powering down
2025-05-14T18:33:41.641Z,1747247621.641 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-05-14T18:33:41.761Z,1747247621.761 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-05-14T18:33:41.766Z,1747247621.766 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-05-14T18:33:41.766Z,1747247621.766 [ThrusterHE] No Fault, FailCount= 1
2025-05-14T18:33:43.772Z,1747247623.772 [ThrusterHE](FAULT): Thruster failed to initialize
2025-05-14T18:33:43.772Z,1747247623.772 [ThrusterHE] Communications Fault, FailCount= 2
2025-05-14T18:33:43.772Z,1747247623.772 [ThrusterHE](ERROR): Communications Fault
2025-05-14T18:33:43.781Z,1747247623.781 [CBIT](ERROR): Communications Fault in component: ThrusterHE
2025-05-14T18:33:44.084Z,1747247624.084 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-05-14T18:33:44.084Z,1747247624.084 [ThrusterHE](INFO): Powering down
2025-05-14T18:33:44.888Z,1747247624.888 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-05-14T18:33:45.008Z,1747247625.008 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-05-14T18:33:45.013Z,1747247625.013 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-05-14T18:33:45.013Z,1747247625.013 [ThrusterHE] No Fault, FailCount= 2
2025-05-14T18:33:47.253Z,1747247627.253 [ThrusterHE](FAULT): Thruster failed to initialize
2025-05-14T18:33:47.253Z,1747247627.253 [ThrusterHE] Communications Fault, FailCount= 3
2025-05-14T18:33:47.253Z,1747247627.253 [ThrusterHE](ERROR): Communications Fault
2025-05-14T18:33:47.258Z,1747247627.258 [CBIT](ERROR): Communications Fault in component: ThrusterHE
2025-05-14T18:33:47.661Z,1747247627.661 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-05-14T18:33:47.661Z,1747247627.661 [ThrusterHE](INFO): Powering down
2025-05-14T18:33:48.100Z,1747247628.100 [ThrusterHE](FAULT): LCB fault:  Current Limiter Activated.
2025-05-14T18:33:48.100Z,1747247628.100 [ThrusterHE] Hardware Fault, FailCount= 3
2025-05-14T18:33:48.100Z,1747247628.100 [ThrusterHE](ERROR): Hardware Fault
2025-05-14T18:33:48.496Z,1747247628.496 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-05-14T18:33:48.616Z,1747247628.616 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-05-14T18:33:48.620Z,1747247628.620 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-05-14T18:33:48.620Z,1747247628.620 [ThrusterHE] No Fault, FailCount= 3
2025-05-14T18:34:15.504Z,1747247655.504 [transit:NeedComms:C] Running Loop=1
2025-05-14T18:34:15.967Z,1747247655.967 [transit:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-05-14T18:34:16.223Z,1747247656.223 [Radio_Surface](INFO): Powering up
2025-05-14T18:34:21.895Z,1747247661.895 [DataOverHttps](INFO): Radio surface powered ON.
2025-05-14T18:34:36.122Z,1747247676.122 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 1
2025-05-14T18:34:36.122Z,1747247676.122 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2025-05-14T18:34:36.207Z,1747247676.207 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2025-05-14T18:34:36.606Z,1747247676.606 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2025-05-14T18:34:36.606Z,1747247676.606 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 1
2025-05-14T18:34:52.015Z,1747247692.015 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-14T18:34:55.070Z,1747247695.070 [NAL9602](INFO): SBD MO Status=2, MOMSN=10229, MT Status=2, MTMSN=0
2025-05-14T18:34:55.070Z,1747247695.070 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-05-14T18:35:23.151Z,1747247723.151 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-14T18:35:54.288Z,1747247754.288 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-14T18:36:18.296Z,1747247778.296 [NAL9602](INFO): SBD MO Status=2, MOMSN=10229, MT Status=2, MTMSN=0
2025-05-14T18:36:18.296Z,1747247778.296 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-05-14T18:36:25.423Z,1747247785.423 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-14T18:36:34.668Z,1747247794.668 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003038
2025-05-14T18:39:00.232Z,1747247940.232 [CommandExec](IMPORTANT): got command show stack
2025-05-14T18:39:00.232Z,1747247940.232 [CommandExec](IMPORTANT): Behavior Stack:

2025-05-14T18:39:00.233Z,1747247940.233 [transit:NeedComms](IMPORTANT): Priority 0: transit:NeedComms:B.GoToSurface
2025-05-14T18:39:00.233Z,1747247940.233 [transit:NeedComms](IMPORTANT): Priority 1: transit:NeedComms:C
2025-05-14T18:39:00.233Z,1747247940.233 [transit:StandardEnvelopes](IMPORTANT): Priority 2: transit:StandardEnvelopes:A.AltitudeEnvelope
2025-05-14T18:39:00.234Z,1747247940.234 [transit:StandardEnvelopes](IMPORTANT): Priority 3: transit:StandardEnvelopes:B.DepthEnvelope
2025-05-14T18:39:00.234Z,1747247940.234 [transit:StandardEnvelopes](IMPORTANT): Priority 4: transit:StandardEnvelopes:C.OffshoreEnvelope
2025-05-14T18:39:00.234Z,1747247940.234 [transit:BackseatDriver](IMPORTANT): Priority 5: transit:BackseatDriver:A.BackseatDriver
2025-05-14T18:39:00.235Z,1747247940.235 [transit:PowerOnly](IMPORTANT): Priority 6: transit:PowerOnly:E.Wait
2025-05-14T18:39:00.236Z,1747247940.236 [transit](IMPORTANT): Priority 7: transit:BuoyancyHold.Buoyancy
2025-05-14T18:39:00.236Z,1747247940.236 [transit](IMPORTANT): Priority 8: transit:MassHold.Pitch
2025-05-14T18:39:00.237Z,1747247940.237 [transit:Transit](IMPORTANT): Priority 9: transit:Transit:A.Pitch
2025-05-14T18:39:00.237Z,1747247940.237 [transit:Transit](IMPORTANT): Priority 10: transit:Transit:B.SetSpeed
2025-05-14T18:39:00.238Z,1747247940.238 [transit:Transit](IMPORTANT): Priority 11: transit:Transit:Wpt1.Waypoint
2025-05-14T18:39:14.200Z,1747247954.200 [CommandExec](IMPORTANT): got command failComponent
2025-05-14T18:39:14.200Z,1747247954.200 [CommandExec](IMPORTANT): Failed components:
2025-05-14T18:39:14.201Z,1747247954.201 [CommandExec](IMPORTANT): No failed Components.
2025-05-14T18:39:24.752Z,1747247964.752 [CommandExec](IMPORTANT): got command stop
2025-05-14T18:39:24.752Z,1747247964.752 [Supervisor](INFO): Stop Mission called by CommandExec::commandStop
2025-05-14T18:39:25.038Z,1747247965.038 [MissionManager](INFO): MissionManager is completed.
2025-05-14T18:39:25.038Z,1747247965.038 [MissionManager](INFO): Uninitializing Mission transit
2025-05-14T18:39:25.038Z,1747247965.038 [transit] Stopped
2025-05-14T18:39:25.038Z,1747247965.038 [transit](DEBUG): Aggregate::uninitialize transit
2025-05-14T18:39:25.039Z,1747247965.039 [transit:NeedComms] Stopped
2025-05-14T18:39:25.039Z,1747247965.039 [transit:NeedComms](DEBUG): Aggregate::uninitialize transit:NeedComms
2025-05-14T18:39:25.039Z,1747247965.039 [transit:NeedComms:B.GoToSurface] Stopped
2025-05-14T18:39:25.039Z,1747247965.039 [transit:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-05-14T18:39:25.039Z,1747247965.039 [transit:NeedComms:C] Stopped
2025-05-14T18:39:25.039Z,1747247965.039 [transit:StandardEnvelopes] Stopped
2025-05-14T18:39:25.039Z,1747247965.039 [transit:StandardEnvelopes](DEBUG): Aggregate::uninitialize transit:StandardEnvelopes
2025-05-14T18:39:25.039Z,1747247965.039 [transit:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-05-14T18:39:25.039Z,1747247965.039 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-05-14T18:39:25.039Z,1747247965.039 [transit:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-05-14T18:39:25.040Z,1747247965.040 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-05-14T18:39:25.040Z,1747247965.040 [transit:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-05-14T18:39:25.040Z,1747247965.040 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-05-14T18:39:25.040Z,1747247965.040 [transit:BackseatDriver] Stopped
2025-05-14T18:39:25.040Z,1747247965.040 [transit:BackseatDriver](DEBUG): Aggregate::uninitialize transit:BackseatDriver
2025-05-14T18:39:25.040Z,1747247965.040 [transit:BackseatDriver:A.BackseatDriver] Stopped
2025-05-14T18:39:25.040Z,1747247965.040 [transit:PowerOnly] Stopped
2025-05-14T18:39:25.040Z,1747247965.040 [transit:PowerOnly](DEBUG): Aggregate::uninitialize transit:PowerOnly
2025-05-14T18:39:25.040Z,1747247965.040 [transit:PowerOnly:E.Wait] Stopped
2025-05-14T18:39:25.040Z,1747247965.040 [transit:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-05-14T18:39:25.040Z,1747247965.040 [transit:BuoyancyHold.Buoyancy] Stopped
2025-05-14T18:39:25.040Z,1747247965.040 [transit:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-05-14T18:39:25.040Z,1747247965.040 [transit:MassHold.Pitch] Stopped
2025-05-14T18:39:25.041Z,1747247965.041 [transit:Transit] Stopped
2025-05-14T18:39:25.041Z,1747247965.041 [transit:Transit](DEBUG): Aggregate::uninitialize transit:Transit
2025-05-14T18:39:25.041Z,1747247965.041 [transit:Transit:A.Pitch] Stopped
2025-05-14T18:39:25.041Z,1747247965.041 [transit:Transit:B.SetSpeed] Stopped
2025-05-14T18:39:25.041Z,1747247965.041 [transit:Transit:B.SetSpeed](DEBUG): Uninitialize.
2025-05-14T18:39:25.041Z,1747247965.041 [transit:Transit:Wpt1.Waypoint] Stopped
2025-05-14T18:39:25.041Z,1747247965.041 [transit:Transit:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-05-14T18:39:25.437Z,1747247965.437 [MissionManager](IMPORTANT): Started mission Default
2025-05-14T18:39:25.437Z,1747247965.437 [Default] Running Loop=1
2025-05-14T18:39:25.437Z,1747247965.437 [Default](DEBUG): Aggregate::initialize Default
2025-05-14T18:39:25.437Z,1747247965.437 [Default:B.GoToSurface] Running Loop=1
2025-05-14T18:39:25.438Z,1747247965.438 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-05-14T18:39:25.438Z,1747247965.438 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-05-14T18:39:25.438Z,1747247965.438 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-05-14T18:39:25.438Z,1747247965.438 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-05-14T18:39:25.443Z,1747247965.443 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-05-14T18:39:25.443Z,1747247965.443 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-05-14T18:39:25.444Z,1747247965.444 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-05-14T18:39:25.444Z,1747247965.444 [Default:A.Wait] Running Loop=1
2025-05-14T18:39:25.444Z,1747247965.444 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-05-14T18:39:26.206Z,1747247966.206 [NAL9602](INFO): SBD MO Status=2, MOMSN=10229, MT Status=2, MTMSN=0
2025-05-14T18:39:26.206Z,1747247966.206 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-05-14T18:39:26.609Z,1747247966.609 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2025-05-14T18:39:28.632Z,1747247968.632 [CommandExec](IMPORTANT): got command ibit
2025-05-14T18:39:28.723Z,1747247968.723 [IBIT](IMPORTANT): Beginning Initiated BIT
2025-05-14T18:39:28.727Z,1747247968.727 [IBIT](IMPORTANT): Beginning control surface checks.
2025-05-14T18:39:28.731Z,1747247968.731 [GFScanner](IMPORTANT): Beginning ground fault scan
2025-05-14T18:39:30.249Z,1747247970.249 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,183928.00,A,3648.15542,N,12150.01736,W,1.341,114.02,140525,,,A*79
2025-05-14T18:39:30.252Z,1747247970.252 [NAL9602](INFO): GPS fix at 20250514T183928: (36.802590, -121.833623)
2025-05-14T18:39:33.181Z,1747247973.181 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,183931.00,A,3648.15509,N,12150.01717,W,0.330,124.69,140525,,,A*74
2025-05-14T18:39:33.187Z,1747247973.187 [NAL9602](INFO): GPS fix at 20250514T183931: (36.802585, -121.833619)
2025-05-14T18:39:33.429Z,1747247973.429 [GFScanner](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.000262
CHAN A1 (24V): 0.002006
CHAN A2 (12V): 0.000898
CHAN A3 (5V): -0.011503
CHAN B0 (3.3V): -0.000329
CHAN B1 (3.15aV): -0.000390
CHAN B2 (3.15bV): -0.000600
CHAN B3 (GND): -0.001893
OPEN: 0.008414
Full Scale: +/- 1 mA
2025-05-14T18:39:36.038Z,1747247976.038 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,183934.00,A,3648.15491,N,12150.01690,W,0.525,127.47,140525,,,A*72
2025-05-14T18:39:36.040Z,1747247976.040 [NAL9602](INFO): GPS fix at 20250514T183934: (36.802582, -121.833615)
2025-05-14T18:39:39.278Z,1747247979.278 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,183937.00,A,3648.15494,N,12150.01679,W,0.719,122.57,140525,,,A*7A
2025-05-14T18:39:39.336Z,1747247979.336 [NAL9602](INFO): GPS fix at 20250514T183937: (36.802582, -121.833613)
2025-05-14T18:39:41.160Z,1747247981.160 [DAT](INFO): DAT read: Rx Time:18:39:37.4644

2025-05-14T18:39:41.161Z,1747247981.161 [DAT](INFO): Rx dataTimestamp_ set to:1747247981.160380
2025-05-14T18:39:41.664Z,1747247981.664 [DAT](INFO): DAT read: $Error in header

2025-05-14T18:39:41.664Z,1747247981.664 [DAT](INFO): Received a bad header
2025-05-14T18:39:42.097Z,1747247982.097 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,183940.00,A,3648.15497,N,12150.01712,W,0.525,122.57,140525,,,A*78
2025-05-14T18:39:42.099Z,1747247982.099 [NAL9602](INFO): GPS fix at 20250514T183940: (36.802583, -121.833619)
2025-05-14T18:39:45.338Z,1747247985.338 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,183943.00,A,3648.15516,N,12150.01676,W,0.467,122.57,140525,,,A*77
2025-05-14T18:39:45.348Z,1747247985.348 [NAL9602](INFO): GPS fix at 20250514T183943: (36.802586, -121.833613)
2025-05-14T18:39:48.178Z,1747247988.178 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,183946.00,A,3648.15496,N,12150.01619,W,0.467,111.58,140525,,,A*7D
2025-05-14T18:39:48.180Z,1747247988.180 [NAL9602](INFO): GPS fix at 20250514T183946: (36.802583, -121.833603)
2025-05-14T18:39:50.982Z,1747247990.982 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,183949.00,A,3648.15530,N,12150.01667,W,1.244,324.50,140525,,,A*7C
2025-05-14T18:39:50.984Z,1747247990.984 [NAL9602](INFO): GPS fix at 20250514T183949: (36.802588, -121.833611)
2025-05-14T18:39:54.226Z,1747247994.226 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,183952.00,A,3648.15533,N,12150.01645,W,1.127,94.04,140525,,,A*4A
2025-05-14T18:39:54.228Z,1747247994.228 [NAL9602](INFO): GPS fix at 20250514T183952: (36.802589, -121.833607)
2025-05-14T18:39:57.070Z,1747247997.070 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,183955.00,A,3648.15535,N,12150.01587,W,0.194,84.51,140525,,,A*4E
2025-05-14T18:39:57.073Z,1747247997.073 [NAL9602](INFO): GPS fix at 20250514T183955: (36.802589, -121.833598)
2025-05-14T18:40:00.290Z,1747248000.290 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,183958.00,A,3648.15536,N,12150.01601,W,0.836,60.26,140525,,,A*46
2025-05-14T18:40:00.293Z,1747248000.293 [NAL9602](INFO): GPS fix at 20250514T183958: (36.802589, -121.833600)
2025-05-14T18:40:03.132Z,1747248003.132 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,184001.00,A,3648.15552,N,12150.01620,W,0.700,60.26,140525,,,A*4F
2025-05-14T18:40:03.134Z,1747248003.134 [NAL9602](INFO): GPS fix at 20250514T184001: (36.802592, -121.833603)
2025-05-14T18:40:05.932Z,1747248005.932 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,184004.00,A,3648.15556,N,12150.01575,W,0.875,83.82,140525,,,A*43
2025-05-14T18:40:05.934Z,1747248005.934 [NAL9602](INFO): GPS fix at 20250514T184004: (36.802593, -121.833596)
2025-05-14T18:40:09.174Z,1747248009.174 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,184007.00,A,3648.15554,N,12150.01511,W,0.311,71.93,140525,,,A*44
2025-05-14T18:40:09.177Z,1747248009.177 [NAL9602](INFO): GPS fix at 20250514T184007: (36.802592, -121.833585)
2025-05-14T18:40:12.034Z,1747248012.034 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,184010.00,A,3648.15541,N,12150.01557,W,0.233,326.81,140525,,,A*77
2025-05-14T18:40:12.037Z,1747248012.037 [NAL9602](INFO): GPS fix at 20250514T184010: (36.802590, -121.833593)
2025-05-14T18:40:14.890Z,1747248014.890 [IBIT](IMPORTANT): Communications Status:
Fix Status: 1
Iridium Signal Strength: 2
Latitude: 36.802589 Longitude: -121.833595
2025-05-14T18:40:15.227Z,1747248015.227 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,184013.00,A,3648.15545,N,12150.01547,W,0.175,326.81,140525,,,A*70
2025-05-14T18:40:15.229Z,1747248015.229 [NAL9602](INFO): GPS fix at 20250514T184013: (36.802591, -121.833591)
2025-05-14T18:40:15.249Z,1747248015.249 [IBIT](FAULT): Warning: Battery Data not active. Expected only when running primaries. Threshold checking not active.
2025-05-14T18:40:15.669Z,1747248015.669 [IBIT](IMPORTANT): bitHumidityThreshold: 55.000000 %
2025-05-14T18:40:15.670Z,1747248015.670 [IBIT](IMPORTANT): bitPressureThreshold: 0.750000 psi
2025-05-14T18:40:15.670Z,1747248015.670 [IBIT](IMPORTANT): Pressure:9.518610 PSI
2025-05-14T18:40:15.670Z,1747248015.670 [IBIT](IMPORTANT): Humidity:1.440606 %
2025-05-14T18:40:16.102Z,1747248016.102 [IBIT](IMPORTANT): Vehicle Pitch:-3.799277 degrees
2025-05-14T18:40:16.103Z,1747248016.103 [IBIT](IMPORTANT): Vehicle  Roll:-3.565332 degrees
2025-05-14T18:40:16.139Z,1747248016.139 [IBIT](IMPORTANT): Vehicle  Heading:261.598999 degrees
2025-05-14T18:40:16.479Z,1747248016.479 [IBIT](IMPORTANT): surfaceThreshold: 1.000000 m
2025-05-14T18:40:16.480Z,1747248016.480 [IBIT](IMPORTANT): buoyancyNeutral: 1500.000000 cc
2025-05-14T18:40:16.480Z,1747248016.480 [IBIT](IMPORTANT): massDefault: -0.350000 cm
2025-05-14T18:40:16.480Z,1747248016.480 [IBIT](IMPORTANT): stopDepth: 975.000000 m
2025-05-14T18:40:16.481Z,1747248016.481 [IBIT](IMPORTANT): abortDepth: 990.000000 m
2025-05-14T18:40:16.481Z,1747248016.481 [IBIT](IMPORTANT): IBIT PASSED
2025-05-14T18:40:16.860Z,1747248016.860 [Default:A.Wait](INFO): Done Waiting.
2025-05-14T18:40:16.861Z,1747248016.861 [Default:A.Wait] Stopped
2025-05-14T18:40:16.861Z,1747248016.861 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-05-14T18:40:17.277Z,1747248017.277 [Default:CheckIn] Running Loop=1
2025-05-14T18:40:17.277Z,1747248017.277 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-05-14T18:40:17.278Z,1747248017.278 [Default:CheckIn:Read_GPS] Running Loop=1
2025-05-14T18:40:19.263Z,1747248019.263 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,184017.00,A,3648.15542,N,12150.01443,W,0.330,46.11,140525,,,A*49
2025-05-14T18:40:19.266Z,1747248019.266 [NAL9602](INFO): GPS fix at 20250514T184017: (36.802590, -121.833574)
2025-05-14T18:40:19.281Z,1747248019.281 [Default:CheckIn:Read_GPS] Stopped
2025-05-14T18:40:19.281Z,1747248019.281 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-05-14T18:40:30.098Z,1747248030.098 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250514T182757/Courier0003.lzma
2025-05-14T18:40:31.101Z,1747248031.101 [DataOverHttps](INFO): Moved sent file to Logs/20250514T182757/Courier0003.lzma.bak
2025-05-14T18:40:31.101Z,1747248031.101 [DataOverHttps](INFO): SBD MOMSN=24874711
2025-05-14T18:40:51.176Z,1747248051.176 [DataOverHttps](INFO): Sending 38 bytes from file Logs/20250514T182757/Courier0006.lzma
2025-05-14T18:40:51.769Z,1747248051.769 [NAL9602](INFO): Not Powering down - fast GPS
2025-05-14T18:40:52.178Z,1747248052.178 [DataOverHttps](INFO): Moved sent file to Logs/20250514T182757/Courier0006.lzma.bak
2025-05-14T18:40:52.178Z,1747248052.178 [DataOverHttps](INFO): SBD MOMSN=24874713
2025-05-14T18:41:12.253Z,1747248072.253 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250514T182757/Courier0009.lzma
2025-05-14T18:41:14.257Z,1747248074.257 [DataOverHttps](INFO): Moved sent file to Logs/20250514T182757/Courier0009.lzma.bak
2025-05-14T18:41:14.257Z,1747248074.257 [DataOverHttps](INFO): SBD MOMSN=24874715
2025-05-14T18:41:34.711Z,1747248094.711 [DataOverHttps](INFO): Sending 115 bytes from file Logs/20250514T161756/Express0087.lzma
2025-05-14T18:41:35.713Z,1747248095.713 [DataOverHttps](INFO): Moved sent file to Logs/20250514T161756/Express0087.lzma.bak
2025-05-14T18:41:35.714Z,1747248095.714 [DataOverHttps](INFO): SBD MOMSN=24874718
2025-05-14T18:41:53.256Z,1747248113.256 [DataOverHttps](INFO): Sending 528 bytes from file Logs/20250514T182757/Express0001.lzma
2025-05-14T18:41:55.262Z,1747248115.262 [DataOverHttps](INFO): Moved sent file to Logs/20250514T182757/Express0001.lzma.bak
2025-05-14T18:41:55.262Z,1747248115.262 [DataOverHttps](INFO): SBD MOMSN=24874722
2025-05-14T18:42:17.915Z,1747248137.915 [DataOverHttps](INFO): Sending 61 bytes from file Logs/20250514T182757/Express0004.lzma
2025-05-14T18:42:18.917Z,1747248138.917 [DataOverHttps](INFO): Moved sent file to Logs/20250514T182757/Express0004.lzma.bak
2025-05-14T18:42:18.917Z,1747248138.917 [DataOverHttps](INFO): SBD MOMSN=24874727
2025-05-14T18:42:24.125Z,1747248144.125 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 1
2025-05-14T18:42:24.125Z,1747248144.125 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2025-05-14T18:42:24.165Z,1747248144.165 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2025-05-14T18:42:24.472Z,1747248144.472 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2025-05-14T18:42:24.472Z,1747248144.472 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 1
2025-05-14T18:42:46.123Z,1747248166.123 [DataOverHttps](INFO): Sending 115 bytes from file Logs/20250514T182757/Express0007.lzma
2025-05-14T18:42:47.143Z,1747248167.143 [DataOverHttps](INFO): Moved sent file to Logs/20250514T182757/Express0007.lzma.bak
2025-05-14T18:42:47.143Z,1747248167.143 [DataOverHttps](INFO): SBD MOMSN=24874735
2025-05-14T18:43:04.153Z,1747248184.153 [DataOverHttps](INFO): Sending 1895 bytes from file Logs/20250514T182757/Express0010.lzma
2025-05-14T18:43:05.149Z,1747248185.149 [DataOverHttps](INFO): Moved sent file to Logs/20250514T182757/Express0010.lzma.bak
2025-05-14T18:43:05.149Z,1747248185.149 [DataOverHttps](INFO): SBD MOMSN=24874738
2025-05-14T18:43:06.538Z,1747248186.538 [Default:CheckIn:Read_Iridium] Stopped
2025-05-14T18:43:06.538Z,1747248186.538 [Default:CheckIn:C.Wait] Running Loop=1
2025-05-14T18:43:06.538Z,1747248186.538 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-05-14T18:43:49.493Z,1747248229.493 [DataOverHttps](IMPORTANT): SBD MTMSN=20250514T184347
2025-05-14T18:43:59.281Z,1747248239.281 [DataOverHttps](INFO): Received command: load Transport/transit.tl;set transit.MissionTimeout 30 min;set transit.NeedCommsTime 15 min;set transit.Latitude 36.797 degree;set transit.Longitude -121.847 degree;set transit.Speed 1.4 m/s;run
2025-05-14T18:43:59.307Z,1747248239.307 [CommandExec](IMPORTANT): got command load ./Missions/Transport/transit.tl
2025-05-14T18:43:59.308Z,1747248239.308 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/transit.tl
2025-05-14T18:43:59.308Z,1747248239.308 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/transit.tl
2025-05-14T18:43:59.311Z,1747248239.311 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/transit.tl
2025-05-14T18:44:00.511Z,1747248240.511 [MissionManager](DEBUG): TethyslAPI: ./Missions/Transport/transit.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="transit">
    <DefineArg Name="MissionTimeout">
        <Units:minute />
        <Value>60</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Northings">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="Eastings">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="Depth">
        <Units:meter />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="Speed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="MassHold">
        <True />
    </DefineArg>
    <DefineArg Name="BuoyancyHold">
        <True />
    </DefineArg>
    <Timeout Duration="MissionTimeout" />
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="NeedCommsTime" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:WaitForPitchUp" />
        <Units:second />
        <Value>1</Value>
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Guidance:Buoyancy Id="BuoyancyHold">
        <While>
            <Arg Name="BuoyancyHold" />
        </While>
        <Setting>
            <Guidance:Buoyancy.position />
            <Control:VerticalControl.buoyancyNeutral />
        </Setting>
    </Guidance:Buoyancy>
    <Guidance:Pitch Id="MassHold">
        <While>
            <Arg Name="MassHold" />
        </While>
        <Setting>
            <Guidance:Pitch.massPosition />
            <Control:VerticalControl.massDefault />
        </Setting>
    </Guidance:Pitch>
    <Aggregate Id="Transit">
        <Sequence />
        <Guidance:Pitch>
            <Parallel />
            <Setting>
                <Guidance:Pitch.depth />
                <Arg Name="Depth" />
            </Setting>
        </Guidance:Pitch>
        <Guidance:SetSpeed>
            <Parallel />
            <Setting>
                <Guidance:SetSpeed.speed />
                <Arg Name="Speed" />
            </Setting>
        </Guidance:SetSpeed>
        <Guidance:Waypoint Id="Wpt1">
            <Sequence />
            <Setting>
                <Guidance:Waypoint.latitude />
                <Arg Name="Latitude" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.longitude />
                <Arg Name="Longitude" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.northingsDelta />
                <Arg Name="Northings" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.eastingsDelta />
                <Arg Name="Eastings" />
            </Setting>
        </Guidance:Waypoint>
        <Call RefId="NeedComms" Id="PhoneHome" PriorityHere="false" />
    </Aggregate>
</Mission>

2025-05-14T18:44:00.522Z,1747248240.522 [MissionManager](INFO): DefineArg transit.MissionTimeout = 60.000000 min
2025-05-14T18:44:00.525Z,1747248240.525 [MissionManager](INFO): DefineArg transit.NeedCommsTime = 30.000000 min
2025-05-14T18:44:00.531Z,1747248240.531 [MissionManager](INFO): DefineArg transit.Latitude = nan arcdeg
2025-05-14T18:44:00.534Z,1747248240.534 [MissionManager](INFO): DefineArg transit.Longitude = nan arcdeg
2025-05-14T18:44:00.537Z,1747248240.537 [MissionManager](INFO): DefineArg transit.Northings = 0.000000 m
2025-05-14T18:44:00.596Z,1747248240.596 [MissionManager](INFO): DefineArg transit.Eastings = 0.000000 m
2025-05-14T18:44:00.605Z,1747248240.605 [MissionManager](INFO): DefineArg transit.Depth = 10.000000 m
2025-05-14T18:44:00.608Z,1747248240.608 [MissionManager](INFO): DefineArg transit.Speed = 1.000000 m/s
2025-05-14T18:44:00.610Z,1747248240.610 [MissionManager](INFO): DefineArg transit.MaxDepth = 20.000000 m
2025-05-14T18:44:00.621Z,1747248240.621 [MissionManager](INFO): DefineArg transit.MinOffshore = 1.000000 km
2025-05-14T18:44:00.625Z,1747248240.625 [MissionManager](INFO): DefineArg transit.MinAltitude = 7.000000 m
2025-05-14T18:44:00.628Z,1747248240.628 [MissionManager](INFO): DefineArg transit.MassHold = 1 bool
2025-05-14T18:44:00.629Z,1747248240.629 [MissionManager](INFO): DefineArg transit.BuoyancyHold = 1 bool
2025-05-14T18:44:00.630Z,1747248240.630 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-05-14T18:44:00.630Z,1747248240.630 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-05-14T18:44:00.632Z,1747248240.632 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-05-14T18:44:01.152Z,1747248241.152 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/NeedComms.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="NeedComms">
    <DefineArg Name="DiveInterval">
        <Units:hour />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="WaitForPitchUp">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="SurfacePitch">
        <Units:degree />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="SurfaceDepthRate">
        <Units:meter_per_second />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="SurfaceSpeed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="SurfacingTimeout">
        <Units:second />
        <Value>1000</Value>
    </DefineArg>
    <DefineArg Name="GPSTimeout">
        <Units:minute />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="CommsTimeout">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <When>
        <Called />
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
                <Add>
                    <Arg Name="WaitForPitchUp" />
                </Add>
            </Gt>
        </Or>
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
            </Gt>
            <And>
                <Universal:platform_pitch_angle />
                <Gt>
                    <Units:degree />
                    <Value>0</Value>
                </Gt>
            </And>
        </Or>
    </When>
    <Syslog Severity="Info">
        last time_fix was: 
        <Universal:time_fix />
        <Units:epoch_second />
    </Syslog>
    <Guidance:GoToSurface>
        <Progression />
        <Setting>
            <Guidance:GoToSurface.pitch />
            <Arg Name="SurfacePitch" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.depthRate />
            <Arg Name="SurfaceDepthRate" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.speed />
            <Arg Name="SurfaceSpeed" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.surfaceTimeout />
            <Arg Name="SurfacingTimeout" />
        </Setting>
    </Guidance:GoToSurface>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">first GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="CommsTimeout">
            <Syslog Severity="Important">
                Comms timed out after 
                <Arg Name="CommsTimeout" />
                <Units:minute />
                minutes
            </Syslog>
        </Timeout>
        <Universal:platform_communications />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">second GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
</Aggregate>

2025-05-14T18:44:01.161Z,1747248241.161 [MissionManager](INFO): DefineArg transit:NeedComms.DiveInterval = 1.000000 h
2025-05-14T18:44:01.163Z,1747248241.163 [MissionManager](INFO): DefineArg transit:NeedComms.WaitForPitchUp = 10.000000 min
2025-05-14T18:44:01.166Z,1747248241.166 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-05-14T18:44:01.169Z,1747248241.169 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceDepthRate = nan m/s
2025-05-14T18:44:01.171Z,1747248241.171 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-05-14T18:44:01.174Z,1747248241.174 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacingTimeout = 1000.000000 s
2025-05-14T18:44:01.176Z,1747248241.176 [MissionManager](INFO): DefineArg transit:NeedComms.GPSTimeout = 7.000000 min
2025-05-14T18:44:01.178Z,1747248241.178 [MissionManager](INFO): DefineArg transit:NeedComms.CommsTimeout = 30.000000 min
2025-05-14T18:44:01.198Z,1747248241.198 [transit:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-05-14T18:44:01.393Z,1747248241.393 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-05-14T18:44:01.393Z,1747248241.393 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-05-14T18:44:01.400Z,1747248241.400 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-05-14T18:44:01.580Z,1747248241.580 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-05-14T18:44:01.592Z,1747248241.592 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinAltitude = 5.000000 m
2025-05-14T18:44:01.594Z,1747248241.594 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-05-14T18:44:01.596Z,1747248241.596 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepth = 200.000000 m
2025-05-14T18:44:01.600Z,1747248241.600 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-05-14T18:44:01.602Z,1747248241.602 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-05-14T18:44:01.610Z,1747248241.610 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-05-14T18:44:01.635Z,1747248241.635 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-05-14T18:44:01.674Z,1747248241.674 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-05-14T18:44:01.674Z,1747248241.674 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-05-14T18:44:01.675Z,1747248241.675 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-05-14T18:44:01.714Z,1747248241.714 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="BackseatDriver">
    <DefineArg Name="EnableBackseat">
        <False />
    </DefineArg>
    <Parallel />
    <Guidance:BackseatDriver>
        <Sequence />
        <Setting>
            <Guidance:BackseatDriver.powerBackseat />
            <Arg Name="EnableBackseat" />
        </Setting>
    </Guidance:BackseatDriver>
</Aggregate>

2025-05-14T18:44:01.717Z,1747248241.717 [MissionManager](INFO): DefineArg transit:BackseatDriver.EnableBackseat = 0 bool
2025-05-14T18:44:01.720Z,1747248241.720 [transit:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-05-14T18:44:01.722Z,1747248241.722 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-05-14T18:44:01.723Z,1747248241.723 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-05-14T18:44:01.724Z,1747248241.724 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-05-14T18:44:01.895Z,1747248241.895 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="PowerOnly">
    <DefineArg Name="SampleAll">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad1">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad2">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad3">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledPowerOnly">
        <Sensor:PowerOnly.loadAtStartup />
    </DefineArg>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleAll" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.samplePowerOnly />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad1" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad1 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad2" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad2 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad3" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad3 />
    </ReadData>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:hour />
            <Value>99999</Value>
        </Setting>
    </Guidance:Wait>
</Aggregate>

2025-05-14T18:44:01.927Z,1747248241.927 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleAll = 0 bool
2025-05-14T18:44:01.929Z,1747248241.929 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad1 = 0 bool
2025-05-14T18:44:01.936Z,1747248241.936 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad2 = 0 bool
2025-05-14T18:44:01.944Z,1747248241.944 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad3 = 0 bool
2025-05-14T18:44:01.975Z,1747248241.975 [MissionManager](INFO): DefineArg transit:PowerOnly.EnabledPowerOnly = 0 bool
2025-05-14T18:44:02.011Z,1747248242.011 [transit:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-05-14T18:44:02.013Z,1747248242.013 [transit:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-05-14T18:44:02.035Z,1747248242.035 [transit:MassHold.Pitch](DEBUG): Construct.
2025-05-14T18:44:02.046Z,1747248242.046 [transit:Transit:A.Pitch](DEBUG): Construct.
2025-05-14T18:44:02.061Z,1747248242.061 [transit:Transit:B.SetSpeed](DEBUG): Construct.
2025-05-14T18:44:02.078Z,1747248242.078 [transit:Transit:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-05-14T18:44:02.161Z,1747248242.161 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

  timeout duration=MissionTimeout

  insert id="NeedComms" Insert/NeedComms.tl

  assign in sequence NeedComms:DiveInterval = NeedCommsTime

  assign in sequence NeedComms:WaitForPitchUp = 1 second

  insert Insert/StandardEnvelopes.tl

  assign in sequence StandardEnvelopes:MinAltitude = MinAltitude

  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth

  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

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

    set position = Control:VerticalControl.buoyancyNeutral
  }

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

    set massPosition = Control:VerticalControl.massDefault
  }

  aggregate Transit {
    run in sequence

    behavior Guidance:Pitch {
      run in parallel

      set depth = Depth
    }

    behavior Guidance:SetSpeed {
      run in parallel

      set speed = Speed
    }

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

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

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


2025-05-14T18:44:02.161Z,1747248242.161 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/transit.tl id=transit
2025-05-14T18:44:10.448Z,1747248250.448 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,      -45  +352.18,       +11.60,  54.53,  0.00
2025-05-14T18:44:18.550Z,1747248258.550 [CommandExec](IMPORTANT): got command set transit.MissionTimeout 30 minute
2025-05-14T18:44:18.550Z,1747248258.550 [CommandExec](IMPORTANT): got command set transit.NeedCommsTime 15 minute
2025-05-14T18:44:18.551Z,1747248258.551 [CommandExec](IMPORTANT): got command set transit.Latitude 36.797 degree
2025-05-14T18:44:18.552Z,1747248258.552 [CommandExec](IMPORTANT): got command set transit.Longitude -121.847 degree
2025-05-14T18:44:18.553Z,1747248258.553 [CommandExec](IMPORTANT): got command set transit.Speed 1.4 meter_per_second
2025-05-14T18:44:18.553Z,1747248258.553 [CommandExec](IMPORTANT): got command run
2025-05-14T18:44:18.556Z,1747248258.556 [CommandExec](IMPORTANT): Running 
2025-05-14T18:44:18.922Z,1747248258.922 [Default] Stopped
2025-05-14T18:44:18.922Z,1747248258.922 [Default](DEBUG): Aggregate::uninitialize Default
2025-05-14T18:44:18.922Z,1747248258.922 [Default:B.GoToSurface] Stopped
2025-05-14T18:44:18.922Z,1747248258.922 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-05-14T18:44:18.922Z,1747248258.922 [Default:CheckIn] Stopped
2025-05-14T18:44:18.922Z,1747248258.922 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-05-14T18:44:18.923Z,1747248258.923 [Default:CheckIn:C.Wait] Stopped
2025-05-14T18:44:18.927Z,1747248258.927 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-05-14T18:44:18.927Z,1747248258.927 [MissionManager](IMPORTANT): Started mission transit
2025-05-14T18:44:18.928Z,1747248258.928 [transit] Running Loop=1
2025-05-14T18:44:18.928Z,1747248258.928 [transit](DEBUG): Aggregate::initialize transit
2025-05-14T18:44:18.928Z,1747248258.928 [transit:StandardEnvelopes] Running Loop=1
2025-05-14T18:44:18.928Z,1747248258.928 [transit:StandardEnvelopes](DEBUG): Aggregate::initialize transit:StandardEnvelopes
2025-05-14T18:44:18.928Z,1747248258.928 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-05-14T18:44:18.929Z,1747248258.929 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-05-14T18:44:18.929Z,1747248258.929 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-05-14T18:44:18.929Z,1747248258.929 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-05-14T18:44:18.929Z,1747248258.929 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-05-14T18:44:18.929Z,1747248258.929 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-05-14T18:44:18.929Z,1747248258.929 [transit:BackseatDriver] Running Loop=1
2025-05-14T18:44:18.930Z,1747248258.930 [transit:BackseatDriver](DEBUG): Aggregate::initialize transit:BackseatDriver
2025-05-14T18:44:18.930Z,1747248258.930 [transit:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-05-14T18:44:18.930Z,1747248258.930 [transit:PowerOnly] Running Loop=1
2025-05-14T18:44:18.930Z,1747248258.930 [transit:PowerOnly](DEBUG): Aggregate::initialize transit:PowerOnly
2025-05-14T18:44:18.930Z,1747248258.930 [transit:PowerOnly:A] Running Loop=1
2025-05-14T18:44:18.930Z,1747248258.930 [transit:PowerOnly:B] Running Loop=1
2025-05-14T18:44:18.930Z,1747248258.930 [transit:PowerOnly:C] Running Loop=1
2025-05-14T18:44:18.930Z,1747248258.930 [transit:PowerOnly:D] Running Loop=1
2025-05-14T18:44:18.930Z,1747248258.930 [transit:PowerOnly:E.Wait] Running Loop=1
2025-05-14T18:44:18.930Z,1747248258.930 [transit:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-05-14T18:44:18.930Z,1747248258.930 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-05-14T18:44:18.931Z,1747248258.931 [transit:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-05-14T18:44:18.931Z,1747248258.931 [transit:MassHold.Pitch] Running Loop=1
2025-05-14T18:44:18.932Z,1747248258.932 [transit:MassHold.Pitch](DEBUG): Initialize.
2025-05-14T18:44:18.932Z,1747248258.932 [transit:B] Running Loop=1
2025-05-14T18:44:18.932Z,1747248258.932 [transit:MassHold.Pitch] Running Loop=1
2025-05-14T18:44:18.933Z,1747248258.933 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-05-14T18:44:18.933Z,1747248258.933 [transit:PowerOnly] Running Loop=1
2025-05-14T18:44:18.933Z,1747248258.933 [transit:PowerOnly:D] Stopped
2025-05-14T18:44:18.933Z,1747248258.933 [transit:PowerOnly:C] Stopped
2025-05-14T18:44:18.933Z,1747248258.933 [transit:PowerOnly:B] Stopped
2025-05-14T18:44:18.933Z,1747248258.933 [transit:PowerOnly:A] Stopped
2025-05-14T18:44:18.933Z,1747248258.933 [transit:BackseatDriver] Running Loop=1
2025-05-14T18:44:18.934Z,1747248258.934 [transit:StandardEnvelopes] Running Loop=1
2025-05-14T18:44:18.934Z,1747248258.934 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-05-14T18:44:18.934Z,1747248258.934 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-05-14T18:44:18.934Z,1747248258.934 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-05-14T18:44:18.951Z,1747248258.951 [transit:B] Stopped
2025-05-14T18:44:18.951Z,1747248258.951 [transit:C] Running Loop=1
2025-05-14T18:44:19.302Z,1747248259.302 [transit:C] Stopped
2025-05-14T18:44:19.303Z,1747248259.303 [transit:E] Running Loop=1
2025-05-14T18:44:19.719Z,1747248259.719 [transit:E] Stopped
2025-05-14T18:44:19.719Z,1747248259.719 [transit:F] Running Loop=1
2025-05-14T18:44:20.284Z,1747248260.284 [transit:F] Stopped
2025-05-14T18:44:20.284Z,1747248260.284 [transit:G] Running Loop=1
2025-05-14T18:44:20.533Z,1747248260.533 [transit:G] Stopped
2025-05-14T18:44:20.533Z,1747248260.533 [transit:Transit] Running Loop=1
2025-05-14T18:44:20.533Z,1747248260.533 [transit:Transit](DEBUG): Aggregate::initialize transit:Transit
2025-05-14T18:44:20.533Z,1747248260.533 [transit:Transit:A.Pitch] Running Loop=1
2025-05-14T18:44:20.533Z,1747248260.533 [transit:Transit:A.Pitch](DEBUG): Initialize.
2025-05-14T18:44:20.534Z,1747248260.534 [transit:Transit:B.SetSpeed] Running Loop=1
2025-05-14T18:44:20.534Z,1747248260.534 [transit:Transit:B.SetSpeed](DEBUG): Initialize.
2025-05-14T18:44:20.534Z,1747248260.534 [transit:Transit:Wpt1.Waypoint] Running Loop=1
2025-05-14T18:44:20.534Z,1747248260.534 [transit:Transit:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-05-14T18:44:20.541Z,1747248260.541 [transit:Transit:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.797001,-121.847000
2025-05-14T18:44:20.921Z,1747248260.921 [transit:Transit:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.797001,-121.847000
2025-05-14T18:44:20.921Z,1747248260.921 [transit:Transit:B.SetSpeed] Running Loop=1
2025-05-14T18:44:20.921Z,1747248260.921 [transit:Transit:A.Pitch] Running Loop=1
2025-05-14T18:44:34.365Z,1747248274.365 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00, 538.24, 545.92, 530.92  +69,  +131,  -159,   +16,A
2025-05-14T18:44:43.397Z,1747248283.397 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.40 m/s, pitch 20.00 deg, mass-position -3.50 mm (1 active estimators).
2025-05-14T18:45:10.544Z,1747248310.544 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,      -4 3, 0.15,  50.41,  0.00
2025-05-14T18:45:21.951Z,1747248321.951 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-14T18:45:30.406Z,1747248330.406 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,      -46.51,      +388.92,        0.00
2025-05-14T18:45:30.416Z,1747248330.416 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 1
2025-05-14T18:45:30.416Z,1747248330.416 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2025-05-14T18:45:30.647Z,1747248330.647 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2025-05-14T18:45:31.050Z,1747248331.050 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2025-05-14T18:45:31.050Z,1747248331.050 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 1
2025-05-14T18:45:43.804Z,1747248343.804 [Radio_Surface](INFO): Powering down
2025-05-14T18:45:53.075Z,1747248353.075 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-14T18:45:54.079Z,1747248354.079 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-05-14T18:46:44.537Z,1747248404.537 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,      -21.30,      +502.82,        +4.+49,A
2025-05-14T18:47:35.484Z,1747248455.484 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.723434
2025-05-14T18:48:53.951Z,1747248533.951 [RudderServo](FAULT): Reading outside of valid range:0.000000

2025-05-14T18:48:53.952Z,1747248533.952 [RudderServo](ERROR): Rudder reporting null position
2025-05-14T18:48:54.369Z,1747248534.369 [RudderServo](FAULT): Command Overflow Error
2025-05-14T18:48:54.369Z,1747248534.369 [RudderServo](ERROR): Rudder reporting null position
2025-05-14T18:48:54.737Z,1747248534.737 [RudderServo](FAULT): Invalid EZ Servo response:"769\r"
2025-05-14T18:48:54.737Z,1747248534.737 [RudderServo] Communications Fault, FailCount= 1
2025-05-14T18:48:54.737Z,1747248534.737 [RudderServo](ERROR): Communications Fault
2025-05-14T18:48:54.737Z,1747248534.737 [RudderServo](ERROR): Rudder reporting null position
2025-05-14T18:48:54.811Z,1747248534.811 [CBIT](ERROR): Communications Fault in component: RudderServo
2025-05-14T18:48:55.124Z,1747248535.124 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2025-05-14T18:48:55.124Z,1747248535.124 [RudderServo](INFO): Powering down
2025-05-14T18:48:55.945Z,1747248535.945 [RudderServo](DEBUG): Initializing EZServoServo.
2025-05-14T18:48:56.064Z,1747248536.064 [RudderServo](DEBUG): Initializing RudderServo.
2025-05-14T18:48:56.082Z,1747248536.082 [CBIT](INFO): Clearing failed state for component RudderServo
2025-05-14T18:48:56.082Z,1747248536.082 [RudderServo] No Fault, FailCount= 1
2025-05-14T18:50:58.559Z,1747248658.559 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 1
2025-05-14T18:50:58.559Z,1747248658.559 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2025-05-14T18:50:58.662Z,1747248658.662 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2025-05-14T18:50:59.059Z,1747248659.059 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2025-05-14T18:50:59.059Z,1747248659.059 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 1
2025-05-14T18:54:04.587Z,1747248844.587 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 1
2025-05-14T18:54:04.588Z,1747248844.588 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2025-05-14T18:54:04.810Z,1747248844.810 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2025-05-14T18:54:05.138Z,1747248845.138 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2025-05-14T18:54:05.138Z,1747248845.138 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 1
2025-05-14T18:54:32.412Z,1747248872.412 [DAT](INFO): DAT read: Rx Time:18:54:28.4586

2025-05-14T18:54:32.413Z,1747248872.413 [DAT](INFO): Rx dataTimestamp_ set to:1747248872.412490
2025-05-14T18:54:33.175Z,1747248873.175 [DAT](INFO): DAT read: 18:54:28.4586 LVL= 29584, 23457, 23666, 27251, AGC= 76, IDX= 505, 0.11,-0.071, 1.757, 0.503, 0.491, PHS=-0.528, 1.295, 0.084, RAW= 310.7, -10.6, CAL= 311.4, -14.9, ROT= 198.6,  14.9

2025-05-14T18:54:33.176Z,1747248873.176 [DAT](INFO): got valid direction response:
 18:54:28.4586 LVL= 29584, 23457, 23666, 27251, AGC= 76, IDX= 505, 0.11,-0.071, 1.757, 0.503, 0.491, PHS=-0.528, 1.295, 0.084, RAW= 310.7, -10.6, CAL= 311.4, -14.9, ROT= 198.6,  14.9

2025-05-14T18:54:33.176Z,1747248873.176 [DAT](INFO): DAT read: 

2025-05-14T18:54:33.177Z,1747248873.177 [DAT](INFO): DAT read: $Packet for address 5

2025-05-14T18:54:33.177Z,1747248873.177 [DAT](INFO): received a packet notification
2025-05-14T18:54:33.196Z,1747248873.196 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-05-14T18:54:33.199Z,1747248873.199 [DAT](INFO): direction in FSK: [-0.915901,-0.308235,-0.257133]
2025-05-14T18:55:03.202Z,1747248903.202 [DAT](INFO): DAT read: Rx Time:18:54:59.0758

2025-05-14T18:55:03.202Z,1747248903.202 [DAT](INFO): Rx dataTimestamp_ set to:1747248903.201904
2025-05-14T18:55:03.709Z,1747248903.709 [DAT](INFO): DAT read: 18:54:59.0758 LVL= 20848, 18417, 15490, 16675, AGC= 73, IDX= 123, 0.23,-0.304, 1.552, 0.810, 0.485, PHS=-0.755, 1.096, 0.397, RAW= 292.0,  -9.2, CAL= 293.0, -13.8, ROT= 217.0,  13.8

2025-05-14T18:55:03.710Z,1747248903.710 [DAT](INFO): got valid direction response:
 18:54:59.0758 LVL= 20848, 18417, 15490, 16675, AGC= 73, IDX= 123, 0.23,-0.304, 1.552, 0.810, 0.485, PHS=-0.755, 1.096, 0.397, RAW= 292.0,  -9.2, CAL= 293.0, -13.8, ROT= 217.0,  13.8

2025-05-14T18:55:03.710Z,1747248903.710 [DAT](INFO): DAT read: 

2025-05-14T18:55:03.711Z,1747248903.711 [DAT](INFO): DAT read: $Packet for address 5

2025-05-14T18:55:03.711Z,1747248903.711 [DAT](INFO): received a packet notification
2025-05-14T18:55:03.723Z,1747248903.723 [DAT](INFO): #Rx 2: Read direction message, but no range.
2025-05-14T18:55:03.724Z,1747248903.724 [DAT](INFO): direction in FSK: [-0.775582,-0.584443,-0.238533]
2025-05-14T18:55:20.399Z,1747248920.399 [transit:NeedComms] Running Loop=1
2025-05-14T18:55:20.399Z,1747248920.399 [transit:NeedComms](DEBUG): Aggregate::initialize transit:NeedComms
2025-05-14T18:55:20.399Z,1747248920.399 [transit:NeedComms:B.GoToSurface] Running Loop=1
2025-05-14T18:55:20.399Z,1747248920.399 [transit:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-05-14T18:55:20.400Z,1747248920.400 [transit:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-05-14T18:55:20.400Z,1747248920.400 [transit:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-05-14T18:55:20.400Z,1747248920.400 [transit:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-05-14T18:55:20.401Z,1747248920.401 [transit:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-05-14T18:55:20.401Z,1747248920.401 [transit:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-05-14T18:55:20.401Z,1747248920.401 [transit:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-05-14T18:55:20.402Z,1747248920.402 [transit:NeedComms:A] Running Loop=1
2025-05-14T18:55:20.406Z,1747248920.406 [transit:NeedComms:A](INFO): last time_fix was:  1747248017.000000 second since 1970/01/01T00:00:00Z 
2025-05-14T18:55:20.406Z,1747248920.406 [transit:NeedComms:A] Stopped
2025-05-14T18:55:22.843Z,1747248922.843 [ThrusterHE](FAULT): Could not get status:serial timeout
2025-05-14T18:55:22.939Z,1747248922.939 [ThrusterHE](FAULT): getSpeed error serial timeout
2025-05-14T18:55:22.939Z,1747248922.939 [ThrusterHE](FAULT): Thruster uart error: serial timeout
2025-05-14T18:55:22.939Z,1747248922.939 [ThrusterHE] Communications Fault, FailCount= 1
2025-05-14T18:55:22.939Z,1747248922.939 [ThrusterHE](ERROR): Communications Fault
2025-05-14T18:55:22.945Z,1747248922.945 [CBIT](ERROR): Communications Fault in component: ThrusterHE
2025-05-14T18:55:23.248Z,1747248923.248 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-05-14T18:55:23.248Z,1747248923.248 [ThrusterHE](INFO): Powering down
2025-05-14T18:55:23.964Z,1747248923.964 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-05-14T18:55:24.084Z,1747248924.084 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-05-14T18:55:24.088Z,1747248924.088 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-05-14T18:55:24.088Z,1747248924.088 [ThrusterHE] No Fault, FailCount= 1
2025-05-14T18:55:26.538Z,1747248926.538 [ThrusterHE](FAULT): Thruster failed to initialize
2025-05-14T18:55:26.538Z,1747248926.538 [ThrusterHE] Communications Fault, FailCount= 2
2025-05-14T18:55:26.539Z,1747248926.539 [ThrusterHE](ERROR): Communications Fault
2025-05-14T18:55:26.548Z,1747248926.548 [CBIT](ERROR): Communications Fault in component: ThrusterHE
2025-05-14T18:55:26.868Z,1747248926.868 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-05-14T18:55:26.868Z,1747248926.868 [ThrusterHE](INFO): Powering down
2025-05-14T18:55:27.344Z,1747248927.344 [ThrusterHE](FAULT): LCB fault:  Current Limiter Activated.
2025-05-14T18:55:27.344Z,1747248927.344 [ThrusterHE] Hardware Fault, FailCount= 2
2025-05-14T18:55:27.344Z,1747248927.344 [ThrusterHE](ERROR): Hardware Fault
2025-05-14T18:55:27.772Z,1747248927.772 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-05-14T18:55:27.888Z,1747248927.888 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-05-14T18:55:27.891Z,1747248927.891 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-05-14T18:55:27.891Z,1747248927.891 [ThrusterHE] No Fault, FailCount= 2
2025-05-14T18:55:28.148Z,1747248928.148 [DAT](INFO): DAT read: Rx Time:18:55:24.0499

2025-05-14T18:55:28.148Z,1747248928.148 [DAT](INFO): Rx dataTimestamp_ set to:1747248928.148104
2025-05-14T18:55:28.659Z,1747248928.659 [DAT](INFO): DAT read: 18:55:24.0499 LVL= 17904, 16865, 15922, 12675, AGC= 75, IDX= 191,-0.02,-2.096,-0.483,-1.058,-1.673, PHS=-0.389, 1.219, 0.687, RAW= 289.0, -20.7, CAL= 289.4, -25.0, ROT= 220.6,  25.0

2025-05-14T18:55:28.660Z,1747248928.660 [DAT](INFO): got valid direction response:
 18:55:24.0499 LVL= 17904, 16865, 15922, 12675, AGC= 75, IDX= 191,-0.02,-2.096,-0.483,-1.058,-1.673, PHS=-0.389, 1.219, 0.687, RAW= 289.0, -20.7, CAL= 289.4, -25.0, ROT= 220.6,  25.0

2025-05-14T18:55:28.665Z,1747248928.665 [DAT](INFO): DAT read:  PEAK       , IDX= 196, 0.15, 1.791,-2.829, 2.790, 2.085, PHS=-0.260, 1.398, 0.777, RAW= 291.8, -25.0, CAL= 291.0, -29.1, ROT= 219.0,  29.1, FLG=0x0001

2025-05-14T18:55:28.666Z,1747248928.666 [DAT](INFO): unknown deviceResponse_:  PEAK       , IDX= 196, 0.15, 1.791,-2.829, 2.790, 2.085, PHS=-0.260, 1.398, 0.777, RAW= 291.8, -25.0, CAL= 291.0, -29.1, ROT= 219.0,  29.1, FLG=0x0001

2025-05-14T18:55:28.667Z,1747248928.667 [DAT](INFO): DAT read: Tx time:18:55:25.2500

2025-05-14T18:55:28.667Z,1747248928.667 [DAT](INFO): Ping request sent.
2025-05-14T18:55:28.667Z,1747248928.667 [DAT](INFO): transmitted an acoustic signal
2025-05-14T18:55:28.667Z,1747248928.667 [DAT](INFO): #Rx 3: Read direction message, but no range.
2025-05-14T18:55:28.668Z,1747248928.668 [DAT](INFO): direction in FSK: [-0.688133,-0.589802,-0.422618]
2025-05-14T18:55:28.669Z,1747248928.669 [DAT](INFO): publishing transmit ping time
2025-05-14T18:55:28.696Z,1747248928.696 [DAT](INFO): publishing transmit ping time
2025-05-14T18:55:30.121Z,1747248930.121 [ThrusterHE](FAULT): Thruster failed to initialize
2025-05-14T18:55:30.121Z,1747248930.121 [ThrusterHE] Communications Fault, FailCount= 3
2025-05-14T18:55:30.121Z,1747248930.121 [ThrusterHE](ERROR): Communications Fault
2025-05-14T18:55:30.126Z,1747248930.126 [CBIT](ERROR): Communications Fault in component: ThrusterHE
2025-05-14T18:55:30.537Z,1747248930.537 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-05-14T18:55:30.537Z,1747248930.537 [ThrusterHE](INFO): Powering down
2025-05-14T18:55:31.220Z,1747248931.220 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-05-14T18:55:31.340Z,1747248931.340 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-05-14T18:55:31.345Z,1747248931.345 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-05-14T18:55:31.345Z,1747248931.345 [ThrusterHE] No Fault, FailCount= 3
2025-05-14T18:55:42.012Z,1747248942.012 [DAT](INFO): DAT read: Rx Time:18:55:37.9019

2025-05-14T18:55:42.012Z,1747248942.012 [DAT](INFO): Rx dataTimestamp_ set to:1747248942.012123
2025-05-14T18:55:42.560Z,1747248942.560 [DAT](INFO): DAT read: 18:55:37.9019 LVL= 22992, 20401, 17634, 23251, AGC= 78, IDX=  60,-0.30, 3.097,-1.319,-1.224,-2.271, PHS=-0.881, 0.981, 1.120, RAW= 266.5, -12.6, CAL= 267.2, -17.3, ROT= 242.8,  17.3

2025-05-14T18:55:42.582Z,1747248942.582 [DAT](INFO): got valid direction response:
 18:55:37.9019 LVL= 22992, 20401, 17634, 23251, AGC= 78, IDX=  60,-0.30, 3.097,-1.319,-1.224,-2.271, PHS=-0.881, 0.981, 1.120, RAW= 266.5, -12.6, CAL= 267.2, -17.3, ROT= 242.8,  17.3

2025-05-14T18:55:42.591Z,1747248942.591 [DAT](INFO): DAT read:  PEAK       , IDX= 193,-0.18,-3.084,-1.399,-1.399,-2.200, PHS=-0.850, 0.830, 0.873, RAW= 268.7, -10.0, CAL= 269.2, -14.8, ROT= 240.8,  14.8, FLG=0x0001

2025-05-14T18:55:42.592Z,1747248942.592 [DAT](INFO): unknown deviceResponse_:  PEAK       , IDX= 193,-0.18,-3.084,-1.399,-1.399,-2.200, PHS=-0.850, 0.830, 0.873, RAW= 268.7, -10.0, CAL= 269.2, -14.8, ROT= 240.8,  14.8, FLG=0x0001

2025-05-14T18:55:42.592Z,1747248942.592 [DAT](INFO): DAT read: range request

2025-05-14T18:55:42.592Z,1747248942.592 [DAT](INFO): received a range request message
2025-05-14T18:55:42.593Z,1747248942.593 [DAT](INFO): DAT read: Tx time:18:55:39.5047

2025-05-14T18:55:42.593Z,1747248942.593 [DAT](INFO): Ping request sent.
2025-05-14T18:55:42.593Z,1747248942.593 [DAT](INFO): transmitted an acoustic signal
2025-05-14T18:55:42.594Z,1747248942.594 [DAT](INFO): #Rx 4: Read direction message, but no range.
2025-05-14T18:55:42.595Z,1747248942.595 [DAT](INFO): direction in FSK: [-0.436419,-0.849180,-0.297375]
2025-05-14T18:55:42.599Z,1747248942.599 [DAT](INFO): publishing transmit ping time
2025-05-14T18:55:42.600Z,1747248942.600 [DAT](INFO): publishing range request flag
2025-05-14T18:55:42.608Z,1747248942.608 [DAT](INFO): publishing transmit ping time
2025-05-14T18:55:42.608Z,1747248942.608 [DAT](INFO): publishing range request flag
2025-05-14T18:56:01.875Z,1747248961.875 [transit:NeedComms:C] Running Loop=1
2025-05-14T18:56:02.280Z,1747248962.280 [transit:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-05-14T18:56:02.562Z,1747248962.562 [Radio_Surface](INFO): Powering up
2025-05-14T18:56:08.651Z,1747248968.651 [DataOverHttps](INFO): Radio surface powered ON.
2025-05-14T18:56:38.771Z,1747248998.771 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-14T18:57:05.368Z,1747249025.368 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 1
2025-05-14T18:57:05.368Z,1747249025.368 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2025-05-14T18:57:05.384Z,1747249025.384 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2025-05-14T18:57:05.818Z,1747249025.818 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2025-05-14T18:57:05.818Z,1747249025.818 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 1
2025-05-14T18:57:09.903Z,1747249029.903 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-14T18:57:20.298Z,1747249040.298 [NAL9602](INFO): SBD MO Status=2, MOMSN=10229, MT Status=2, MTMSN=0
2025-05-14T18:57:20.298Z,1747249040.298 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-05-14T18:57:41.039Z,1747249061.039 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-14T18:57:46.144Z,1747249066.144 [NAL9602](INFO): SBD MO Status=2, MOMSN=10229, MT Status=2, MTMSN=0
2025-05-14T18:57:46.144Z,1747249066.144 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-05-14T18:58:12.179Z,1747249092.179 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-14T18:58:12.408Z,1747249092.408 [NAL9602](INFO): SBD MO Status=2, MOMSN=10229, MT Status=2, MTMSN=0
2025-05-14T18:58:12.408Z,1747249092.408 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-05-14T18:58:21.452Z,1747249101.452 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003567
2025-05-14T18:58:33.836Z,1747249113.836 [NAL9602](INFO): SBD MO Status=0, MOMSN=10229, MT Status=0, MTMSN=0
2025-05-14T18:58:33.836Z,1747249113.836 [NAL9602](INFO): No messages in MT queue
2025-05-14T18:58:35.032Z,1747249115.032 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,185832.00,A,3647.91824,N,12150.49746,W,0.680,13.00,140525,,,A*4D
2025-05-14T18:58:35.035Z,1747249115.035 [NAL9602](INFO): GPS fix at 20250514T185832: (36.798637, -121.841624)
2025-05-14T18:58:35.076Z,1747249115.076 [UniversalFixResidualReporter](INFO): Fix residual: 9.0 %DT, over the last 968.0 m. Residual distance 87.0 m at bearing 45.3 degrees. Fix at (36.7986, -121.8416) with 840.8 m made good.
2025-05-14T18:58:35.084Z,1747249115.084 [transit:NeedComms:C] Stopped
2025-05-14T18:58:35.085Z,1747249115.085 [transit:NeedComms:D] Running Loop=1
2025-05-14T18:58:35.470Z,1747249115.470 [transit:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-05-14T18:58:43.031Z,1747249123.031 [DataOverHttps](INFO): Sending 205 bytes from file Logs/20250514T182757/Courier0012.lzma
2025-05-14T18:58:44.033Z,1747249124.033 [DataOverHttps](INFO): Moved sent file to Logs/20250514T182757/Courier0012.lzma.bak
2025-05-14T18:58:44.033Z,1747249124.033 [DataOverHttps](INFO): SBD MOMSN=24874944
2025-05-14T18:59:01.042Z,1747249141.042 [DataOverHttps](INFO): Sending 828 bytes from file Logs/20250514T182757/Express0013.lzma
2025-05-14T18:59:02.041Z,1747249142.041 [DataOverHttps](INFO): Moved sent file to Logs/20250514T182757/Express0013.lzma.bak
2025-05-14T18:59:02.041Z,1747249142.041 [DataOverHttps](INFO): SBD MOMSN=24874948
2025-05-14T18:59:03.570Z,1747249143.570 [transit:NeedComms:D] Stopped
2025-05-14T18:59:03.570Z,1747249143.570 [transit:NeedComms:E] Running Loop=1
2025-05-14T18:59:03.969Z,1747249143.969 [transit:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-05-14T18:59:05.598Z,1747249145.598 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,185903.00,A,3647.91844,N,12150.49205,W,0.952,98.52,140525,,,D*4B
2025-05-14T18:59:05.600Z,1747249145.600 [NAL9602](INFO): GPS fix at 20250514T185903: (36.798641, -121.841534)
2025-05-14T18:59:05.625Z,1747249145.625 [transit:NeedComms:E] Stopped
2025-05-14T18:59:05.626Z,1747249145.626 [transit:NeedComms](INFO): Completed transit:NeedComms
2025-05-14T18:59:05.626Z,1747249145.626 [transit:NeedComms] Stopped
2025-05-14T18:59:05.626Z,1747249145.626 [transit:NeedComms](DEBUG): Aggregate::uninitialize transit:NeedComms
2025-05-14T18:59:05.626Z,1747249145.626 [transit:NeedComms:B.GoToSurface] Stopped
2025-05-14T18:59:05.626Z,1747249145.626 [transit:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-05-14T18:59:17.788Z,1747249157.788 [DAT](INFO): DAT read: Rx Time:18:59:13.6655

2025-05-14T18:59:17.788Z,1747249157.788 [DAT](INFO): Rx dataTimestamp_ set to:1747249157.788145
2025-05-14T18:59:18.297Z,1747249158.297 [DAT](INFO): DAT read: 18:59:13.6654 LVL= 20464, 24033, 15858, 15683, AGC= 76, IDX= 285, 0.17,-1.134,-2.286,-0.565,-1.682, PHS= 0.583,-0.575, 1.189, RAW= 169.8, -15.2, CAL= 172.1, -14.7, ROT= 337.9,  14.7

2025-05-14T18:59:18.298Z,1747249158.298 [DAT](INFO): got valid direction response:
 18:59:13.6654 LVL= 20464, 24033, 15858, 15683, AGC= 76, IDX= 285, 0.17,-1.134,-2.286,-0.565,-1.682, PHS= 0.583,-0.575, 1.189, RAW= 169.8, -15.2, CAL= 172.1, -14.7, ROT= 337.9,  14.7

2025-05-14T18:59:18.298Z,1747249158.298 [DAT](INFO): DAT read: 

2025-05-14T18:59:18.299Z,1747249158.299 [DAT](INFO): DAT read: $Packet for address 5

2025-05-14T18:59:18.300Z,1747249158.300 [DAT](INFO): received a packet notification
2025-05-14T18:59:18.312Z,1747249158.312 [DAT](INFO): #Rx 5: Read direction message, but no range.
2025-05-14T18:59:18.313Z,1747249158.313 [DAT](INFO): direction in FSK: [0.896201,-0.363910,-0.253758]
2025-05-14T18:59:38.065Z,1747249178.065 [NAL9602](INFO): Not Powering down - fast GPS
2025-05-14T18:59:54.120Z,1747249194.120 [DAT](INFO): DAT read: Rx Time:18:59:49.9374

2025-05-14T18:59:54.121Z,1747249194.121 [DAT](INFO): Rx dataTimestamp_ set to:1747249194.120430
2025-05-14T18:59:54.630Z,1747249194.630 [DAT](INFO): DAT read: 18:59:49.9374 LVL= 25024, 28913, 32754, 27171, AGC= 77, IDX= 196,-0.31,-2.300,-1.419, 2.752,-2.440, PHS= 0.174, 1.050,-1.020, RAW=   5.1,  -2.3, CAL=   5.8,  -6.6, ROT= 144.2,   6.6

2025-05-14T18:59:54.635Z,1747249194.635 [DAT](INFO): got valid direction response:
 18:59:49.9374 LVL= 25024, 28913, 32754, 27171, AGC= 77, IDX= 196,-0.31,-2.300,-1.419, 2.752,-2.440, PHS= 0.174, 1.050,-1.020, RAW=   5.1,  -2.3, CAL=   5.8,  -6.6, ROT= 144.2,   6.6

2025-05-14T18:59:54.636Z,1747249194.636 [DAT](INFO): DAT read: 

2025-05-14T18:59:54.636Z,1747249194.636 [DAT](INFO): DAT read: $Packet for address 5

2025-05-14T18:59:54.637Z,1747249194.637 [DAT](INFO): received a packet notification
2025-05-14T18:59:54.657Z,1747249194.657 [DAT](INFO): #Rx 6: Read direction message, but no range.
2025-05-14T18:59:54.658Z,1747249194.658 [DAT](INFO): direction in FSK: [-0.805689,0.581081,-0.114937]
2025-05-14T19:00:03.879Z,1747249203.879 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-14T19:00:06.421Z,1747249206.421 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 1
2025-05-14T19:00:06.421Z,1747249206.421 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2025-05-14T19:00:06.626Z,1747249206.626 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2025-05-14T19:00:06.958Z,1747249206.958 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2025-05-14T19:00:06.958Z,1747249206.958 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 1
2025-05-14T19:00:24.411Z,1747249224.411 [Radio_Surface](INFO): Powering down
2025-05-14T19:00:35.011Z,1747249235.011 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-14T19:00:36.015Z,1747249236.015 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-05-14T19:02:12.476Z,1747249332.476 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.803741
2025-05-14T19:03:07.472Z,1747249387.472 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 1
2025-05-14T19:03:07.472Z,1747249387.472 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2025-05-14T19:03:07.687Z,1747249387.687 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2025-05-14T19:03:07.938Z,1747249387.938 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2025-05-14T19:03:07.938Z,1747249387.938 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 1
2025-05-14T19:04:03.793Z,1747249443.793 [DAT](INFO): DAT read: Rx Time:19:03:59.4763

2025-05-14T19:04:03.794Z,1747249443.794 [DAT](INFO): Rx dataTimestamp_ set to:1747249443.793285
2025-05-14T19:04:04.304Z,1747249444.304 [DAT](INFO): DAT read: 19:03:59.4763 LVL= 32224, 21969, 32754, 29891, AGC= 86, IDX= 366, 0.05,-0.066, 1.656, 0.003, 0.198, PHS=-0.230, 1.487,-0.123, RAW= 326.8, -13.5, CAL= 327.7, -18.0, ROT= 182.3,  18.0

2025-05-14T19:04:04.305Z,1747249444.305 [DAT](INFO): got valid direction response:
 19:03:59.4763 LVL= 32224, 21969, 32754, 29891, AGC= 86, IDX= 366, 0.05,-0.066, 1.656, 0.003, 0.198, PHS=-0.230, 1.487,-0.123, RAW= 326.8, -13.5, CAL= 327.7, -18.0, ROT= 182.3,  18.0

2025-05-14T19:04:04.306Z,1747249444.306 [DAT](INFO): DAT read: $Error in header

2025-05-14T19:04:04.306Z,1747249444.306 [DAT](INFO): Received a bad header
2025-05-14T19:04:04.319Z,1747249444.319 [DAT](INFO): #Rx 7: Read direction message, but no range.
2025-05-14T19:04:04.320Z,1747249444.320 [DAT](INFO): direction in FSK: [-0.950290,-0.038168,-0.309017]
2025-05-14T19:04:44.393Z,1747249484.393 [DAT](INFO): DAT read: Rx Time:19:04:39.9942

2025-05-14T19:04:44.394Z,1747249484.394 [DAT](INFO): Rx dataTimestamp_ set to:1747249484.393451
2025-05-14T19:04:44.902Z,1747249484.902 [DAT](INFO): DAT read: 19:04:39.9942 LVL= 26592, 23233, 23666, 26195, AGC= 88, IDX= 136, 0.39, 0.537, 2.162, 0.555, 0.763, PHS=-0.193, 1.428,-0.136, RAW= 328.3, -13.7, CAL= 329.2, -18.2, ROT= 180.8,  18.2

2025-05-14T19:04:44.904Z,1747249484.904 [DAT](INFO): got valid direction response:
 19:04:39.9942 LVL= 26592, 23233, 23666, 26195, AGC= 88, IDX= 136, 0.39, 0.537, 2.162, 0.555, 0.763, PHS=-0.193, 1.428,-0.136, RAW= 328.3, -13.7, CAL= 329.2, -18.2, ROT= 180.8,  18.2

2025-05-14T19:04:44.904Z,1747249484.904 [DAT](INFO): DAT read: $Error in header

2025-05-14T19:04:44.905Z,1747249484.905 [DAT](INFO): Received a bad header
2025-05-14T19:04:44.919Z,1747249484.919 [DAT](INFO): #Rx 8: Read direction message, but no range.
2025-05-14T19:04:44.920Z,1747249484.920 [DAT](INFO): direction in FSK: [-0.949879,-0.013264,-0.312335]
2025-05-14T19:05:16.281Z,1747249516.281 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,      -43.14,      +996.69,4.12
2025-05-14T19:05:22.347Z,1747249522.347 [transit:Transit:Wpt1.Waypoint](IMPORTANT): Reached waypoint: 36.797001,-121.847000
2025-05-14T19:05:22.347Z,1747249522.347 [transit:Transit:Wpt1.Waypoint] Stopped
2025-05-14T19:05:22.347Z,1747249522.347 [transit:Transit:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-05-14T19:05:22.347Z,1747249522.347 [transit:Transit:PhoneHome] Running Loop=1
2025-05-14T19:05:22.347Z,1747249522.347 [transit:Transit:PhoneHome](DEBUG): Aggregate::initialize transit:Transit:PhoneHome
2025-05-14T19:05:22.741Z,1747249522.741 [transit:NeedComms] Running Loop=1
2025-05-14T19:05:22.741Z,1747249522.741 [transit:NeedComms](DEBUG): Aggregate::initialize transit:NeedComms
2025-05-14T19:05:22.742Z,1747249522.742 [transit:NeedComms:B.GoToSurface] Running Loop=1
2025-05-14T19:05:22.742Z,1747249522.742 [transit:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-05-14T19:05:22.742Z,1747249522.742 [transit:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-05-14T19:05:22.742Z,1747249522.742 [transit:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-05-14T19:05:22.743Z,1747249522.743 [transit:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-05-14T19:05:22.743Z,1747249522.743 [transit:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-05-14T19:05:22.744Z,1747249522.744 [transit:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-05-14T19:05:22.744Z,1747249522.744 [transit:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-05-14T19:05:22.744Z,1747249522.744 [transit:NeedComms:A] Running Loop=1
2025-05-14T19:05:22.747Z,1747249522.747 [transit:NeedComms:A](INFO): last time_fix was:  1747249143.000000 second since 1970/01/01T00:00:00Z 
2025-05-14T19:05:22.747Z,1747249522.747 [transit:NeedComms:A] Stopped
2025-05-14T19:05:26.579Z,1747249526.579 [ThrusterHE](FAULT): Could not get status:serial timeout
2025-05-14T19:05:26.667Z,1747249526.667 [ThrusterHE](FAULT): getSpeed error serial timeout
2025-05-14T19:05:26.667Z,1747249526.667 [ThrusterHE](FAULT): Thruster uart error: serial timeout
2025-05-14T19:05:26.667Z,1747249526.667 [ThrusterHE] Communications Fault, FailCount= 1
2025-05-14T19:05:26.667Z,1747249526.667 [ThrusterHE](ERROR): Communications Fault
2025-05-14T19:05:26.671Z,1747249526.671 [CBIT](ERROR): Communications Fault in component: ThrusterHE
2025-05-14T19:05:26.860Z,1747249526.860 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-05-14T19:05:26.860Z,1747249526.860 [ThrusterHE](INFO): Powering down
2025-05-14T19:05:27.812Z,1747249527.812 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-05-14T19:05:27.932Z,1747249527.932 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-05-14T19:05:27.939Z,1747249527.939 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-05-14T19:05:27.939Z,1747249527.939 [ThrusterHE] No Fault, FailCount= 1
2025-05-14T19:05:30.260Z,1747249530.260 [ThrusterHE](FAULT): Thruster failed to initialize
2025-05-14T19:05:30.260Z,1747249530.260 [ThrusterHE] Communications Fault, FailCount= 2
2025-05-14T19:05:30.260Z,1747249530.260 [ThrusterHE](ERROR): Communications Fault
2025-05-14T19:05:30.264Z,1747249530.264 [CBIT](ERROR): Communications Fault in component: ThrusterHE
2025-05-14T19:05:30.548Z,1747249530.548 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-05-14T19:05:30.548Z,1747249530.548 [ThrusterHE](INFO): Powering down
2025-05-14T19:05:31.046Z,1747249531.046 [ThrusterHE](FAULT): LCB fault:  Current Limiter Activated.
2025-05-14T19:05:31.046Z,1747249531.046 [ThrusterHE] Hardware Fault, FailCount= 2
2025-05-14T19:05:31.046Z,1747249531.046 [ThrusterHE](ERROR): Hardware Fault
2025-05-14T19:05:31.361Z,1747249531.361 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-05-14T19:05:31.476Z,1747249531.476 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-05-14T19:05:31.480Z,1747249531.480 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-05-14T19:05:31.480Z,1747249531.480 [ThrusterHE] No Fault, FailCount= 2
2025-05-14T19:05:33.732Z,1747249533.732 [ThrusterHE](FAULT): Thruster failed to initialize
2025-05-14T19:05:33.732Z,1747249533.732 [ThrusterHE] Communications Fault, FailCount= 3
2025-05-14T19:05:33.732Z,1747249533.732 [ThrusterHE](ERROR): Communications Fault
2025-05-14T19:05:33.736Z,1747249533.736 [CBIT](ERROR): Communications Fault in component: ThrusterHE
2025-05-14T19:05:34.236Z,1747249534.236 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-05-14T19:05:34.236Z,1747249534.236 [ThrusterHE](INFO): Powering down
2025-05-14T19:05:34.933Z,1747249534.933 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-05-14T19:05:35.052Z,1747249535.052 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-05-14T19:05:35.056Z,1747249535.056 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-05-14T19:05:35.056Z,1747249535.056 [ThrusterHE] No Fault, FailCount= 3
2025-05-14T19:05:35.320Z,1747249535.320 [DAT](INFO): DAT read: Rx Time:19:05:31.0663

2025-05-14T19:05:35.320Z,1747249535.320 [DAT](INFO): Rx dataTimestamp_ set to:1747249535.320124
2025-05-14T19:05:36.120Z,1747249536.120 [DAT](INFO): DAT read: 19:05:31.0663 LVL= 20512, 18977, 19266, 22387, AGC= 82, IDX= 194,-0.23,-1.533, 0.366,-0.972,-1.156, PHS=-0.343, 1.551, 0.256, RAW= 312.0, -17.2, CAL= 313.3, -21.6, ROT= 196.7,  21.6

2025-05-14T19:05:36.122Z,1747249536.122 [DAT](INFO): got valid direction response:
 19:05:31.0663 LVL= 20512, 18977, 19266, 22387, AGC= 82, IDX= 194,-0.23,-1.533, 0.366,-0.972,-1.156, PHS=-0.343, 1.551, 0.256, RAW= 312.0, -17.2, CAL= 313.3, -21.6, ROT= 196.7,  21.6

2025-05-14T19:05:36.122Z,1747249536.122 [DAT](INFO): DAT read: 

2025-05-14T19:05:36.127Z,1747249536.127 [DAT](INFO): DAT read: $Packet for address 5

2025-05-14T19:05:36.128Z,1747249536.128 [DAT](INFO): received a packet notification
2025-05-14T19:05:36.139Z,1747249536.139 [DAT](INFO): #Rx 9: Read direction message, but no range.
2025-05-14T19:05:36.141Z,1747249536.141 [DAT](INFO): direction in FSK: [-0.890561,-0.267181,-0.368125]
2025-05-14T19:05:54.111Z,1747249554.111 [ElevatorServo](FAULT): Elevator uart error: serial timeout
2025-05-14T19:05:54.111Z,1747249554.111 [ElevatorServo] Communications Fault, FailCount= 1
2025-05-14T19:05:54.111Z,1747249554.111 [ElevatorServo](ERROR): Communications Fault
2025-05-14T19:05:54.214Z,1747249554.214 [CBIT](ERROR): Communications Fault in component: ElevatorServo
2025-05-14T19:05:54.339Z,1747249554.339 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2025-05-14T19:05:54.340Z,1747249554.340 [ElevatorServo](INFO): Powering down
2025-05-14T19:05:55.500Z,1747249555.500 [CBIT](INFO): Clearing failed state for component ElevatorServo
2025-05-14T19:05:55.500Z,1747249555.500 [ElevatorServo] No Fault, FailCount= 1
2025-05-14T19:05:55.609Z,1747249555.609 [ElevatorServo](DEBUG): Initializing EZServoServo.
2025-05-14T19:05:55.610Z,1747249555.610 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2025-05-14T19:06:05.283Z,1747249565.283 [transit:NeedComms:C] Running Loop=1
2025-05-14T19:06:05.876Z,1747249565.876 [Radio_Surface](INFO): Powering up
2025-05-14T19:06:08.511Z,1747249568.511 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 1
2025-05-14T19:06:08.511Z,1747249568.511 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2025-05-14T19:06:08.705Z,1747249568.705 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2025-05-14T19:06:09.038Z,1747249569.038 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2025-05-14T19:06:09.038Z,1747249569.038 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 1
2025-05-14T19:06:11.439Z,1747249571.439 [DataOverHttps](INFO): Radio surface powered ON.
2025-05-14T19:06:41.559Z,1747249601.559 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-14T19:07:12.683Z,1747249632.683 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-14T19:07:41.475Z,1747249661.475 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,      -46  +998.05,       +28.49,   0.00,116.06
2025-05-14T19:07:43.811Z,1747249663.811 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-14T19:07:51.164Z,1747249671.164 [NAL9602](INFO): SBD MO Status=2, MOMSN=10230, MT Status=2, MTMSN=0
2025-05-14T19:07:51.165Z,1747249671.165 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-05-14T19:08:14.939Z,1747249694.939 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-05-14T19:08:23.106Z,1747249703.106 [NAL9602](INFO): SBD MO Status=2, MOMSN=10230, MT Status=2, MTMSN=0
2025-05-14T19:08:23.106Z,1747249703.106 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-05-14T19:08:26.979Z,1747249706.979 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.002955
2025-05-14T19:08:43.314Z,1747249723.314 [NAL9602](INFO): SBD MO Status=0, MOMSN=10230, MT Status=0, MTMSN=0
2025-05-14T19:08:43.314Z,1747249723.314 [NAL9602](INFO): No messages in MT queue
2025-05-14T19:08:44.550Z,1747249724.550 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,190841.00,A,3647.78714,N,12150.71870,W,0.330,72.89,140525,,,A*4F
2025-05-14T19:08:44.552Z,1747249724.552 [NAL9602](INFO): GPS fix at 20250514T190841: (36.796452, -121.845312)
2025-05-14T19:08:44.570Z,1747249724.570 [UniversalFixResidualReporter](INFO): Fix residual: 16.9 %DT, over the last 726.1 m. Residual distance 122.5 m at bearing -91.8 degrees. Fix at (36.7965, -121.8453) with 415.1 m made good.
2025-05-14T19:08:44.573Z,1747249724.573 [transit:NeedComms:C] Stopped
2025-05-14T19:08:44.573Z,1747249724.573 [transit:NeedComms:D] Running Loop=1
2025-05-14T19:08:52.918Z,1747249732.918 [DataOverHttps](INFO): Sending 82 bytes from file Logs/20250514T182757/Courier0015.lzma
2025-05-14T19:08:53.921Z,1747249733.921 [DataOverHttps](INFO): Moved sent file to Logs/20250514T182757/Courier0015.lzma.bak
2025-05-14T19:08:53.921Z,1747249733.921 [DataOverHttps](INFO): SBD MOMSN=24875043
2025-05-14T19:09:06.836Z,1747249746.836 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS,32768,-32768,V
2025-05-14T19:09:09.612Z,1747249749.612 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 1
2025-05-14T19:09:09.612Z,1747249749.612 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2025-05-14T19:09:09.632Z,1747249749.632 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2025-05-14T19:09:10.054Z,1747249750.054 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2025-05-14T19:09:10.054Z,1747249750.054 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 1
2025-05-14T19:09:13.869Z,1747249753.869 [DataOverHttps](INFO): Sending 492 bytes from file Logs/20250514T182757/Express0019.lzma
2025-05-14T19:09:14.873Z,1747249754.873 [DataOverHttps](INFO): Moved sent file to Logs/20250514T182757/Express0019.lzma.bak
2025-05-14T19:09:14.873Z,1747249754.873 [DataOverHttps](INFO): SBD MOMSN=24875049
2025-05-14T19:09:16.525Z,1747249756.525 [NAL9602](INFO): Not Powering down - fast GPS
2025-05-14T19:09:17.105Z,1747249757.105 [transit:NeedComms:D] Stopped
2025-05-14T19:09:17.105Z,1747249757.105 [transit:NeedComms:E] Running Loop=1
2025-05-14T19:09:18.954Z,1747249758.954 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,190916.00,A,3647.78711,N,12150.71364,W,0.544,82.68,140525,,,A*42
2025-05-14T19:09:18.957Z,1747249758.957 [NAL9602](INFO): GPS fix at 20250514T190916: (36.796452, -121.845227)
2025-05-14T19:09:19.029Z,1747249759.029 [transit:NeedComms:E] Stopped
2025-05-14T19:09:19.030Z,1747249759.030 [transit:NeedComms](INFO): Completed transit:NeedComms
2025-05-14T19:09:19.030Z,1747249759.030 [transit:NeedComms] Stopped
2025-05-14T19:09:19.030Z,1747249759.030 [transit:NeedComms](DEBUG): Aggregate::uninitialize transit:NeedComms
2025-05-14T19:09:19.030Z,1747249759.030 [transit:NeedComms:B.GoToSurface] Stopped
2025-05-14T19:09:19.030Z,1747249759.030 [transit:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-05-14T19:09:19.460Z,1747249759.460 [transit:Transit:PhoneHome](INFO): Completed transit:Transit:PhoneHome
2025-05-14T19:09:19.460Z,1747249759.460 [transit:Transit:PhoneHome] Stopped
2025-05-14T19:09:19.460Z,1747249759.460 [transit:Transit:PhoneHome](DEBUG): Aggregate::uninitialize transit:Transit:PhoneHome
2025-05-14T19:09:19.462Z,1747249759.462 [transit:Transit](INFO): Completed transit:Transit
2025-05-14T19:09:19.462Z,1747249759.462 [transit:Transit] Stopped
2025-05-14T19:09:19.462Z,1747249759.462 [transit:Transit](DEBUG): Aggregate::uninitialize transit:Transit
2025-05-14T19:09:19.462Z,1747249759.462 [transit:Transit:A.Pitch] Stopped
2025-05-14T19:09:19.463Z,1747249759.463 [transit:Transit:B.SetSpeed] Stopped
2025-05-14T19:09:19.483Z,1747249759.483 [transit:Transit:B.SetSpeed](DEBUG): Uninitialize.
2025-05-14T19:09:19.485Z,1747249759.485 [transit](INFO): Completed transit
2025-05-14T19:09:19.485Z,1747249759.485 [MissionManager](INFO): transit is completed.
2025-05-14T19:09:19.485Z,1747249759.485 [MissionManager](INFO): Uninitializing Mission transit
2025-05-14T19:09:19.485Z,1747249759.485 [transit] Stopped
2025-05-14T19:09:19.485Z,1747249759.485 [transit](DEBUG): Aggregate::uninitialize transit
2025-05-14T19:09:19.485Z,1747249759.485 [transit:StandardEnvelopes] Stopped
2025-05-14T19:09:19.486Z,1747249759.486 [transit:StandardEnvelopes](DEBUG): Aggregate::uninitialize transit:StandardEnvelopes
2025-05-14T19:09:19.486Z,1747249759.486 [transit:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-05-14T19:09:19.486Z,1747249759.486 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-05-14T19:09:19.486Z,1747249759.486 [transit:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-05-14T19:09:19.486Z,1747249759.486 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-05-14T19:09:19.486Z,1747249759.486 [transit:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-05-14T19:09:19.486Z,1747249759.486 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-05-14T19:09:19.486Z,1747249759.486 [transit:BackseatDriver] Stopped
2025-05-14T19:09:19.486Z,1747249759.486 [transit:BackseatDriver](DEBUG): Aggregate::uninitialize transit:BackseatDriver
2025-05-14T19:09:19.486Z,1747249759.486 [transit:BackseatDriver:A.BackseatDriver] Stopped
2025-05-14T19:09:19.486Z,1747249759.486 [transit:PowerOnly] Stopped
2025-05-14T19:09:19.486Z,1747249759.486 [transit:PowerOnly](DEBUG): Aggregate::uninitialize transit:PowerOnly
2025-05-14T19:09:19.486Z,1747249759.486 [transit:PowerOnly:E.Wait] Stopped
2025-05-14T19:09:19.487Z,1747249759.487 [transit:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-05-14T19:09:19.487Z,1747249759.487 [transit:BuoyancyHold.Buoyancy] Stopped
2025-05-14T19:09:19.527Z,1747249759.527 [transit:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-05-14T19:09:19.528Z,1747249759.528 [transit:MassHold.Pitch] Stopped
2025-05-14T19:09:19.937Z,1747249759.937 [MissionManager](IMPORTANT): Started mission Default
2025-05-14T19:09:19.951Z,1747249759.951 [Default] Running Loop=1
2025-05-14T19:09:19.951Z,1747249759.951 [Default](DEBUG): Aggregate::initialize Default
2025-05-14T19:09:19.951Z,1747249759.951 [Default:B.GoToSurface] Running Loop=1
2025-05-14T19:09:19.951Z,1747249759.951 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-05-14T19:09:19.952Z,1747249759.952 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-05-14T19:09:19.952Z,1747249759.952 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-05-14T19:09:19.952Z,1747249759.952 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-05-14T19:09:19.952Z,1747249759.952 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-05-14T19:09:19.953Z,1747249759.953 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-05-14T19:09:19.953Z,1747249759.953 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-05-14T19:09:19.953Z,1747249759.953 [Default:A.Wait] Running Loop=1
2025-05-14T19:09:19.953Z,1747249759.953 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-05-14T19:09:33.233Z,1747249773.233 [Default:A.Wait](INFO): Done Waiting.
2025-05-14T19:09:33.233Z,1747249773.233 [Default:A.Wait] Stopped
2025-05-14T19:09:33.233Z,1747249773.233 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-05-14T19:09:33.714Z,1747249773.714 [Default:CheckIn] Running Loop=1
2025-05-14T19:09:33.714Z,1747249773.714 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-05-14T19:09:33.715Z,1747249773.715 [Default:CheckIn:Read_GPS] Running Loop=1
2025-05-14T19:09:56.532Z,1747249796.532 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,      -46.21,   05,       + 0.0
2025-05-14T19:09:58.890Z,1747249798.890 [NAL9602](INFO): SBD MO Status=2, MOMSN=10231, MT Status=2, MTMSN=0
2025-05-14T19:09:58.890Z,1747249798.890 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-05-14T19:10:33.629Z,1747249833.629 [NAL9602](INFO): SBD MO Status=2, MOMSN=10231, MT Status=2, MTMSN=0
2025-05-14T19:10:33.629Z,1747249833.629 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-05-14T19:10:51.011Z,1747249851.011 [NAL9602](INFO): SBD MO Status=2, MOMSN=10231, MT Status=2, MTMSN=0
2025-05-14T19:10:51.011Z,1747249851.011 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-05-14T19:11:09.201Z,1747249869.201 [NAL9602](INFO): SBD MO Status=2, MOMSN=10231, MT Status=2, MTMSN=0
2025-05-14T19:11:09.201Z,1747249869.201 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-05-14T19:11:25.774Z,1747249885.774 [NAL9602](INFO): SBD MO Status=2, MOMSN=10231, MT Status=2, MTMSN=0
2025-05-14T19:11:25.774Z,1747249885.774 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-05-14T19:11:26.625Z,1747249886.625 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,  38,     ,       +20.56,  20.00,  0.00
2025-05-14T19:11:35.500Z,1747249895.500 [NAL9602](INFO): SBD MO Status=0, MOMSN=10231, MT Status=0, MTMSN=0
2025-05-14T19:11:35.500Z,1747249895.500 [NAL9602](INFO): No messages in MT queue
2025-05-14T19:11:36.700Z,1747249896.700 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,191134.00,A,3647.79028,N,12150.69166,W,0.661,82.27,140525,,,A*41
2025-05-14T19:11:36.702Z,1747249896.702 [NAL9602](INFO): GPS fix at 20250514T191134: (36.796505, -121.844861)
2025-05-14T19:11:36.824Z,1747249896.824 [Default:CheckIn:Read_GPS] Stopped
2025-05-14T19:11:36.870Z,1747249896.870 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-05-14T19:11:40.329Z,1747249900.329 [DataOverHttps](INFO): Sending 72 bytes from file Logs/20250514T182757/Courier0021.lzma
2025-05-14T19:11:41.198Z,1747249901.198 [DataOverHttps](INFO): Moved sent file to Logs/20250514T182757/Courier0021.lzma.bak
2025-05-14T19:11:41.199Z,1747249901.199 [DataOverHttps](INFO): SBD MOMSN=24875065
2025-05-14T19:11:41.812Z,1747249901.812 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00,   0.00,   0.00,   0.00
2025-05-14T19:11:59.096Z,1747249919.096 [DataOverHttps](INFO): Sending 158 bytes from file Logs/20250514T182757/Express0022.lzma
2025-05-14T19:12:00.097Z,1747249920.097 [DataOverHttps](INFO): Moved sent file to Logs/20250514T182757/Express0022.lzma.bak
2025-05-14T19:12:00.097Z,1747249920.097 [DataOverHttps](INFO): SBD MOMSN=24875072
2025-05-14T19:12:01.674Z,1747249921.674 [Default:CheckIn:Read_Iridium] Stopped
2025-05-14T19:12:01.674Z,1747249921.674 [Default:CheckIn:C.Wait] Running Loop=1
2025-05-14T19:12:01.674Z,1747249921.674 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-05-14T19:12:09.706Z,1747249929.706 [NAL9602](INFO): Not Powering down - fast GPS
2025-05-14T19:12:10.901Z,1747249930.901 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 1
2025-05-14T19:12:10.901Z,1747249930.901 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2025-05-14T19:12:10.913Z,1747249930.913 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2025-05-14T19:12:11.286Z,1747249931.286 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2025-05-14T19:12:11.286Z,1747249931.286 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 1
2025-05-14T19:12:11.711Z,1747249931.711 [RDI_Pathfinder](ERROR): only read 0 of 4 data items for bottom velocity. Device response is::BS-32768,-32768,V
2025-05-14T19:12:21.808Z,1747249941.808 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS,-32768,-32768,
2025-05-14T19:12:51.368Z,1747249971.368 [DAT](INFO): DAT read: Rx Time:19:12:46.7812

2025-05-14T19:12:51.368Z,1747249971.368 [DAT](INFO): Rx dataTimestamp_ set to:1747249971.368175
2025-05-14T19:12:51.692Z,1747249971.692 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for bottom velocity. Device response is::BS,-32768,-32768,-327BE,-32768,-32768,-32768,V
2025-05-14T19:12:51.882Z,1747249971.882 [DAT](INFO): DAT read: 19:12:46.7812 LVL=  9136,  7377,  6866,  5827, AGC= 75, IDX= 140, 0.27,-0.301, 1.525,-0.287,-0.026, PHS=-0.241, 1.580,-0.189, RAW= 328.6, -12.8, CAL= 329.3, -17.2, ROT= 180.7,  17.2

2025-05-14T19:12:51.883Z,1747249971.883 [DAT](INFO): got valid direction response:
 19:12:46.7812 LVL=  9136,  7377,  6866,  5827, AGC= 75, IDX= 140, 0.27,-0.301, 1.525,-0.287,-0.026, PHS=-0.241, 1.580,-0.189, RAW= 328.6, -12.8, CAL= 329.3, -17.2, ROT= 180.7,  17.2

2025-05-14T19:12:51.886Z,1747249971.886 [DAT](INFO): DAT read:  PEAK       , IDX= 154,-0.29, 2.787,-1.109, 3.026,-2.798, PHS=-0.664, 1.718,-0.387, FLG=0x0001

2025-05-14T19:12:51.886Z,1747249971.886 [DAT](INFO): unknown deviceResponse_:  PEAK       , IDX= 154,-0.29, 2.787,-1.109, 3.026,-2.798, PHS=-0.664, 1.718,-0.387, FLG=0x0001

2025-05-14T19:12:51.886Z,1747249971.886 [DAT](INFO): DAT read: 

2025-05-14T19:12:51.887Z,1747249971.887 [DAT](INFO): DAT read: $Packet for address 5

2025-05-14T19:12:51.887Z,1747249971.887 [DAT](INFO): received a packet notification
2025-05-14T19:12:51.899Z,1747249971.899 [DAT](INFO): #Rx 10: Read direction message, but no range.
2025-05-14T19:12:51.900Z,1747249971.900 [DAT](INFO): direction in FSK: [-0.955207,-0.011671,-0.295708]
2025-05-14T19:13:33.602Z,1747250013.602 [DAT](INFO): DAT read: Rx Time:19:13:29.1089

2025-05-14T19:13:33.603Z,1747250013.603 [DAT](INFO): Rx dataTimestamp_ set to:1747250013.601917
2025-05-14T19:13:34.108Z,1747250014.108 [DAT](INFO): DAT read: 

2025-05-14T19:13:34.109Z,1747250014.109 [DAT](INFO): DAT read: $Packet for address 5

2025-05-14T19:13:34.109Z,1747250014.109 [DAT](INFO): received a packet notification
2025-05-14T19:13:42.119Z,1747250022.119 [DataOverHttps](IMPORTANT): SBD MTMSN=20250514T191339
2025-05-14T19:13:49.772Z,1747250029.772 [DAT](INFO): DAT read: Rx Time:19:13:45.1018

2025-05-14T19:13:49.772Z,1747250029.772 [DAT](INFO): Rx dataTimestamp_ set to:1747250029.772145
2025-05-14T19:13:50.285Z,1747250030.285 [DAT](INFO): DAT read: 

2025-05-14T19:13:50.286Z,1747250030.286 [DAT](INFO): DAT read: $Packet for address 5

2025-05-14T19:13:50.286Z,1747250030.286 [DAT](INFO): received a packet notification
2025-05-14T19:13:50.303Z,1747250030.303 [DataOverHttps](INFO): Received command: schedule clear;schedule resume
2025-05-14T19:13:50.402Z,1747250030.402 [CommandExec](IMPORTANT): got command schedule clear
2025-05-14T19:13:50.402Z,1747250030.402 [CommandExec](IMPORTANT): Cleared 0 scheduled commands.
2025-05-14T19:13:50.403Z,1747250030.403 [CommandExec](IMPORTANT): got command schedule resume
2025-05-14T19:13:50.403Z,1747250030.403 [CommandExec](IMPORTANT): Scheduling is resumed
2025-05-14T19:14:27.091Z,1747250067.091 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS,-32768,-3768,V
2025-05-14T19:15:07.075Z,1747250107.075 [CommandExec](IMPORTANT): got command get Onboard.Pressure pound_per_square_inch
2025-05-14T19:15:07.158Z,1747250107.158 [CommandExec](IMPORTANT): Onboard.Pressure 9.443670 psi
2025-05-14T19:15:07.158Z,1747250107.158 [CommandExec](IMPORTANT): got command get Onboard.Humidity
2025-05-14T19:15:07.159Z,1747250107.159 [CommandExec](IMPORTANT): Onboard.Humidity 1.281895 %
2025-05-14T19:15:11.991Z,1747250111.991 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 2
2025-05-14T19:15:11.991Z,1747250111.991 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2025-05-14T19:15:12.003Z,1747250112.003 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2025-05-14T19:15:12.405Z,1747250112.405 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2025-05-14T19:15:12.405Z,1747250112.405 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 2
2025-05-14T19:15:24.166Z,1747250124.166 [CommandExec](IMPORTANT): got command get Onboard.Temperature celsius
2025-05-14T19:15:24.297Z,1747250124.297 [CommandExec](IMPORTANT): Onboard.Temperature 21.358820 degC
2025-05-14T19:15:37.203Z,1747250137.203 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00,   0.00,   0.00,   0.00,
2025-05-14T19:15:56.377Z,1747250156.377 [DAT](INFO): DAT read: sponse Not Received

2025-05-14T19:15:56.392Z,1747250156.392 [DAT](INFO): unknown deviceResponse_: sponse Not Received

2025-05-14T19:15:56.997Z,1747250156.997 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,   +8,  +517,A
2025-05-14T19:16:22.327Z,1747250182.327 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00,   0.00,   0.00,   0.00
2025-05-14T19:16:55.117Z,1747250215.117 [DataOverHttps](IMPORTANT): SBD MTMSN=20250514T191651
2025-05-14T19:17:02.246Z,1747250222.246 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2025-05-14T19:17:02.246Z,1747250222.246 [Default:CheckIn:C.Wait] Stopped
2025-05-14T19:17:02.246Z,1747250222.246 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-05-14T19:17:02.249Z,1747250222.249 [Default:CheckIn:D] Running Loop=1
2025-05-14T19:17:02.625Z,1747250222.625 [Default:CheckIn:D] Stopped
2025-05-14T19:17:02.625Z,1747250222.625 [Default:CheckIn:E] Running Loop=1
2025-05-14T19:17:03.123Z,1747250223.123 [RDI_Pathfinder](ERROR): only read -1 of 1 data item for altitude. Device response is::BD,
2025-05-14T19:17:03.140Z,1747250223.140 [Default:CheckIn:E](IMPORTANT): Default mission has been running for  7.711463 min 
2025-05-14T19:17:03.140Z,1747250223.140 [Default:CheckIn:E] Stopped
2025-05-14T19:17:03.140Z,1747250223.140 [Default:CheckIn](INFO): Completed Default:CheckIn
2025-05-14T19:17:03.140Z,1747250223.140 [Default:CheckIn] Stopped
2025-05-14T19:17:03.140Z,1747250223.140 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-05-14T19:17:03.140Z,1747250223.141 [Default:CheckIn](INFO): Running loop #2
2025-05-14T19:17:03.141Z,1747250223.141 [Default:CheckIn] Running Loop=2
2025-05-14T19:17:03.141Z,1747250223.141 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-05-14T19:17:03.141Z,1747250223.141 [Default:CheckIn:Read_GPS] Running Loop=1
2025-05-14T19:17:03.872Z,1747250223.872 [DataOverHttps](INFO): Received command: load Maintenance/ballast_and_trim.tl;set ballast_and_trim.ApproachSpeed 1.2 m/s;run
2025-05-14T19:17:04.060Z,1747250224.060 [CommandExec](IMPORTANT): got command load ./Missions/Maintenance/ballast_and_trim.tl
2025-05-14T19:17:04.061Z,1747250224.061 [MissionManager](INFO): Loading Mission from file: ./Missions/Maintenance/ballast_and_trim.tl
2025-05-14T19:17:04.061Z,1747250224.061 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Maintenance/ballast_and_trim.tl
2025-05-14T19:17:04.082Z,1747250224.082 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Maintenance/ballast_and_trim.tl
2025-05-14T19:17:04.536Z,1747250224.536 [DAT](INFO): DAT read: user:8>Rx Time:19:16:59.9715

2025-05-14T19:17:04.552Z,1747250224.552 [DAT](INFO): Rx dataTimestamp_ set to:1747250224.551843
2025-05-14T19:17:05.119Z,1747250225.119 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,191702.00,A,3647.80176,N,12150.65959,W,0.641,32.70,140525,,,A*4D
2025-05-14T19:17:05.121Z,1747250225.121 [NAL9602](INFO): GPS fix at 20250514T191702: (36.796696, -121.844326)
2025-05-14T19:17:05.298Z,1747250225.298 [DAT](INFO): DAT read: 19:16:59.9715 LVL= 13488, 12977, 16290,  8803, AGC= 72, IDX= 177, 0.08, 1.928, 2.623, 0.603, 1.609, PHS= 0.353, 1.044,-0.933, RAW=   9.9,  -5.4, CAL=  11.1,  -9.6, ROT= 138.9,   9.6

2025-05-14T19:17:05.299Z,1747250225.299 [DAT](INFO): got valid direction response:
 19:16:59.9715 LVL= 13488, 12977, 16290,  8803, AGC= 72, IDX= 177, 0.08, 1.928, 2.623, 0.603, 1.609, PHS= 0.353, 1.044,-0.933, RAW=   9.9,  -5.4, CAL=  11.1,  -9.6, ROT= 138.9,   9.6

2025-05-14T19:17:05.299Z,1747250225.299 [DAT](INFO): DAT read: 

2025-05-14T19:17:05.300Z,1747250225.300 [DAT](INFO): DAT read: $Packet for address 5

2025-05-14T19:17:05.300Z,1747250225.300 [DAT](INFO): received a packet notification
2025-05-14T19:17:05.311Z,1747250225.311 [DAT](INFO): #Rx 11: Read direction message, but no range.
2025-05-14T19:17:05.312Z,1747250225.312 [DAT](INFO): direction in FSK: [-0.743010,0.648169,-0.166769]
2025-05-14T19:17:10.243Z,1747250230.243 [MissionManager](DEBUG): TethyslAPI: ./Missions/Maintenance/ballast_and_trim.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="ballast_and_trim">
    <DefineArg Name="MissionTimeout">
        <Units:minute />
        <Value>90</Value>
    </DefineArg>
    <DefineArg Name="SkipComms">
        <False />
    </DefineArg>
    <DefineArg Name="Depth1">
        <Units:meter />
        <Value>35</Value>
    </DefineArg>
    <DefineArg Name="Depth2">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DepthDeadband">
        <Units:meter />
        <Value>0.1</Value>
    </DefineArg>
    <DefineArg Name="ApproachSpeed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepthTimeout">
        <Units:minute />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepthRate">
        <Units:meter_per_second />
        <Value>0.4</Value>
    </DefineArg>
    <DefineArg Name="ApproachPitchLimit">
        <Units:degree />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="ApproachSettleTimePreDive">
        <Units:minute />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="SettleTime">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="EstimationTimeout">
        <Units:minute />
        <Value>45</Value>
    </DefineArg>
    <DefineArg Name="MinEstimationTime">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="MassEstimationErrorBound">
        <Units:millimeter />
        <Value>0.5</Value>
    </DefineArg>
    <DefineArg Name="BuoyEstimationErrorBound">
        <Units:cubic_centimeter />
        <Value>25</Value>
    </DefineArg>
    <DefineArg Name="EstimationConfidence">
        <Units:percent />
        <Value>98.0</Value>
    </DefineArg>
    <DefineArg Name="massDeadband">
        <Units:millimeter />
        <Value>0.25</Value>
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>52</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="CheckDepths">
        <Units:bool />
        <Value>1</Value>
    </DefineArg>
    <Timeout Duration="MissionTimeout" />
    <Insert Filename="Insert/Science.tl" />
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="MissionTimeout" />
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Aggregate Id="CheckTargetDepths">
        <Sequence />
        <Break>
            <Not>
                <Arg Name="CheckDepths" />
            </Not>
        </Break>
        <Aggregate Id="CheckDepth1">
            <Sequence />
            <Break>
                <Not>
                    <Arg Name="Depth1" />
                    <Gt>
                        <Arg Name="MaxDepth" />
                    </Gt>
                </Not>
            </Break>
            <Syslog Severity="Important">Aborting ballast and trim mission. Target depth Depth1 exceeds the mission&apos;s MaxDepth setting (review mission parameters).</Syslog>
            <Guidance:Execute>
                <Sequence />
                <Setting>
                    <Guidance:Execute.command />
                    <String>stop</String>
                </Setting>
            </Guidance:Execute>
        </Aggregate>
        <Aggregate Id="CheckDepth2">
            <Sequence />
            <Break>
                <Not>
                    <Arg Name="Depth2" />
                    <Gt>
                        <Arg Name="MaxDepth" />
                    </Gt>
                </Not>
            </Break>
            <Syslog Severity="Important">Aborting ballast and trim mission. Target depth Depth2 exceeds the mission&apos;s MaxDepth setting (review mission parameters).</Syslog>
            <Guidance:Execute>
                <Sequence />
                <Setting>
                    <Guidance:Execute.command />
                    <String>stop</String>
                </Setting>
            </Guidance:Execute>
        </Aggregate>
        <Assign>
            <Sequence />
            <Arg Name="CheckDepths" />
            <Units:bool />
            <Value>0</Value>
        </Assign>
    </Aggregate>
    <Aggregate Id="StartingMission">
        <Sequence />
        <Break>
            <Arg Name="SkipComms" />
        </Break>
        <Syslog Severity="Info">Checking for additional instructions before submerging.</Syslog>
        <Call RefId="NeedComms" Id="StartingMission" PriorityHere="false" />
    </Aggregate>
    <Aggregate Id="RunBallastAndTrim">
        <Sequence />
        <Insert Filename="Insert/BallastAndTrim.tl">
            <RedefineArg Name="InsertDepthDeadband">
                <Arg Name="DepthDeadband" />
            </RedefineArg>
            <RedefineArg Name="InsertApproachSpeed">
                <Arg Name="ApproachSpeed" />
            </RedefineArg>
            <RedefineArg Name="InsertApproachDepthRate">
                <Arg Name="ApproachDepthRate" />
            </RedefineArg>
            <RedefineArg Name="InsertApproachPitchLimit">
                <Arg Name="ApproachPitchLimit" />
            </RedefineArg>
            <RedefineArg Name="InsertApproachSettleTimePreDive">
                <Arg Name="ApproachSettleTimePreDive" />
            </RedefineArg>
            <RedefineArg Name="InsertApproachDepthTimeout">
                <Arg Name="ApproachDepthTimeout" />
            </RedefineArg>
            <RedefineArg Name="InsertSettleTime">
                <Arg Name="SettleTime" />
            </RedefineArg>
            <RedefineArg Name="EstTimeout">
                <Arg Name="EstimationTimeout" />
            </RedefineArg>
            <RedefineArg Name="MinEstTime">
                <Arg Name="MinEstimationTime" />
            </RedefineArg>
            <RedefineArg Name="MassEstErrorBound">
                <Arg Name="MassEstimationErrorBound" />
            </RedefineArg>
            <RedefineArg Name="BuoyEstErrorBound">
                <Arg Name="BuoyEstimationErrorBound" />
            </RedefineArg>
            <RedefineArg Name="EstConfidence">
                <Arg Name="EstimationConfidence" />
            </RedefineArg>
            <RedefineArg Name="InsertMassDeadband">
                <Arg Name="massDeadband" />
            </RedefineArg>
        </Insert>
        <Aggregate Id="RunDepth1">
            <Sequence />
            <Break>
                <IsNaN>
                    <Arg Name="Depth1" />
                </IsNaN>
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="BallastAndTrim:InsertDepth" />
                <Arg Name="Depth1" />
            </Assign>
            <Call RefId="BallastAndTrim" PriorityHere="false" />
        </Aggregate>
        <Aggregate Id="RunDepth2">
            <Sequence />
            <Break>
                <IsNaN>
                    <Arg Name="Depth2" />
                </IsNaN>
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="BallastAndTrim:InsertDepth" />
                <Arg Name="Depth2" />
            </Assign>
            <Call RefId="BallastAndTrim" PriorityHere="false" />
        </Aggregate>
    </Aggregate>
    <Call RefId="NeedComms" Id="EndingMission" PriorityHere="false" />
</Mission>

2025-05-14T19:17:10.264Z,1747250230.264 [MissionManager](INFO): DefineArg ballast_and_trim.MissionTimeout = 90.000000 min
2025-05-14T19:17:10.332Z,1747250230.332 [MissionManager](INFO): DefineArg ballast_and_trim.SkipComms = 0 bool
2025-05-14T19:17:10.336Z,1747250230.336 [MissionManager](INFO): DefineArg ballast_and_trim.Depth1 = 35.000000 m
2025-05-14T19:17:10.341Z,1747250230.341 [MissionManager](INFO): DefineArg ballast_and_trim.Depth2 = nan m
2025-05-14T19:17:10.345Z,1747250230.345 [MissionManager](INFO): DefineArg ballast_and_trim.DepthDeadband = 0.100000 m
2025-05-14T19:17:10.348Z,1747250230.348 [MissionManager](INFO): DefineArg ballast_and_trim.ApproachSpeed = 1.000000 m/s
2025-05-14T19:17:10.379Z,1747250230.379 [MissionManager](INFO): DefineArg ballast_and_trim.ApproachDepthTimeout = 20.000000 min
2025-05-14T19:17:10.383Z,1747250230.383 [MissionManager](INFO): DefineArg ballast_and_trim.ApproachDepthRate = 0.400000 m/s
2025-05-14T19:17:10.396Z,1747250230.396 [MissionManager](INFO): DefineArg ballast_and_trim.ApproachPitchLimit = 20.000000 arcdeg
2025-05-14T19:17:10.415Z,1747250230.415 [MissionManager](INFO): DefineArg ballast_and_trim.ApproachSettleTimePreDive = 0.000000 min
2025-05-14T19:17:10.418Z,1747250230.418 [MissionManager](INFO): DefineArg ballast_and_trim.SettleTime = 10.000000 min
2025-05-14T19:17:10.426Z,1747250230.426 [MissionManager](INFO): DefineArg ballast_and_trim.EstimationTimeout = 45.000000 min
2025-05-14T19:17:10.433Z,1747250230.433 [MissionManager](INFO): DefineArg ballast_and_trim.MinEstimationTime = 10.000000 min
2025-05-14T19:17:10.466Z,1747250230.466 [MissionManager](INFO): DefineArg ballast_and_trim.MassEstimationErrorBound = 0.500000 mm
2025-05-14T19:17:10.481Z,1747250230.481 [MissionManager](INFO): DefineArg ballast_and_trim.BuoyEstimationErrorBound = 25.000000 cc
2025-05-14T19:17:10.484Z,1747250230.484 [MissionManager](INFO): DefineArg ballast_and_trim.EstimationConfidence = 98.000000 %
2025-05-14T19:17:10.502Z,1747250230.502 [MissionManager](INFO): DefineArg ballast_and_trim.massDeadband = 0.250000 mm
2025-05-14T19:17:10.510Z,1747250230.510 [MissionManager](INFO): DefineArg ballast_and_trim.MinAltitude = 5.000000 m
2025-05-14T19:17:10.518Z,1747250230.518 [MissionManager](INFO): DefineArg ballast_and_trim.MaxDepth = 52.000000 m
2025-05-14T19:17:10.533Z,1747250230.533 [MissionManager](INFO): DefineArg ballast_and_trim.MinOffshore = 2.000000 km
2025-05-14T19:17:10.537Z,1747250230.537 [MissionManager](INFO): DefineArg ballast_and_trim.CheckDepths = 1.000000 bool
2025-05-14T19:17:10.537Z,1747250230.537 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-05-14T19:17:10.538Z,1747250230.538 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-05-14T19:17:10.554Z,1747250230.554 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-05-14T19:17:14.722Z,1747250234.722 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/Science.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="Science">
    <DefineArg Name="PeakDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="TimeWindowPeakReport">
        <Units:minute />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="HighestChlPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestSaltPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestOilPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="PatchTracking">
        <False />
    </DefineArg>
    <DefineArg Name="FilterWidthHorizontal">
        <Units:count />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesSlidingwindow">
        <Units:count />
        <Value>100</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionHorizontal">
        <Units:percent />
        <Value>80</Value>
    </DefineArg>
    <DefineArg Name="PeakDetectNO3Active">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectOilActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectFDOMActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectSalinityActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDinoflagellatesActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreDinoflagellatesActive">
        <False />
    </DefineArg>
    <DefineArg Name="UpwardDerivativeOfTemperatureActive">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledAanderaaO2">
        <Science:Aanderaa_O2.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledNeilBrown">
        <Science:CTD_NeilBrown.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledRBRTridente">
        <Science:RBRTridente.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledSeabird">
        <Science:CTD_Seabird.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsBB2FL">
        <Science:WetLabsBB2FL.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsSeaOWL_UV_A">
        <Science:WetLabsSeaOWL_UV_A.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsUBAT">
        <Science:WetLabsUBAT.loadAtStartup />
    </DefineArg>
    <DefineArg Name="LowPassWindowLength">
        <Units:count />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="MedianFilterLen">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="ShallowBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DeepBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DepChangeThreshForAttitudeFlip">
        <Units:meter />
        <Value>2.0</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionVertical">
        <Units:percent />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlPeakThresh">
        <Units:microgram_per_liter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="ChlThreshTriggerActive">
        <False />
    </DefineArg>
    <DefineArg Name="ChlLowerThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlUpperThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesThresh">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreLMavgROIPeakThresh">
        <Units:count_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreHMavgROIPeakThresh">
        <Units:count_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreDiatomsPeakThresh">
        <Units:count_per_milliliter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreDinoflagellatesPeakThresh">
        <Units:count_per_milliliter />
        <Value>0</Value>
    </DefineArg>
    <DefineOutput Name="GoDown">
        <True />
    </DefineOutput>
    <DefineOutput Name="PeakChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3">
        <Units:micromole_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Depth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOil">
        <Units:kilogram_per_cubic_meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOM">
        <Units:part_per_billion />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatoms">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatoms">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOil">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="TriggeredOnChl">
        <False />
    </DefineOutput>
    <DefineOutput Name="ChlTriggering">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledAanderaaO2" />
        </While>
        <Universal:mass_concentration_of_oxygen_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
        </While>
        <Universal:sea_water_temperature />
        <Universal:sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledSeabird" />
        </While>
        <Science:CTD_Seabird.sea_water_temperature />
        <Science:CTD_Seabird.sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
            <And>
                <Arg Name="UpwardDerivativeOfTemperatureActive" />
            </And>
        </While>
        <Universal:upward_derivative_of_sea_water_temperature />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsBB2FL" />
            <Or>
                <Arg Name="EnabledRBRTridente" />
            </Or>
            <Or>
                <Arg Name="PeakDetectChlActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_chlorophyll_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsUBAT" />
        </While>
        <Science:WetLabsUBAT.average_bioluminescence />
    </ReadData>
    <ReadData Id="Read_Oil" Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsSeaOWL_UV_A" />
            <Or>
                <Arg Name="PeakDetectOilActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
    </ReadData>
    <Aggregate Id="OceanCurrent">
        <Sequence />
        <Estimation:CurrentEstimator>
            <Parallel />
        </Estimation:CurrentEstimator>
    </Aggregate>
    <Aggregate Id="PeakDetectChl">
        <While>
            <Arg Name="PeakDetectChlActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakChl">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectChl">
        <While>
            <Arg Name="EdgeDetectChlActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFraction />
                <Arg Name="OffPeakFractionVertical" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="ChlPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakChl">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgeChl">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgeChlDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgeChlTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgeChlLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgeChlLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, ChlPeakThresh, PeakChl, PeakChlDepth, EdgeChl, EdgeChlDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="ChlPeakThresh" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChlDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgeChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="EdgeChlDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
            <Arg Name="EdgeChl" />
            <Arg Name="EdgeChlDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestChlPeakReport">
        <While>
            <Arg Name="HighestChlPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakChlDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakChlLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakChlLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchChl">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchChlDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchChlLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchChlLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchChlDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectNO3">
        <While>
            <Arg Name="PeakDetectNO3Active" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mole_concentration_of_nitrate_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakNO3">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakNO3Depth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakNO3Latitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakNO3Longitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakNO3" />
            <Arg Name="PeakNO3Depth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectOil">
        <While>
            <Arg Name="PeakDetectOilActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakOil">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakOilDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakOilLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakOilLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakOil" />
            <Arg Name="PeakOilDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestOilPeakReport">
        <While>
            <Arg Name="HighestOilPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakOil" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakOilDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakOilLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakOilLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchOil">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchOilDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchOilLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchOilLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchOilDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectFDOM">
        <While>
            <Arg Name="PeakDetectFDOMActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:concentration_of_colored_dissolved_organic_matter_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakFDOM">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakFDOMDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakFDOMTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakFDOMLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakFDOMLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakFDOM" />
            <Arg Name="PeakFDOMDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectSalinity">
        <While>
            <Arg Name="PeakDetectSalinityActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:sea_water_salinity />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakSalt">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakSaltDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakSaltTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakSaltLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakSaltLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakSalt" />
            <Arg Name="PeakSaltDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestSaltPeakReport">
        <While>
            <Arg Name="HighestSaltPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakSalt" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakSaltDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakSaltLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakSaltLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchSalt">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchSaltDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchSaltLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchSaltLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchSaltDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="EdgeDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFraction />
                <Arg Name="OffPeakFractionVertical" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreLMavgROIPeakThresh, PeakPlanktivoreLMavgROI, PeakPlanktivoreLMavgROIDepth, EdgePlanktivoreLMavgROI, EdgePlanktivoreLMavgROIDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreHMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_HM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="EdgeDetectPlanktivoreHMavgROIActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_HM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFraction />
                <Arg Name="OffPeakFractionVertical" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreHMavgROIPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROI">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreHMavgROIPeakThresh, PeakPlanktivoreHMavgROI, PeakPlanktivoreHMavgROIDepth, EdgePlanktivoreHMavgROI, EdgePlanktivoreHMavgROIDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreHMavgROIPeakThresh" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreHMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="EdgePlanktivoreHMavgROIDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
            <Arg Name="EdgePlanktivoreHMavgROI" />
            <Arg Name="EdgePlanktivoreHMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="PeakDetectPlanktivoreDiatomsActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_diatoms</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="EdgeDetectPlanktivoreDiatomsActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_diatoms</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFraction />
                <Arg Name="OffPeakFractionVertical" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreDiatomsPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatoms">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreDiatomsPeakThresh, PeakPlanktivoreDiatoms, PeakPlanktivoreDiatomsDepth, EdgePlanktivoreDiatoms, EdgePlanktivoreDiatomsDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreDiatomsPeakThresh" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreDiatoms" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="EdgePlanktivoreDiatomsDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
            <Arg Name="EdgePlanktivoreDiatoms" />
            <Arg Name="EdgePlanktivoreDiatomsDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="PeakDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDinoflagellates">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="EdgeDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFraction />
                <Arg Name="OffPeakFractionVertical" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreDinoflagellatesPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellates">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellates">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreDinoflagellatesPeakThresh, PeakPlanktivoreDinoflagellates, PeakPlanktivoreDinoflagellatesDepth, EdgePlanktivoreDinoflagellates, EdgePlanktivoreDinoflagellatesDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreDinoflagellatesPeakThresh" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreDinoflagellates" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="EdgePlanktivoreDinoflagellatesDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
            <Arg Name="EdgePlanktivoreDinoflagellates" />
            <Arg Name="EdgePlanktivoreDinoflagellatesDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="ChlThreshTrigger">
        <While>
            <Arg Name="ChlThreshTriggerActive" />
        </While>
        <Trigger:ValueDetect>
            <Sequence />
            <Setting>
                <Trigger:ValueDetect.detect />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.lowerThreshold />
                <Arg Name="ChlLowerThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.upperThreshold />
                <Arg Name="ChlUpperThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.numProfilesThreshold />
                <Arg Name="NumProfilesThresh" />
            </Setting>
            <OutputArg Name="ChlTriggering">
                <Trigger:ValueDetect.outputValue />
            </OutputArg>
        </Trigger:ValueDetect>
        <Assign>
            <Sequence />
            <Arg Name="TriggeredOnChl" />
            <True />
        </Assign>
        <Syslog Severity="Important">
            Triggered. PeakChl values on 
            <Arg Name="NumProfilesThresh" />
            <Units:count />
             consecutive yo-yo profiles fall in [
            <Arg Name="ChlLowerThresh" />
            <Units:microgram_per_liter />
            <Arg Name="ChlUpperThresh" />
            <Units:microgram_per_liter />
            ] (NaN bound is ignored).
        </Syslog>
    </Aggregate>
</Aggregate>

2025-05-14T19:17:14.821Z,1747250234.821 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectChlActive = 0 bool
2025-05-14T19:17:14.877Z,1747250234.877 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EdgeDetectChlActive = 0 bool
2025-05-14T19:17:14.881Z,1747250234.881 [MissionManager](INFO): DefineArg ballast_and_trim:Science.TimeWindowPeakReport = nan min
2025-05-14T19:17:14.936Z,1747250234.936 [MissionManager](INFO): DefineArg ballast_and_trim:Science.HighestChlPeakReportActive = 0 bool
2025-05-14T19:17:14.946Z,1747250234.946 [MissionManager](INFO): DefineArg ballast_and_trim:Science.HighestSaltPeakReportActive = 0 bool
2025-05-14T19:17:14.958Z,1747250234.958 [MissionManager](INFO): DefineArg ballast_and_trim:Science.HighestOilPeakReportActive = 0 bool
2025-05-14T19:17:14.965Z,1747250234.965 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PatchTracking = 0 bool
2025-05-14T19:17:14.969Z,1747250234.969 [MissionManager](INFO): DefineArg ballast_and_trim:Science.FilterWidthHorizontal = 3.000000 count
2025-05-14T19:17:14.980Z,1747250234.980 [MissionManager](INFO): DefineArg ballast_and_trim:Science.NumProfilesSlidingwindow = 100.000000 count
2025-05-14T19:17:14.986Z,1747250234.986 [MissionManager](INFO): DefineArg ballast_and_trim:Science.OffPeakFractionHorizontal = 80.000000 %
2025-05-14T19:17:15.002Z,1747250235.002 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectNO3Active = 0 bool
2025-05-14T19:17:15.010Z,1747250235.010 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectOilActive = 0 bool
2025-05-14T19:17:15.013Z,1747250235.013 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectFDOMActive = 0 bool
2025-05-14T19:17:15.028Z,1747250235.028 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectSalinityActive = 0 bool
2025-05-14T19:17:15.031Z,1747250235.031 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-05-14T19:17:15.038Z,1747250235.038 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-05-14T19:17:15.041Z,1747250235.041 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-05-14T19:17:15.056Z,1747250235.056 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EdgeDetectPlanktivoreHMavgROIActive = 0 bool
2025-05-14T19:17:15.061Z,1747250235.061 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-05-14T19:17:15.072Z,1747250235.072 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EdgeDetectPlanktivoreDiatomsActive = 0 bool
2025-05-14T19:17:15.074Z,1747250235.074 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-05-14T19:17:15.081Z,1747250235.081 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EdgeDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-05-14T19:17:15.086Z,1747250235.086 [MissionManager](INFO): DefineArg ballast_and_trim:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-05-14T19:17:15.098Z,1747250235.098 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EnabledAanderaaO2 = 0 bool
2025-05-14T19:17:15.115Z,1747250235.115 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EnabledNeilBrown = 0 bool
2025-05-14T19:17:15.124Z,1747250235.124 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EnabledRBRTridente = 1 bool
2025-05-14T19:17:15.148Z,1747250235.148 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EnabledSeabird = 1 bool
2025-05-14T19:17:15.154Z,1747250235.154 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EnabledWetLabsBB2FL = 0 bool
2025-05-14T19:17:15.166Z,1747250235.166 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-05-14T19:17:15.171Z,1747250235.171 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EnabledWetLabsUBAT = 0 bool
2025-05-14T19:17:15.206Z,1747250235.206 [MissionManager](INFO): DefineArg ballast_and_trim:Science.LowPassWindowLength = 20.000000 count
2025-05-14T19:17:15.221Z,1747250235.221 [MissionManager](INFO): DefineArg ballast_and_trim:Science.MedianFilterLen = 5.000000 count
2025-05-14T19:17:15.234Z,1747250235.234 [MissionManager](INFO): DefineArg ballast_and_trim:Science.ShallowBound = nan m
2025-05-14T19:17:15.242Z,1747250235.242 [MissionManager](INFO): DefineArg ballast_and_trim:Science.DeepBound = nan m
2025-05-14T19:17:15.264Z,1747250235.264 [MissionManager](INFO): DefineArg ballast_and_trim:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-05-14T19:17:15.272Z,1747250235.272 [MissionManager](INFO): DefineArg ballast_and_trim:Science.OffPeakFractionVertical = nan %
2025-05-14T19:17:15.279Z,1747250235.279 [MissionManager](INFO): DefineArg ballast_and_trim:Science.ChlPeakThresh = 0.000000 ug/l
2025-05-14T19:17:15.282Z,1747250235.282 [MissionManager](INFO): DefineArg ballast_and_trim:Science.ChlThreshTriggerActive = 0 bool
2025-05-14T19:17:15.289Z,1747250235.289 [MissionManager](INFO): DefineArg ballast_and_trim:Science.ChlLowerThresh = nan ug/l
2025-05-14T19:17:15.297Z,1747250235.297 [MissionManager](INFO): DefineArg ballast_and_trim:Science.ChlUpperThresh = nan ug/l
2025-05-14T19:17:15.300Z,1747250235.300 [MissionManager](INFO): DefineArg ballast_and_trim:Science.NumProfilesThresh = 5.000000 count
2025-05-14T19:17:15.307Z,1747250235.307 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-05-14T19:17:15.310Z,1747250235.310 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PlanktivoreHMavgROIPeakThresh = 0.000000 count/s
2025-05-14T19:17:15.318Z,1747250235.318 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PlanktivoreDiatomsPeakThresh = 0.000000 count/ml
2025-05-14T19:17:15.331Z,1747250235.331 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PlanktivoreDinoflagellatesPeakThresh = 0.000000 count/ml
2025-05-14T19:17:15.334Z,1747250235.334 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.GoDown = 1 bool
2025-05-14T19:17:15.342Z,1747250235.342 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakChl = nan ug/l
2025-05-14T19:17:15.350Z,1747250235.350 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakChlDepth = nan m
2025-05-14T19:17:15.353Z,1747250235.353 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakChlTemperature = nan degC
2025-05-14T19:17:15.369Z,1747250235.369 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakChlLatitude = nan arcdeg
2025-05-14T19:17:15.377Z,1747250235.377 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakChlLongitude = nan arcdeg
2025-05-14T19:17:15.381Z,1747250235.381 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgeChl = nan ug/l
2025-05-14T19:17:15.392Z,1747250235.392 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgeChlDepth = nan m
2025-05-14T19:17:15.400Z,1747250235.400 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgeChlTemperature = nan degC
2025-05-14T19:17:15.408Z,1747250235.408 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgeChlLatitude = nan arcdeg
2025-05-14T19:17:15.416Z,1747250235.416 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgeChlLongitude = nan arcdeg
2025-05-14T19:17:15.421Z,1747250235.421 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakNO3 = nan umol/l
2025-05-14T19:17:15.437Z,1747250235.437 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakNO3Depth = nan m
2025-05-14T19:17:15.444Z,1747250235.444 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakNO3Latitude = nan arcdeg
2025-05-14T19:17:15.452Z,1747250235.452 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakNO3Longitude = nan arcdeg
2025-05-14T19:17:15.464Z,1747250235.464 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakOil = nan kg/m3
2025-05-14T19:17:15.475Z,1747250235.475 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakOilDepth = nan m
2025-05-14T19:17:15.478Z,1747250235.478 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakOilLatitude = nan arcdeg
2025-05-14T19:17:15.485Z,1747250235.485 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakOilLongitude = nan arcdeg
2025-05-14T19:17:15.489Z,1747250235.489 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakFDOM = nan ppb
2025-05-14T19:17:15.501Z,1747250235.501 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakFDOMDepth = nan m
2025-05-14T19:17:15.505Z,1747250235.505 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakFDOMTemperature = nan degC
2025-05-14T19:17:15.516Z,1747250235.516 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakFDOMLatitude = nan arcdeg
2025-05-14T19:17:15.524Z,1747250235.524 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakFDOMLongitude = nan arcdeg
2025-05-14T19:17:15.552Z,1747250235.552 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakSalt = nan psu
2025-05-14T19:17:15.559Z,1747250235.559 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakSaltDepth = nan m
2025-05-14T19:17:15.562Z,1747250235.562 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakSaltTemperature = nan degC
2025-05-14T19:17:15.569Z,1747250235.569 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakSaltLatitude = nan arcdeg
2025-05-14T19:17:15.597Z,1747250235.597 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakSaltLongitude = nan arcdeg
2025-05-14T19:17:15.608Z,1747250235.608 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-05-14T19:17:15.615Z,1747250235.615 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-05-14T19:17:15.621Z,1747250235.621 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-05-14T19:17:15.626Z,1747250235.626 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-05-14T19:17:15.634Z,1747250235.634 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-05-14T19:17:15.653Z,1747250235.653 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-05-14T19:17:15.662Z,1747250235.662 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-05-14T19:17:15.669Z,1747250235.669 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-05-14T19:17:15.673Z,1747250235.673 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-05-14T19:17:15.684Z,1747250235.684 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-05-14T19:17:15.692Z,1747250235.692 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-05-14T19:17:15.699Z,1747250235.699 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-05-14T19:17:15.702Z,1747250235.702 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-05-14T19:17:15.706Z,1747250235.706 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-05-14T19:17:15.717Z,1747250235.717 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-05-14T19:17:15.722Z,1747250235.722 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreHMavgROI = nan count/s
2025-05-14T19:17:15.733Z,1747250235.733 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreHMavgROIDepth = nan m
2025-05-14T19:17:15.749Z,1747250235.749 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreHMavgROITemperature = nan degC
2025-05-14T19:17:15.752Z,1747250235.752 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreHMavgROILatitude = nan arcdeg
2025-05-14T19:17:15.760Z,1747250235.760 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreHMavgROILongitude = nan arcdeg
2025-05-14T19:17:15.767Z,1747250235.767 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-05-14T19:17:15.770Z,1747250235.770 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-05-14T19:17:15.778Z,1747250235.778 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-05-14T19:17:15.786Z,1747250235.786 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-05-14T19:17:15.794Z,1747250235.794 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-05-14T19:17:15.801Z,1747250235.801 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreDiatoms = nan count/ml
2025-05-14T19:17:15.816Z,1747250235.816 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreDiatomsDepth = nan m
2025-05-14T19:17:15.823Z,1747250235.823 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreDiatomsTemperature = nan degC
2025-05-14T19:17:15.830Z,1747250235.830 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreDiatomsLatitude = nan arcdeg
2025-05-14T19:17:15.839Z,1747250235.839 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreDiatomsLongitude = nan arcdeg
2025-05-14T19:17:15.842Z,1747250235.842 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-05-14T19:17:15.854Z,1747250235.854 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-05-14T19:17:15.857Z,1747250235.857 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-05-14T19:17:15.869Z,1747250235.869 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-05-14T19:17:15.876Z,1747250235.876 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-05-14T19:17:15.884Z,1747250235.884 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreDinoflagellates = nan count/ml
2025-05-14T19:17:15.897Z,1747250235.897 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreDinoflagellatesDepth = nan m
2025-05-14T19:17:15.901Z,1747250235.901 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreDinoflagellatesTemperature = nan degC
2025-05-14T19:17:15.912Z,1747250235.912 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-05-14T19:17:15.920Z,1747250235.920 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-05-14T19:17:15.924Z,1747250235.924 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchChl = nan ug/l
2025-05-14T19:17:15.979Z,1747250235.979 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchChlDepth = nan m
2025-05-14T19:17:15.982Z,1747250235.982 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchChlLatitude = nan arcdeg
2025-05-14T19:17:15.996Z,1747250235.996 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchChlLongitude = nan arcdeg
2025-05-14T19:17:16.002Z,1747250236.002 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchChlDistance = nan m
2025-05-14T19:17:16.033Z,1747250236.033 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchSalt = nan psu
2025-05-14T19:17:16.061Z,1747250236.061 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchSaltDepth = nan m
2025-05-14T19:17:16.079Z,1747250236.079 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchSaltLatitude = nan arcdeg
2025-05-14T19:17:16.086Z,1747250236.086 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchSaltLongitude = nan arcdeg
2025-05-14T19:17:16.099Z,1747250236.099 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchSaltDistance = nan m
2025-05-14T19:17:16.102Z,1747250236.102 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchOil = nan psu
2025-05-14T19:17:16.114Z,1747250236.114 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchOilDepth = nan m
2025-05-14T19:17:16.122Z,1747250236.122 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchOilLatitude = nan arcdeg
2025-05-14T19:17:16.130Z,1747250236.130 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchOilLongitude = nan arcdeg
2025-05-14T19:17:16.137Z,1747250236.137 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchOilDistance = nan m
2025-05-14T19:17:16.142Z,1747250236.142 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.TriggeredOnChl = 0 bool
2025-05-14T19:17:16.153Z,1747250236.153 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.ChlTriggering = nan ug/l
2025-05-14T19:17:16.742Z,1747250236.742 [ballast_and_trim:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-05-14T19:17:16.831Z,1747250236.831 [ballast_and_trim:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-05-14T19:17:16.902Z,1747250236.902 [ballast_and_trim:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-05-14T19:17:16.959Z,1747250236.959 [ballast_and_trim:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-05-14T19:17:16.993Z,1747250236.993 [ballast_and_trim:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-05-14T19:17:17.030Z,1747250237.030 [ballast_and_trim:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-05-14T19:17:17.065Z,1747250237.065 [ballast_and_trim:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-05-14T19:17:17.096Z,1747250237.096 [ballast_and_trim:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-05-14T19:17:17.141Z,1747250237.141 [ballast_and_trim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-05-14T19:17:17.228Z,1747250237.228 [ballast_and_trim:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-05-14T19:17:17.278Z,1747250237.278 [ballast_and_trim:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-05-14T19:17:17.343Z,1747250237.343 [ballast_and_trim:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-05-14T19:17:17.369Z,1747250237.369 [ballast_and_trim:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-05-14T19:17:17.428Z,1747250237.428 [ballast_and_trim:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-05-14T19:17:17.468Z,1747250237.468 [ballast_and_trim:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-05-14T19:17:17.532Z,1747250237.532 [ballast_and_trim:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-05-14T19:17:17.610Z,1747250237.610 [ballast_and_trim:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-05-14T19:17:17.670Z,1747250237.670 [ballast_and_trim:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-05-14T19:17:17.686Z,1747250237.686 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-05-14T19:17:17.686Z,1747250237.686 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-05-14T19:17:17.692Z,1747250237.692 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-05-14T19:17:18.954Z,1747250238.954 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/NeedComms.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="NeedComms">
    <DefineArg Name="DiveInterval">
        <Units:hour />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="WaitForPitchUp">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="SurfacePitch">
        <Units:degree />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="SurfaceDepthRate">
        <Units:meter_per_second />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="SurfaceSpeed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="SurfacingTimeout">
        <Units:second />
        <Value>1000</Value>
    </DefineArg>
    <DefineArg Name="GPSTimeout">
        <Units:minute />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="CommsTimeout">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <When>
        <Called />
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
                <Add>
                    <Arg Name="WaitForPitchUp" />
                </Add>
            </Gt>
        </Or>
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
            </Gt>
            <And>
                <Universal:platform_pitch_angle />
                <Gt>
                    <Units:degree />
                    <Value>0</Value>
                </Gt>
            </And>
        </Or>
    </When>
    <Syslog Severity="Info">
        last time_fix was: 
        <Universal:time_fix />
        <Units:epoch_second />
    </Syslog>
    <Guidance:GoToSurface>
        <Progression />
        <Setting>
            <Guidance:GoToSurface.pitch />
            <Arg Name="SurfacePitch" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.depthRate />
            <Arg Name="SurfaceDepthRate" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.speed />
            <Arg Name="SurfaceSpeed" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.surfaceTimeout />
            <Arg Name="SurfacingTimeout" />
        </Setting>
    </Guidance:GoToSurface>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">first GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="CommsTimeout">
            <Syslog Severity="Important">
                Comms timed out after 
                <Arg Name="CommsTimeout" />
                <Units:minute />
                minutes
            </Syslog>
        </Timeout>
        <Universal:platform_communications />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">second GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
</Aggregate>

2025-05-14T19:17:19.300Z,1747250239.300 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.DiveInterval = 1.000000 h
2025-05-14T19:17:19.342Z,1747250239.342 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.WaitForPitchUp = 10.000000 min
2025-05-14T19:17:19.412Z,1747250239.412 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-05-14T19:17:20.242Z,1747250240.242 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.SurfaceDepthRate = nan m/s
2025-05-14T19:17:20.245Z,1747250240.245 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-05-14T19:17:20.266Z,1747250240.266 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.SurfacingTimeout = 1000.000000 s
2025-05-14T19:17:20.270Z,1747250240.270 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.GPSTimeout = 7.000000 min
2025-05-14T19:17:20.345Z,1747250240.345 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.CommsTimeout = 30.000000 min
2025-05-14T19:17:20.484Z,1747250240.484 [ballast_and_trim:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-05-14T19:17:20.826Z,1747250240.826 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-05-14T19:17:20.866Z,1747250240.866 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-05-14T19:17:21.725Z,1747250241.725 [DAT](INFO): DAT read: Rx Time:19:17:16.9135

2025-05-14T19:17:47.762Z,1747250267.762 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-05-14T19:17:47.899Z,1747250267.899 [DAT](INFO): Rx dataTimestamp_ set to:1747250266.791528
2025-05-14T19:17:47.914Z,1747250267.914 [DAT](INFO): DAT read: 19:17:16.9135 LVL= 11680, 14577, 10610, 10739, AGC= 74, IDX= 385,-0.04, 1.672, 1.994, 0.556, 1.550, PHS= 0.156, 0.473,-0.922, RAW=  17.5,   4.7, CAL=  18.2,   0.4, ROT= 131.8,  -0.4

2025-05-14T19:17:52.705Z,1747250272.705 [DAT](INFO): got valid direction response:
 19:17:16.9135 LVL= 11680, 14577, 10610, 10739, AGC= 74, IDX= 385,-0.04, 1.672, 1.994, 0.556, 1.550, PHS= 0.156, 0.473,-0.922, RAW=  17.5,   4.7, CAL=  18.2,   0.4, ROT= 131.8,  -0.4

2025-05-14T19:17:52.717Z,1747250272.717 [DAT](INFO): DAT read: 

2025-05-14T19:17:52.718Z,1747250272.718 [DAT](INFO): DAT read: $Packet for address 5

2025-05-14T19:17:52.728Z,1747250272.728 [DAT](INFO): received a packet notification
2025-05-14T19:17:52.740Z,1747250272.740 [DAT](INFO): #Rx 12: Read direction message, but no range.
2025-05-14T19:17:52.795Z,1747250272.795 [RDI_Pathfinder](ERROR): No DVL communication! Re-initializing
2025-05-14T19:17:52.796Z,1747250272.796 [RDI_Pathfinder] Communications Fault, FailCount= 1
2025-05-14T19:17:52.796Z,1747250272.796 [RDI_Pathfinder](ERROR): Communications Fault
2025-05-14T19:17:53.038Z,1747250273.038 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting