2024-05-17T00:36:20.317Z,1715906180.317 [Default](DEBUG): Aggregate::uninitialize Default
2024-05-17T00:36:20.317Z,1715906180.317 [Default:B.GoToSurface] Stopped
2024-05-17T00:36:20.317Z,1715906180.317 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2024-05-17T00:36:20.409Z,1715906180.409 [CommandExec](IMPORTANT): got command restart logs
2024-05-17T00:36:20.743Z,1715906180.743 [MissionManager](IMPORTANT): Started mission Default
2024-05-17T00:36:20.743Z,1715906180.743 [Default] Running Loop=1
2024-05-17T00:36:20.743Z,1715906180.743 [Default](DEBUG): Aggregate::initialize Default
2024-05-17T00:36:20.743Z,1715906180.743 [Default:B.GoToSurface] Running Loop=1
2024-05-17T00:36:20.743Z,1715906180.743 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2024-05-17T00:36:20.744Z,1715906180.744 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2024-05-17T00:36:20.744Z,1715906180.744 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2024-05-17T00:36:20.744Z,1715906180.744 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2024-05-17T00:36:20.745Z,1715906180.745 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2024-05-17T00:36:20.745Z,1715906180.745 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2024-05-17T00:36:20.745Z,1715906180.745 [Default:A.Wait] Running Loop=1
2024-05-17T00:36:20.745Z,1715906180.745 [Default:A.Wait](DEBUG): Initialize Wait Component.
2024-05-17T00:36:33.815Z,1715906193.815 [Default:A.Wait](INFO): Done Waiting.
2024-05-17T00:36:33.816Z,1715906193.816 [Default:A.Wait] Stopped
2024-05-17T00:36:33.816Z,1715906193.816 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2024-05-17T00:36:34.169Z,1715906194.169 [Default:CheckIn] Running Loop=1
2024-05-17T00:36:34.169Z,1715906194.169 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2024-05-17T00:36:34.169Z,1715906194.169 [Default:CheckIn:Read_GPS] Running Loop=1
2024-05-17T00:36:36.138Z,1715906196.138 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003635.00,A,3648.16126,N,12147.28458,W,0.058,14.80,170524,,,D*46
2024-05-17T00:36:36.140Z,1715906196.140 [NAL9602](INFO): GPS fix at 20240517T003635: (36.802688, -121.788076)
2024-05-17T00:36:36.167Z,1715906196.167 [Default:CheckIn:Read_GPS] Stopped
2024-05-17T00:36:36.167Z,1715906196.167 [Default:CheckIn:Read_Iridium] Running Loop=1
2024-05-17T00:36:44.930Z,1715906204.930 [DataOverHttps](INFO): Sending 111 bytes from file Logs/20240515T212815/Courier0868.lzma
2024-05-17T00:36:45.933Z,1715906205.933 [DataOverHttps](INFO): Moved sent file to Logs/20240515T212815/Courier0868.lzma.bak
2024-05-17T00:36:45.933Z,1715906205.933 [DataOverHttps](INFO): SBD MOMSN=21032084
2024-05-17T00:36:56.513Z,1715906216.513 [NAL9602](INFO): SBD MO Status=2, MOMSN=37394, MT Status=2, MTMSN=0
2024-05-17T00:36:56.513Z,1715906216.513 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2024-05-17T00:37:03.371Z,1715906223.371 [DataOverHttps](INFO): Sending 268 bytes from file Logs/20240517T003620/Courier0000.lzma
2024-05-17T00:37:04.373Z,1715906224.373 [DataOverHttps](INFO): Moved sent file to Logs/20240517T003620/Courier0000.lzma.bak
2024-05-17T00:37:04.373Z,1715906224.373 [DataOverHttps](INFO): SBD MOMSN=21032088
2024-05-17T00:37:23.661Z,1715906243.661 [DataOverHttps](INFO): Sending 399 bytes from file Logs/20240515T212815/Express0869.lzma
2024-05-17T00:37:24.661Z,1715906244.661 [DataOverHttps](INFO): Moved sent file to Logs/20240515T212815/Express0869.lzma.bak
2024-05-17T00:37:24.661Z,1715906244.661 [DataOverHttps](INFO): SBD MOMSN=21032092
2024-05-17T00:37:43.139Z,1715906263.139 [DataOverHttps](INFO): Sending 380 bytes from file Logs/20240517T003620/Express0001.lzma
2024-05-17T00:37:44.141Z,1715906264.141 [DataOverHttps](INFO): Moved sent file to Logs/20240517T003620/Express0001.lzma.bak
2024-05-17T00:37:44.141Z,1715906264.141 [DataOverHttps](INFO): SBD MOMSN=21032103
2024-05-17T00:37:48.275Z,1715906268.275 [Default:CheckIn:Read_Iridium] Stopped
2024-05-17T00:37:48.275Z,1715906268.275 [Default:CheckIn:C.Wait] Running Loop=1
2024-05-17T00:37:48.275Z,1715906268.275 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2024-05-17T00:37:58.800Z,1715906278.800 [NAL9602](INFO): SBD MO Status=2, MOMSN=37394, MT Status=2, MTMSN=0
2024-05-17T00:37:58.800Z,1715906278.800 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2024-05-17T00:38:11.924Z,1715906291.924 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2024-05-17T00:38:11.924Z,1715906291.924 [RDI_Pathfinder] No Fault, FailCount= 3
2024-05-17T00:38:12.157Z,1715906292.157 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format
2024-05-17T00:38:23.554Z,1715906303.554 [NAL9602](INFO): SBD MO Status=0, MOMSN=37394, MT Status=0, MTMSN=0
2024-05-17T00:38:23.554Z,1715906303.554 [NAL9602](INFO): No messages in MT queue
2024-05-17T00:38:24.760Z,1715906304.760 [RDI_Pathfinder](FAULT): DVL failed to acquire valid data within timeout.
2024-05-17T00:38:24.760Z,1715906304.760 [RDI_Pathfinder] Data Fault, FailCount= 1
2024-05-17T00:38:24.760Z,1715906304.760 [RDI_Pathfinder](ERROR): Data Fault
2024-05-17T00:38:24.960Z,1715906304.960 [CBIT](ERROR): Data Fault in component: RDI_Pathfinder
2024-05-17T00:38:25.231Z,1715906305.231 [RDI_Pathfinder](INFO): Powering down
2024-05-17T00:38:26.279Z,1715906306.279 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2024-05-17T00:38:26.280Z,1715906306.280 [RDI_Pathfinder] No Fault, FailCount= 1
2024-05-17T00:38:26.376Z,1715906306.376 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format
2024-05-17T00:38:48.720Z,1715906328.720 [RDI_Pathfinder](ERROR): No DVL communication! Re-initializing
2024-05-17T00:38:48.720Z,1715906328.720 [RDI_Pathfinder] Communications Fault, FailCount= 2
2024-05-17T00:38:48.720Z,1715906328.720 [RDI_Pathfinder](ERROR): Communications Fault
2024-05-17T00:38:49.152Z,1715906329.152 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2024-05-17T00:38:49.267Z,1715906329.267 [RDI_Pathfinder](INFO): Powering down
2024-05-17T00:38:50.129Z,1715906330.129 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2024-05-17T00:38:50.129Z,1715906330.129 [RDI_Pathfinder] No Fault, FailCount= 2
2024-05-17T00:38:50.381Z,1715906330.381 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format
2024-05-17T00:38:54.140Z,1715906334.140 [NAL9602](INFO): Not Powering down - fast GPS
2024-05-17T00:39:12.961Z,1715906352.961 [RDI_Pathfinder](ERROR): No DVL communication! Re-initializing
2024-05-17T00:39:12.961Z,1715906352.961 [RDI_Pathfinder] Communications Fault, FailCount= 3
2024-05-17T00:39:12.961Z,1715906352.961 [RDI_Pathfinder](ERROR): Communications Fault
2024-05-17T00:39:13.164Z,1715906353.164 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2024-05-17T00:39:13.164Z,1715906353.164 [CBIT](CRITICAL): Communications Fault in component: RDI_Pathfinder
2024-05-17T00:39:13.439Z,1715906353.439 [RDI_Pathfinder](INFO): Powering down
2024-05-17T00:39:13.630Z,1715906353.630 [CBIT](INFO): Critical error at 20240517T003913
2024-05-17T00:40:29.913Z,1715906429.913 [DataOverHttps](IMPORTANT): SBD MTMSN=20240517T004029
2024-05-17T00:40:37.607Z,1715906437.607 [DataOverHttps](INFO): Received command: load Maintenance/tank_ballast_and_trim.tl;set ballast_and_trim.MissionTimeout 30 min;set ballast_and_trim.EstimationConfidence 98.9 %;run
2024-05-17T00:40:37.719Z,1715906437.719 [CommandExec](IMPORTANT): got command load ./Missions/Maintenance/tank_ballast_and_trim.tl
2024-05-17T00:40:37.720Z,1715906437.720 [MissionManager](INFO): Loading Mission from file: ./Missions/Maintenance/tank_ballast_and_trim.tl
2024-05-17T00:40:37.720Z,1715906437.720 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Maintenance/tank_ballast_and_trim.tl
2024-05-17T00:40:37.724Z,1715906437.724 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Maintenance/tank_ballast_and_trim.tl
2024-05-17T00:40:40.089Z,1715906440.089 [MissionManager](DEBUG): TethyslAPI: ./Missions/Maintenance/tank_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>120</Value>
    </DefineArg>
    <DefineArg Name="Depth1">
        <Units:meter />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="Depth2">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DepthDeadband">
        <Units:meter />
        <Value>0.1</Value>
    </DefineArg>
    <DefineArg Name="SurfaceThreshold">
        <Units:meter />
        <Value>2.5</Value>
    </DefineArg>
    <DefineArg Name="TargetDepthTimeout">
        <Units:minute />
        <Value>20</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>0.25</Value>
    </DefineArg>
    <DefineArg Name="BuoyEstimationErrorBound">
        <Units:cubic_centimeter />
        <Value>15</Value>
    </DefineArg>
    <DefineArg Name="EstimationConfidence">
        <Units:percent />
        <Value>99.9</Value>
    </DefineArg>
    <DefineArg Name="WaitToFloat">
        <Units:minute />
        <Value>5</Value>
    </DefineArg>
    <Timeout Duration="MissionTimeout" />
    <Insert Filename="Insert/Science.tl" />
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Aggregate Id="RunBallastAndTrim">
        <Sequence />
        <Insert Filename="Insert/BallastAndTrim.tl">
            <RedefineArg Name="InsertDepthDeadband">
                <Arg Name="DepthDeadband" />
            </RedefineArg>
            <RedefineArg Name="InsertApproachDepthTimeout">
                <Arg Name="TargetDepthTimeout" />
            </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>
        </Insert>
        <Aggregate Id="Depth1">
            <Sequence />
            <Break>
                <IsNaN>
                    <Arg Name="Depth1" />
                </IsNaN>
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="BallastAndTrim:InsertDepth" />
                <Arg Name="Depth1" />
            </Assign>
            <Call RefId="BallastAndTrim" />
        </Aggregate>
        <Aggregate Id="Depth2">
            <Sequence />
            <Break>
                <IsNaN>
                    <Arg Name="Depth2" />
                </IsNaN>
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="BallastAndTrim:InsertDepth" />
                <Arg Name="Depth2" />
            </Assign>
            <Call RefId="BallastAndTrim" />
        </Aggregate>
    </Aggregate>
    <Aggregate Id="Float_Up">
        <Sequence />
        <Break>
            <Universal:depth />
            <Lt>
                <Arg Name="SurfaceThreshold" />
            </Lt>
        </Break>
        <Guidance:Buoyancy>
            <Parallel />
            <Setting>
                <Guidance:Buoyancy.position />
                <Control:VerticalControl.buoyancyDefault />
            </Setting>
        </Guidance:Buoyancy>
        <Guidance:Wait>
            <Sequence />
            <Setting>
                <Guidance:Wait.duration />
                <Arg Name="WaitToFloat" />
            </Setting>
        </Guidance:Wait>
    </Aggregate>
</Mission>

2024-05-17T00:40:40.097Z,1715906440.097 [MissionManager](INFO): DefineArg ballast_and_trim.MissionTimeout = 120.000000 min
2024-05-17T00:40:40.100Z,1715906440.100 [MissionManager](INFO): DefineArg ballast_and_trim.Depth1 = 7.000000 m
2024-05-17T00:40:40.103Z,1715906440.103 [MissionManager](INFO): DefineArg ballast_and_trim.Depth2 = nan m
2024-05-17T00:40:40.106Z,1715906440.106 [MissionManager](INFO): DefineArg ballast_and_trim.DepthDeadband = 0.100000 m
2024-05-17T00:40:40.109Z,1715906440.109 [MissionManager](INFO): DefineArg ballast_and_trim.SurfaceThreshold = 2.500000 m
2024-05-17T00:40:40.113Z,1715906440.113 [MissionManager](INFO): DefineArg ballast_and_trim.TargetDepthTimeout = 20.000000 min
2024-05-17T00:40:40.116Z,1715906440.116 [MissionManager](INFO): DefineArg ballast_and_trim.SettleTime = 10.000000 min
2024-05-17T00:40:40.119Z,1715906440.119 [MissionManager](INFO): DefineArg ballast_and_trim.EstimationTimeout = 45.000000 min
2024-05-17T00:40:40.122Z,1715906440.122 [MissionManager](INFO): DefineArg ballast_and_trim.MinEstimationTime = 10.000000 min
2024-05-17T00:40:40.125Z,1715906440.125 [MissionManager](INFO): DefineArg ballast_and_trim.MassEstimationErrorBound = 0.250000 mm
2024-05-17T00:40:40.129Z,1715906440.129 [MissionManager](INFO): DefineArg ballast_and_trim.BuoyEstimationErrorBound = 15.000000 cc
2024-05-17T00:40:40.137Z,1715906440.137 [MissionManager](INFO): DefineArg ballast_and_trim.EstimationConfidence = 99.900002 %
2024-05-17T00:40:40.184Z,1715906440.184 [MissionManager](INFO): DefineArg ballast_and_trim.WaitToFloat = 5.000000 min
2024-05-17T00:40:40.185Z,1715906440.185 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2024-05-17T00:40:40.185Z,1715906440.185 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2024-05-17T00:40:40.197Z,1715906440.197 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2024-05-17T00:40:42.053Z,1715906442.053 [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="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="UpwardDerivativeOfTemperatureActive">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledAanderaaO2">
        <Science:Aanderaa_O2.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledNeilBrown">
        <Science:CTD_NeilBrown.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="PeakShallowBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="PeakDeepBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DepChangeThreshForAttitudeFlip">
        <Units:meter />
        <Value>2.0</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>
    <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="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="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="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>
        <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="PeakShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="PeakDeepBound" />
            </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="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>
        <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="PeakShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="PeakDeepBound" />
            </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>
        <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="PeakShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="PeakDeepBound" />
            </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>
        <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="PeakShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="PeakDeepBound" />
            </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>
        <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="PeakShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="PeakDeepBound" />
            </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="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>

2024-05-17T00:40:42.066Z,1715906442.066 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectChlActive = 0 bool
2024-05-17T00:40:42.091Z,1715906442.091 [MissionManager](INFO): DefineArg ballast_and_trim:Science.TimeWindowPeakReport = nan min
2024-05-17T00:40:42.094Z,1715906442.094 [MissionManager](INFO): DefineArg ballast_and_trim:Science.HighestChlPeakReportActive = 0 bool
2024-05-17T00:40:42.096Z,1715906442.096 [MissionManager](INFO): DefineArg ballast_and_trim:Science.HighestSaltPeakReportActive = 0 bool
2024-05-17T00:40:42.099Z,1715906442.099 [MissionManager](INFO): DefineArg ballast_and_trim:Science.HighestOilPeakReportActive = 0 bool
2024-05-17T00:40:42.102Z,1715906442.102 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PatchTracking = 0 bool
2024-05-17T00:40:42.105Z,1715906442.105 [MissionManager](INFO): DefineArg ballast_and_trim:Science.FilterWidthHorizontal = 3.000000 count
2024-05-17T00:40:42.108Z,1715906442.108 [MissionManager](INFO): DefineArg ballast_and_trim:Science.NumProfilesSlidingwindow = 100.000000 count
2024-05-17T00:40:42.111Z,1715906442.111 [MissionManager](INFO): DefineArg ballast_and_trim:Science.OffPeakFractionHorizontal = 80.000000 %
2024-05-17T00:40:42.113Z,1715906442.113 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectNO3Active = 0 bool
2024-05-17T00:40:42.116Z,1715906442.116 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectOilActive = 0 bool
2024-05-17T00:40:42.118Z,1715906442.118 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectFDOMActive = 0 bool
2024-05-17T00:40:42.163Z,1715906442.163 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectSalinityActive = 0 bool
2024-05-17T00:40:42.165Z,1715906442.165 [MissionManager](INFO): DefineArg ballast_and_trim:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2024-05-17T00:40:42.181Z,1715906442.181 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EnabledAanderaaO2 = 0 bool
2024-05-17T00:40:42.213Z,1715906442.213 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EnabledNeilBrown = 0 bool
2024-05-17T00:40:42.248Z,1715906442.248 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EnabledSeabird = 1 bool
2024-05-17T00:40:42.252Z,1715906442.252 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EnabledWetLabsBB2FL = 1 bool
2024-05-17T00:40:42.266Z,1715906442.266 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2024-05-17T00:40:42.275Z,1715906442.275 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EnabledWetLabsUBAT = 1 bool
2024-05-17T00:40:42.278Z,1715906442.278 [MissionManager](INFO): DefineArg ballast_and_trim:Science.LowPassWindowLength = 20.000000 count
2024-05-17T00:40:42.297Z,1715906442.297 [MissionManager](INFO): DefineArg ballast_and_trim:Science.MedianFilterLen = 5.000000 count
2024-05-17T00:40:42.301Z,1715906442.301 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakShallowBound = nan m
2024-05-17T00:40:42.334Z,1715906442.334 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDeepBound = nan m
2024-05-17T00:40:42.338Z,1715906442.338 [MissionManager](INFO): DefineArg ballast_and_trim:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2024-05-17T00:40:42.362Z,1715906442.362 [MissionManager](INFO): DefineArg ballast_and_trim:Science.ChlThreshTriggerActive = 0 bool
2024-05-17T00:40:42.374Z,1715906442.374 [MissionManager](INFO): DefineArg ballast_and_trim:Science.ChlLowerThresh = nan ug/l
2024-05-17T00:40:42.404Z,1715906442.404 [MissionManager](INFO): DefineArg ballast_and_trim:Science.ChlUpperThresh = nan ug/l
2024-05-17T00:40:42.419Z,1715906442.420 [MissionManager](INFO): DefineArg ballast_and_trim:Science.NumProfilesThresh = 5.000000 count
2024-05-17T00:40:42.427Z,1715906442.427 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakChl = nan ug/l
2024-05-17T00:40:42.430Z,1715906442.430 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakChlDepth = nan m
2024-05-17T00:40:42.449Z,1715906442.449 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakChlTemperature = nan degC
2024-05-17T00:40:42.453Z,1715906442.453 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakChlLatitude = nan arcdeg
2024-05-17T00:40:42.460Z,1715906442.460 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakChlLongitude = nan arcdeg
2024-05-17T00:40:42.475Z,1715906442.475 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakNO3 = nan umol/l
2024-05-17T00:40:42.478Z,1715906442.478 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakNO3Depth = nan m
2024-05-17T00:40:42.486Z,1715906442.486 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakNO3Latitude = nan arcdeg
2024-05-17T00:40:42.490Z,1715906442.490 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakNO3Longitude = nan arcdeg
2024-05-17T00:40:42.546Z,1715906442.546 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakOil = nan kg/m3
2024-05-17T00:40:42.549Z,1715906442.549 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakOilDepth = nan m
2024-05-17T00:40:42.552Z,1715906442.552 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakOilLatitude = nan arcdeg
2024-05-17T00:40:42.571Z,1715906442.571 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakOilLongitude = nan arcdeg
2024-05-17T00:40:42.574Z,1715906442.574 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakFDOM = nan ppb
2024-05-17T00:40:42.586Z,1715906442.586 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakFDOMDepth = nan m
2024-05-17T00:40:42.629Z,1715906442.629 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakFDOMTemperature = nan degC
2024-05-17T00:40:42.648Z,1715906442.648 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakFDOMLatitude = nan arcdeg
2024-05-17T00:40:42.652Z,1715906442.652 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakFDOMLongitude = nan arcdeg
2024-05-17T00:40:42.655Z,1715906442.655 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakSalt = nan psu
2024-05-17T00:40:42.666Z,1715906442.666 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakSaltDepth = nan m
2024-05-17T00:40:42.674Z,1715906442.674 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakSaltTemperature = nan degC
2024-05-17T00:40:42.699Z,1715906442.699 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakSaltLatitude = nan arcdeg
2024-05-17T00:40:42.702Z,1715906442.702 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakSaltLongitude = nan arcdeg
2024-05-17T00:40:42.709Z,1715906442.709 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchChl = nan ug/l
2024-05-17T00:40:42.714Z,1715906442.714 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchChlDepth = nan m
2024-05-17T00:40:42.733Z,1715906442.733 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchChlLatitude = nan arcdeg
2024-05-17T00:40:42.738Z,1715906442.738 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchChlLongitude = nan arcdeg
2024-05-17T00:40:42.769Z,1715906442.769 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchChlDistance = nan m
2024-05-17T00:40:42.781Z,1715906442.781 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchSalt = nan psu
2024-05-17T00:40:42.785Z,1715906442.785 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchSaltDepth = nan m
2024-05-17T00:40:42.802Z,1715906442.802 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchSaltLatitude = nan arcdeg
2024-05-17T00:40:42.806Z,1715906442.806 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchSaltLongitude = nan arcdeg
2024-05-17T00:40:42.809Z,1715906442.809 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchSaltDistance = nan m
2024-05-17T00:40:42.829Z,1715906442.829 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchOil = nan psu
2024-05-17T00:40:42.832Z,1715906442.832 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchOilDepth = nan m
2024-05-17T00:40:42.835Z,1715906442.835 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchOilLatitude = nan arcdeg
2024-05-17T00:40:42.869Z,1715906442.869 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchOilLongitude = nan arcdeg
2024-05-17T00:40:42.872Z,1715906442.872 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchOilDistance = nan m
2024-05-17T00:40:42.875Z,1715906442.875 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.TriggeredOnChl = 0 bool
2024-05-17T00:40:42.878Z,1715906442.878 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.ChlTriggering = nan ug/l
2024-05-17T00:40:42.985Z,1715906442.985 [ballast_and_trim:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2024-05-17T00:40:43.074Z,1715906443.074 [ballast_and_trim:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2024-05-17T00:40:43.124Z,1715906443.124 [ballast_and_trim:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2024-05-17T00:40:43.146Z,1715906443.146 [ballast_and_trim:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2024-05-17T00:40:43.197Z,1715906443.197 [ballast_and_trim:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2024-05-17T00:40:43.238Z,1715906443.238 [ballast_and_trim:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2024-05-17T00:40:43.276Z,1715906443.276 [ballast_and_trim:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2024-05-17T00:40:43.336Z,1715906443.336 [ballast_and_trim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2024-05-17T00:40:43.366Z,1715906443.366 [ballast_and_trim:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2024-05-17T00:40:43.484Z,1715906443.484 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2024-05-17T00:40:43.484Z,1715906443.484 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2024-05-17T00:40:43.485Z,1715906443.485 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2024-05-17T00:40:43.525Z,1715906443.525 [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>

2024-05-17T00:40:43.530Z,1715906443.530 [MissionManager](INFO): DefineArg ballast_and_trim:BackseatDriver.EnableBackseat = 0 bool
2024-05-17T00:40:43.535Z,1715906443.535 [ballast_and_trim:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2024-05-17T00:40:43.565Z,1715906443.565 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2024-05-17T00:40:43.565Z,1715906443.565 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2024-05-17T00:40:43.579Z,1715906443.579 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2024-05-17T00:40:43.937Z,1715906443.937 [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>

2024-05-17T00:40:43.954Z,1715906443.954 [MissionManager](INFO): DefineArg ballast_and_trim:PowerOnly.SampleAll = 0 bool
2024-05-17T00:40:43.957Z,1715906443.957 [MissionManager](INFO): DefineArg ballast_and_trim:PowerOnly.SampleLoad1 = 0 bool
2024-05-17T00:40:43.968Z,1715906443.968 [MissionManager](INFO): DefineArg ballast_and_trim:PowerOnly.SampleLoad2 = 0 bool
2024-05-17T00:40:43.981Z,1715906443.981 [MissionManager](INFO): DefineArg ballast_and_trim:PowerOnly.SampleLoad3 = 0 bool
2024-05-17T00:40:43.994Z,1715906443.994 [MissionManager](INFO): DefineArg ballast_and_trim:PowerOnly.EnabledPowerOnly = 0 bool
2024-05-17T00:40:44.026Z,1715906444.026 [ballast_and_trim:PowerOnly:E.Wait](DEBUG): Construct Wait.
2024-05-17T00:40:44.041Z,1715906444.041 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BallastAndTrim.tl
2024-05-17T00:40:44.041Z,1715906444.041 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BallastAndTrim.tl
2024-05-17T00:40:44.042Z,1715906444.042 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BallastAndTrim.tl
2024-05-17T00:40:45.374Z,1715906445.374 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BallastAndTrim.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="BallastAndTrim">
    <DefineArg Name="InsertDepth">
        <Units:meter />
        <Value>25</Value>
    </DefineArg>
    <DefineArg Name="InsertApproachSpeed">
        <Units:meter_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="InsertApproachDepthRate">
        <Units:meter_per_second />
        <Value>0.4</Value>
    </DefineArg>
    <DefineArg Name="InsertApproachPitchLimit">
        <Units:degree />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="InsertApproachSettleTimePreDive">
        <Units:minute />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="InsertApproachDepthTimeout">
        <Units:minute />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="InsertSettleTime">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="EstTimeout">
        <Units:minute />
        <Value>45</Value>
    </DefineArg>
    <DefineArg Name="MinEstTime">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="MassEstErrorBound">
        <Units:millimeter />
        <Value>0.25</Value>
    </DefineArg>
    <DefineArg Name="BuoyEstErrorBound">
        <Units:cubic_centimeter />
        <Value>15</Value>
    </DefineArg>
    <DefineArg Name="EstConfidence">
        <Units:percent />
        <Value>99.9</Value>
    </DefineArg>
    <DefineArg Name="InsertDepthDeadband">
        <Units:meter />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="InsertMassDeadband">
        <Units:millimeter />
        <Value>0.25</Value>
    </DefineArg>
    <When>
        <Called />
    </When>
    <Assign>
        <Parallel />
        <Control:VerticalControl.kpPitchMass />
        <Units:ratio />
        <Value>0.005</Value>
    </Assign>
    <Assign>
        <Parallel />
        <Control:VerticalControl.kiPitchMass />
        <Units:reciprocal_second />
        <Value>0.00075</Value>
    </Assign>
    <Assign>
        <Parallel />
        <Control:VerticalControl.kdPitchMass />
        <Units:second />
        <Value>0</Value>
    </Assign>
    <Assign>
        <Parallel />
        <Control:VerticalControl.massDeadband />
        <Arg Name="InsertMassDeadband" />
    </Assign>
    <Assign>
        <Parallel />
        <Control:VerticalControl.depthDeadband />
        <Arg Name="InsertDepthDeadband" />
    </Assign>
    <Syslog Severity="Info">
        Going to target depth. Speed set to 
        <Arg Name="InsertApproachSpeed" />
        <Units:meter_per_second />
    </Syslog>
    <Aggregate Id="GoToTargetDepth">
        <Sequence />
        <Assign>
            <Parallel />
            <Control:VerticalControl.pitchLimit />
            <Arg Name="InsertApproachPitchLimit" />
        </Assign>
        <Aggregate Id="ActuatorHold">
            <While>
                <Arg Name="InsertApproachSpeed" />
                <Gt>
                    <Units:meter_per_second />
                    <Value>0</Value>
                </Gt>
            </While>
            <Guidance:Point>
                <Parallel />
                <Setting>
                    <Guidance:Point.rudderAngle />
                    <Units:degree />
                    <Value>13</Value>
                </Setting>
            </Guidance:Point>
            <Guidance:Buoyancy>
                <Parallel />
                <Setting>
                    <Guidance:Buoyancy.position />
                    <Control:VerticalControl.buoyancyNeutral />
                </Setting>
            </Guidance:Buoyancy>
            <Guidance:Pitch>
                <Parallel />
                <Setting>
                    <Guidance:Pitch.massPosition />
                    <Control:VerticalControl.massDefault />
                </Setting>
            </Guidance:Pitch>
        </Aggregate>
        <Aggregate Id="WaitPreDive">
            <Sequence />
            <Break>
                <Arg Name="InsertApproachSettleTimePreDive" />
                <Le>
                    <Units:minute />
                    <Value>0</Value>
                </Le>
            </Break>
            <Syslog Severity="Info">
                Waiting for 
                <Arg Name="InsertApproachSettleTimePreDive" />
                <Units:minute />
                while pumping down to neutral.
            </Syslog>
            <Guidance:Wait>
                <Sequence />
                <Setting>
                    <Guidance:Wait.duration />
                    <Arg Name="InsertApproachSettleTimePreDive" />
                </Setting>
            </Guidance:Wait>
        </Aggregate>
        <Aggregate Id="ApproachDepth">
            <Sequence />
            <Syslog>
                Moving to 
                <Arg Name="InsertDepth" />
                <Units:meter />
            </Syslog>
            <Guidance:SetSpeed>
                <Parallel />
                <Setting>
                    <Guidance:SetSpeed.speed />
                    <Arg Name="InsertApproachSpeed" />
                </Setting>
            </Guidance:SetSpeed>
            <Guidance:Pitch>
                <Sequence />
                <Timeout Duration="InsertApproachDepthTimeout">
                    <Syslog Severity="Important">
                        Timed out trying to reach the target depth. Stopping mission at current depth of 
                        <Universal:depth />
                        <Units:meter />
                    </Syslog>
                    <Guidance:Execute>
                        <Sequence />
                        <Setting>
                            <Guidance:Execute.command />
                            <String>stop</String>
                        </Setting>
                    </Guidance:Execute>
                </Timeout>
                <Setting>
                    <Guidance:Pitch.depth />
                    <Arg Name="InsertDepth" />
                </Setting>
                <Setting>
                    <Guidance:Pitch.depthRate />
                    <Arg Name="InsertApproachDepthRate" />
                </Setting>
            </Guidance:Pitch>
        </Aggregate>
    </Aggregate>
    <Aggregate Id="BallastAndTrimAtTargetDepth">
        <Sequence />
        <Guidance:SetSpeed>
            <Parallel />
            <Setting>
                <Guidance:SetSpeed.speed />
                <Units:meter_per_second />
                <Value>0</Value>
            </Setting>
        </Guidance:SetSpeed>
        <Guidance:Pitch>
            <Parallel />
            <Setting>
                <Guidance:Pitch.depth />
                <Arg Name="InsertDepth" />
            </Setting>
        </Guidance:Pitch>
        <Syslog Severity="Info">
            Waiting for the vehicle to settle. Depth = 
            <Universal:depth />
            <Units:meter />
        </Syslog>
        <Guidance:Wait>
            <Sequence />
            <Setting>
                <Guidance:Wait.duration />
                <Arg Name="InsertSettleTime" />
            </Setting>
        </Guidance:Wait>
        <Guidance:Execute>
            <Sequence />
            <Setting>
                <Guidance:Execute.command />
                <String>gfscan</String>
            </Setting>
        </Guidance:Execute>
        <Syslog Severity="Info">
            Running ballast and trim. Depth = 
            <Universal:depth />
            <Units:meter />
        </Syslog>
        <Estimation:BallastAndTrim>
            <Sequence />
            <Setting>
                <Estimation:BallastAndTrim.estimationTimeout />
                <Arg Name="EstTimeout" />
            </Setting>
            <Setting>
                <Estimation:BallastAndTrim.minEstimationTime />
                <Arg Name="MinEstTime" />
            </Setting>
            <Setting>
                <Estimation:BallastAndTrim.massErrorBound />
                <Arg Name="MassEstErrorBound" />
            </Setting>
            <Setting>
                <Estimation:BallastAndTrim.buoyErrorBound />
                <Arg Name="BuoyEstErrorBound" />
            </Setting>
            <Setting>
                <Estimation:BallastAndTrim.confidenceLevel />
                <Arg Name="EstConfidence" />
            </Setting>
        </Estimation:BallastAndTrim>
    </Aggregate>
</Aggregate>

2024-05-17T00:40:45.394Z,1715906445.394 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertDepth = 25.000000 m
2024-05-17T00:40:45.405Z,1715906445.405 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachSpeed = 0.000000 m/s
2024-05-17T00:40:45.408Z,1715906445.408 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachDepthRate = 0.400000 m/s
2024-05-17T00:40:45.411Z,1715906445.411 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachPitchLimit = 20.000000 arcdeg
2024-05-17T00:40:45.414Z,1715906445.414 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachSettleTimePreDive = 0.000000 min
2024-05-17T00:40:45.454Z,1715906445.454 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachDepthTimeout = 20.000000 min
2024-05-17T00:40:45.465Z,1715906445.465 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertSettleTime = 10.000000 min
2024-05-17T00:40:45.480Z,1715906445.480 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.EstTimeout = 45.000000 min
2024-05-17T00:40:45.487Z,1715906445.487 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.MinEstTime = 10.000000 min
2024-05-17T00:40:45.503Z,1715906445.503 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.MassEstErrorBound = 0.250000 mm
2024-05-17T00:40:45.511Z,1715906445.511 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.BuoyEstErrorBound = 15.000000 cc
2024-05-17T00:40:45.519Z,1715906445.519 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.EstConfidence = 99.900002 %
2024-05-17T00:40:45.522Z,1715906445.522 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertDepthDeadband = 1.000000 m
2024-05-17T00:40:45.545Z,1715906445.545 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertMassDeadband = 0.250000 mm
2024-05-17T00:40:45.597Z,1715906445.597 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point](DEBUG): Construct.
2024-05-17T00:40:45.640Z,1715906445.640 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy](DEBUG): Construct Buoyancy.
2024-05-17T00:40:45.657Z,1715906445.657 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch](DEBUG): Construct.
2024-05-17T00:40:45.666Z,1715906445.666 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait](DEBUG): Construct Wait.
2024-05-17T00:40:45.682Z,1715906445.682 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed](DEBUG): Construct.
2024-05-17T00:40:45.685Z,1715906445.685 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch](DEBUG): Construct.
2024-05-17T00:40:45.705Z,1715906445.705 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2024-05-17T00:40:45.709Z,1715906445.709 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed](DEBUG): Construct.
2024-05-17T00:40:45.712Z,1715906445.712 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch](DEBUG): Construct.
2024-05-17T00:40:45.761Z,1715906445.761 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait](DEBUG): Construct Wait.
2024-05-17T00:40:45.763Z,1715906445.763 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:E.Execute](DEBUG): Construct Execute.
2024-05-17T00:40:45.773Z,1715906445.773 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](DEBUG): Construct BallastAndTrim.
2024-05-17T00:40:45.817Z,1715906445.817 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertDepthDeadband = reader:ballast_and_trim.DepthDeadband
2024-05-17T00:40:45.818Z,1715906445.818 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachDepthTimeout = reader:ballast_and_trim.TargetDepthTimeout
2024-05-17T00:40:45.860Z,1715906445.860 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertSettleTime = reader:ballast_and_trim.SettleTime
2024-05-17T00:40:45.862Z,1715906445.862 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.EstTimeout = reader:ballast_and_trim.EstimationTimeout
2024-05-17T00:40:45.864Z,1715906445.864 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.MinEstTime = reader:ballast_and_trim.MinEstimationTime
2024-05-17T00:40:45.866Z,1715906445.866 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.MassEstErrorBound = reader:ballast_and_trim.MassEstimationErrorBound
2024-05-17T00:40:45.889Z,1715906445.889 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.BuoyEstErrorBound = reader:ballast_and_trim.BuoyEstimationErrorBound
2024-05-17T00:40:45.891Z,1715906445.891 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.EstConfidence = reader:ballast_and_trim.EstimationConfidence
2024-05-17T00:40:45.922Z,1715906445.922 [ballast_and_trim:Float_Up:A.Buoyancy](DEBUG): Construct Buoyancy.
2024-05-17T00:40:45.946Z,1715906445.946 [ballast_and_trim:Float_Up:B.Wait](DEBUG): Construct Wait.
2024-05-17T00:40:46.016Z,1715906446.016 [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 ballast_and_trim {
  arguments {
    MissionTimeout = 120 minute
      """
      Maximum duration of mission.
      """

    Depth1 = 7 meter
      """
      Target depth for ballast and trim.
      """

    Depth2 = NaN meter
      """
      Target depth to run a second ballast and trim, skipped if NaN.
      """

    DepthDeadband = 0.1 meter
      """
      How much vertical drift from the specified depth is allowed during the
      mission.
      """

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

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

    SettleTime = 10 minute
      """
      How long to wait after reaching target depth before starting ballast and
      trim.
      """

    EstimationTimeout = 45 minute
      """
      Timeout for ballast and trim estimation.
      """

    MinEstimationTime = 10 minute
      """
      Minimum time to run ballast and trim estimation before determining
      convergence (must be shorter than timeout).
      """

    MassEstimationErrorBound = 0.25 millimeter
      """
      Desired range of the estimated sample mean from the true mean statistic
      (smaller values take longer to converge).
      """

    BuoyEstimationErrorBound = 15 cubic_centimeter
      """
      Desired range of the estimated sample mean from the true mean statistic
      (smaller values take longer to converge).
      """

    EstimationConfidence = 99.9 percent
      """
      Confidence level that the estimator has reached the desired error range
      (larger values take longer to converge).
      """

    WaitToFloat = 5 minute
      """
      Timeout for reaching surface threshold on float ascent, mission will end
      when reached.
      """
  }

  timeout duration=MissionTimeout

  insert Insert/Science.tl

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

  aggregate RunBallastAndTrim {
    run in sequence

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

    aggregate Depth1 {
      run in sequence

      break if ( isNaN ( Depth1 ) )

      assign in sequence BallastAndTrim:InsertDepth = Depth1

      call refId="BallastAndTrim"
    }

    aggregate Depth2 {
      run in sequence

      break if ( isNaN ( Depth2 ) )

      assign in sequence BallastAndTrim:InsertDepth = Depth2

      call refId="BallastAndTrim"
    }
  }

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

    run in sequence

    break if ( Universal:depth < SurfaceThreshold )

    behavior Guidance:Buoyancy {
      run in parallel

      set position = Control:VerticalControl.buoyancyDefault
    }

    behavior Guidance:Wait {
      run in sequence

      set duration = WaitToFloat
    }
  }
}


2024-05-17T00:40:46.016Z,1715906446.016 [CommandExec](IMPORTANT): Loaded ./Missions/Maintenance/tank_ballast_and_trim.tl id=ballast_and_trim
2024-05-17T00:40:52.880Z,1715906452.880 [CommandExec](IMPORTANT): got command set ballast_and_trim.MissionTimeout 30 minute
2024-05-17T00:40:52.880Z,1715906452.880 [CommandExec](IMPORTANT): got command set ballast_and_trim.EstimationConfidence 98.9 percent
2024-05-17T00:40:52.881Z,1715906452.881 [CommandExec](IMPORTANT): got command run
2024-05-17T00:40:52.888Z,1715906452.888 [CommandExec](IMPORTANT): Running 
2024-05-17T00:40:53.135Z,1715906453.135 [Default] Stopped
2024-05-17T00:40:53.135Z,1715906453.135 [Default](DEBUG): Aggregate::uninitialize Default
2024-05-17T00:40:53.135Z,1715906453.135 [Default:B.GoToSurface] Stopped
2024-05-17T00:40:53.135Z,1715906453.135 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2024-05-17T00:40:53.135Z,1715906453.135 [Default:CheckIn] Stopped
2024-05-17T00:40:53.135Z,1715906453.135 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2024-05-17T00:40:53.135Z,1715906453.135 [Default:CheckIn:C.Wait] Stopped
2024-05-17T00:40:53.135Z,1715906453.135 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2024-05-17T00:40:53.135Z,1715906453.135 [MissionManager](IMPORTANT): Started mission ballast_and_trim
2024-05-17T00:40:53.136Z,1715906453.136 [ballast_and_trim] Running Loop=1
2024-05-17T00:40:53.136Z,1715906453.136 [ballast_and_trim](DEBUG): Aggregate::initialize ballast_and_trim
2024-05-17T00:40:53.136Z,1715906453.136 [ballast_and_trim:Science] Running Loop=1
2024-05-17T00:40:53.136Z,1715906453.136 [ballast_and_trim:Science](DEBUG): Aggregate::initialize ballast_and_trim:Science
2024-05-17T00:40:53.136Z,1715906453.136 [ballast_and_trim:Science:A] Running Loop=1
2024-05-17T00:40:53.136Z,1715906453.136 [ballast_and_trim:Science:B] Running Loop=1
2024-05-17T00:40:53.136Z,1715906453.136 [ballast_and_trim:Science:C] Running Loop=1
2024-05-17T00:40:53.136Z,1715906453.136 [ballast_and_trim:Science:D] Running Loop=1
2024-05-17T00:40:53.136Z,1715906453.136 [ballast_and_trim:Science:E] Running Loop=1
2024-05-17T00:40:53.136Z,1715906453.136 [ballast_and_trim:Science:F] Running Loop=1
2024-05-17T00:40:53.136Z,1715906453.136 [ballast_and_trim:Science:Read_Oil] Running Loop=1
2024-05-17T00:40:53.136Z,1715906453.136 [ballast_and_trim:Science:PeakDetectChl] Running Loop=1
2024-05-17T00:40:53.137Z,1715906453.137 [ballast_and_trim:Science:PeakDetectChl](DEBUG): Aggregate::initialize ballast_and_trim:Science:PeakDetectChl
2024-05-17T00:40:53.137Z,1715906453.137 [ballast_and_trim:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2024-05-17T00:40:53.137Z,1715906453.137 [ballast_and_trim:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2024-05-17T00:40:53.139Z,1715906453.139 [ballast_and_trim:Science:HighestChlPeakReport] Running Loop=1
2024-05-17T00:40:53.139Z,1715906453.139 [ballast_and_trim:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize ballast_and_trim:Science:HighestChlPeakReport
2024-05-17T00:40:53.139Z,1715906453.139 [ballast_and_trim:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2024-05-17T00:40:53.139Z,1715906453.139 [ballast_and_trim:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2024-05-17T00:40:53.140Z,1715906453.140 [ballast_and_trim:Science:PeakDetectNO3] Running Loop=1
2024-05-17T00:40:53.140Z,1715906453.140 [ballast_and_trim:Science:PeakDetectNO3](DEBUG): Aggregate::initialize ballast_and_trim:Science:PeakDetectNO3
2024-05-17T00:40:53.140Z,1715906453.140 [ballast_and_trim:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2024-05-17T00:40:53.140Z,1715906453.140 [ballast_and_trim:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2024-05-17T00:40:53.142Z,1715906453.142 [ballast_and_trim:Science:PeakDetectOil] Running Loop=1
2024-05-17T00:40:53.142Z,1715906453.142 [ballast_and_trim:Science:PeakDetectOil](DEBUG): Aggregate::initialize ballast_and_trim:Science:PeakDetectOil
2024-05-17T00:40:53.142Z,1715906453.142 [ballast_and_trim:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2024-05-17T00:40:53.142Z,1715906453.142 [ballast_and_trim:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2024-05-17T00:40:53.144Z,1715906453.144 [ballast_and_trim:Science:HighestOilPeakReport] Running Loop=1
2024-05-17T00:40:53.144Z,1715906453.144 [ballast_and_trim:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize ballast_and_trim:Science:HighestOilPeakReport
2024-05-17T00:40:53.144Z,1715906453.144 [ballast_and_trim:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2024-05-17T00:40:53.144Z,1715906453.144 [ballast_and_trim:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2024-05-17T00:40:53.145Z,1715906453.145 [ballast_and_trim:Science:PeakDetectFDOM] Running Loop=1
2024-05-17T00:40:53.145Z,1715906453.145 [ballast_and_trim:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize ballast_and_trim:Science:PeakDetectFDOM
2024-05-17T00:40:53.145Z,1715906453.145 [ballast_and_trim:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2024-05-17T00:40:53.145Z,1715906453.145 [ballast_and_trim:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2024-05-17T00:40:53.147Z,1715906453.147 [ballast_and_trim:Science:PeakDetectSalinity] Running Loop=1
2024-05-17T00:40:53.147Z,1715906453.147 [ballast_and_trim:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize ballast_and_trim:Science:PeakDetectSalinity
2024-05-17T00:40:53.147Z,1715906453.147 [ballast_and_trim:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Running Loop=1
2024-05-17T00:40:53.147Z,1715906453.147 [ballast_and_trim:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Initialize.
2024-05-17T00:40:53.149Z,1715906453.149 [ballast_and_trim:Science:HighestSaltPeakReport] Running Loop=1
2024-05-17T00:40:53.149Z,1715906453.149 [ballast_and_trim:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize ballast_and_trim:Science:HighestSaltPeakReport
2024-05-17T00:40:53.149Z,1715906453.149 [ballast_and_trim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2024-05-17T00:40:53.149Z,1715906453.149 [ballast_and_trim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2024-05-17T00:40:53.150Z,1715906453.150 [ballast_and_trim:Science:ChlThreshTrigger] Running Loop=1
2024-05-17T00:40:53.150Z,1715906453.150 [ballast_and_trim:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize ballast_and_trim:Science:ChlThreshTrigger
2024-05-17T00:40:53.150Z,1715906453.150 [ballast_and_trim:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2024-05-17T00:40:53.150Z,1715906453.150 [ballast_and_trim:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2024-05-17T00:40:53.150Z,1715906453.150 [ballast_and_trim:Science:OceanCurrent] Running Loop=1
2024-05-17T00:40:53.150Z,1715906453.150 [ballast_and_trim:Science:OceanCurrent](DEBUG): Aggregate::initialize ballast_and_trim:Science:OceanCurrent
2024-05-17T00:40:53.150Z,1715906453.150 [ballast_and_trim:Science:OceanCurrent:A.] Running Loop=1
2024-05-17T00:40:53.150Z,1715906453.150 [ballast_and_trim:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2024-05-17T00:40:53.151Z,1715906453.151 [ballast_and_trim:BackseatDriver] Running Loop=1
2024-05-17T00:40:53.151Z,1715906453.151 [ballast_and_trim:BackseatDriver](DEBUG): Aggregate::initialize ballast_and_trim:BackseatDriver
2024-05-17T00:40:53.152Z,1715906453.152 [ballast_and_trim:BackseatDriver:A.BackseatDriver] Running Loop=1
2024-05-17T00:40:53.152Z,1715906453.152 [ballast_and_trim:PowerOnly] Running Loop=1
2024-05-17T00:40:53.152Z,1715906453.152 [ballast_and_trim:PowerOnly](DEBUG): Aggregate::initialize ballast_and_trim:PowerOnly
2024-05-17T00:40:53.152Z,1715906453.152 [ballast_and_trim:PowerOnly:A] Running Loop=1
2024-05-17T00:40:53.152Z,1715906453.152 [ballast_and_trim:PowerOnly:B] Running Loop=1
2024-05-17T00:40:53.152Z,1715906453.152 [ballast_and_trim:PowerOnly:C] Running Loop=1
2024-05-17T00:40:53.152Z,1715906453.152 [ballast_and_trim:PowerOnly:D] Running Loop=1
2024-05-17T00:40:53.152Z,1715906453.152 [ballast_and_trim:PowerOnly:E.Wait] Running Loop=1
2024-05-17T00:40:53.152Z,1715906453.152 [ballast_and_trim:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2024-05-17T00:40:53.152Z,1715906453.152 [ballast_and_trim:RunBallastAndTrim] Running Loop=1
2024-05-17T00:40:53.152Z,1715906453.152 [ballast_and_trim:RunBallastAndTrim](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim
2024-05-17T00:40:53.153Z,1715906453.153 [ballast_and_trim:RunBallastAndTrim:Depth1] Running Loop=1
2024-05-17T00:40:53.153Z,1715906453.153 [ballast_and_trim:RunBallastAndTrim:Depth1](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim:Depth1
2024-05-17T00:40:53.153Z,1715906453.153 [ballast_and_trim:RunBallastAndTrim:Depth1:A] Running Loop=1
2024-05-17T00:40:53.153Z,1715906453.153 [ballast_and_trim:RunBallastAndTrim:Depth1:A] Stopped
2024-05-17T00:40:53.154Z,1715906453.154 [ballast_and_trim:RunBallastAndTrim:Depth1:B] Running Loop=1
2024-05-17T00:40:53.154Z,1715906453.154 [ballast_and_trim:RunBallastAndTrim:Depth1:B](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim:Depth1:B
2024-05-17T00:40:53.154Z,1715906453.154 [ballast_and_trim:PowerOnly] Running Loop=1
2024-05-17T00:40:53.154Z,1715906453.154 [ballast_and_trim:PowerOnly:D] Stopped
2024-05-17T00:40:53.154Z,1715906453.154 [ballast_and_trim:PowerOnly:C] Stopped
2024-05-17T00:40:53.154Z,1715906453.154 [ballast_and_trim:PowerOnly:B] Stopped
2024-05-17T00:40:53.154Z,1715906453.154 [ballast_and_trim:PowerOnly:A] Stopped
2024-05-17T00:40:53.154Z,1715906453.154 [ballast_and_trim:BackseatDriver] Running Loop=1
2024-05-17T00:40:53.155Z,1715906453.155 [ballast_and_trim:Science] Running Loop=1
2024-05-17T00:40:53.156Z,1715906453.156 [ballast_and_trim:Science:ChlThreshTrigger] Stopped
2024-05-17T00:40:53.156Z,1715906453.156 [ballast_and_trim:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:ChlThreshTrigger
2024-05-17T00:40:53.156Z,1715906453.156 [ballast_and_trim:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2024-05-17T00:40:53.156Z,1715906453.156 [ballast_and_trim:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2024-05-17T00:40:53.156Z,1715906453.156 [ballast_and_trim:Science:HighestSaltPeakReport] Stopped
2024-05-17T00:40:53.156Z,1715906453.156 [ballast_and_trim:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:HighestSaltPeakReport
2024-05-17T00:40:53.156Z,1715906453.156 [ballast_and_trim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2024-05-17T00:40:53.156Z,1715906453.156 [ballast_and_trim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2024-05-17T00:40:53.156Z,1715906453.156 [ballast_and_trim:Science:PeakDetectSalinity] Stopped
2024-05-17T00:40:53.157Z,1715906453.157 [ballast_and_trim:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:PeakDetectSalinity
2024-05-17T00:40:53.157Z,1715906453.157 [ballast_and_trim:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Stopped
2024-05-17T00:40:53.157Z,1715906453.157 [ballast_and_trim:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2024-05-17T00:40:53.157Z,1715906453.157 [ballast_and_trim:Science:PeakDetectFDOM] Stopped
2024-05-17T00:40:53.157Z,1715906453.157 [ballast_and_trim:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:PeakDetectFDOM
2024-05-17T00:40:53.157Z,1715906453.157 [ballast_and_trim:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2024-05-17T00:40:53.157Z,1715906453.157 [ballast_and_trim:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2024-05-17T00:40:53.157Z,1715906453.157 [ballast_and_trim:Science:HighestOilPeakReport] Stopped
2024-05-17T00:40:53.157Z,1715906453.157 [ballast_and_trim:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:HighestOilPeakReport
2024-05-17T00:40:53.157Z,1715906453.157 [ballast_and_trim:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2024-05-17T00:40:53.157Z,1715906453.157 [ballast_and_trim:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2024-05-17T00:40:53.157Z,1715906453.157 [ballast_and_trim:Science:PeakDetectOil] Stopped
2024-05-17T00:40:53.157Z,1715906453.157 [ballast_and_trim:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:PeakDetectOil
2024-05-17T00:40:53.158Z,1715906453.158 [ballast_and_trim:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2024-05-17T00:40:53.158Z,1715906453.158 [ballast_and_trim:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2024-05-17T00:40:53.158Z,1715906453.158 [ballast_and_trim:Science:PeakDetectNO3] Stopped
2024-05-17T00:40:53.158Z,1715906453.158 [ballast_and_trim:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:PeakDetectNO3
2024-05-17T00:40:53.158Z,1715906453.158 [ballast_and_trim:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2024-05-17T00:40:53.158Z,1715906453.158 [ballast_and_trim:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2024-05-17T00:40:53.158Z,1715906453.158 [ballast_and_trim:Science:HighestChlPeakReport] Stopped
2024-05-17T00:40:53.158Z,1715906453.158 [ballast_and_trim:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:HighestChlPeakReport
2024-05-17T00:40:53.158Z,1715906453.158 [ballast_and_trim:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2024-05-17T00:40:53.158Z,1715906453.158 [ballast_and_trim:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2024-05-17T00:40:53.158Z,1715906453.158 [ballast_and_trim:Science:PeakDetectChl] Stopped
2024-05-17T00:40:53.158Z,1715906453.158 [ballast_and_trim:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:PeakDetectChl
2024-05-17T00:40:53.158Z,1715906453.158 [ballast_and_trim:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2024-05-17T00:40:53.158Z,1715906453.158 [ballast_and_trim:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2024-05-17T00:40:53.159Z,1715906453.159 [ballast_and_trim:Science:OceanCurrent:A.] Running Loop=1
2024-05-17T00:40:53.159Z,1715906453.159 [ballast_and_trim:Science:Read_Oil] Stopped
2024-05-17T00:40:53.159Z,1715906453.159 [ballast_and_trim:Science:F] Running Loop=1
2024-05-17T00:40:53.160Z,1715906453.160 [ballast_and_trim:Science:F](DEBUG): Initialize ReadDataComponent to sense WetLabsUBAT.average_bioluminescence
2024-05-17T00:40:53.160Z,1715906453.160 [ballast_and_trim:Science:E] Running Loop=1
2024-05-17T00:40:53.161Z,1715906453.161 [ballast_and_trim:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2024-05-17T00:40:53.161Z,1715906453.161 [ballast_and_trim:Science:D] Stopped
2024-05-17T00:40:53.161Z,1715906453.161 [ballast_and_trim:Science:C] Running Loop=1
2024-05-17T00:40:53.162Z,1715906453.162 [ballast_and_trim:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2024-05-17T00:40:53.162Z,1715906453.162 [ballast_and_trim:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2024-05-17T00:40:53.162Z,1715906453.162 [ballast_and_trim:Science:B] Running Loop=1
2024-05-17T00:40:53.163Z,1715906453.163 [ballast_and_trim:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2024-05-17T00:40:53.164Z,1715906453.164 [ballast_and_trim:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2024-05-17T00:40:53.164Z,1715906453.164 [ballast_and_trim:Science:A] Stopped
2024-05-17T00:40:53.409Z,1715906453.409 [WetLabsBB2FL](INFO): Powering up
2024-05-17T00:40:53.552Z,1715906453.552 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim] Running Loop=1
2024-05-17T00:40:53.552Z,1715906453.552 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim
2024-05-17T00:40:53.552Z,1715906453.552 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:A] Running Loop=1
2024-05-17T00:40:53.552Z,1715906453.552 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:B] Running Loop=1
2024-05-17T00:40:53.553Z,1715906453.553 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:C] Running Loop=1
2024-05-17T00:40:53.553Z,1715906453.553 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:D] Running Loop=1
2024-05-17T00:40:53.553Z,1715906453.553 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:E] Running Loop=1
2024-05-17T00:40:53.553Z,1715906453.553 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:F] Running Loop=1
2024-05-17T00:40:53.559Z,1715906453.559 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:F](INFO): Going to target depth. Speed set to  0.000000 m/s 
2024-05-17T00:40:53.559Z,1715906453.559 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:F] Stopped
2024-05-17T00:40:53.559Z,1715906453.559 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth] Running Loop=1
2024-05-17T00:40:53.559Z,1715906453.559 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth
2024-05-17T00:40:53.559Z,1715906453.559 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:A] Running Loop=1
2024-05-17T00:40:53.559Z,1715906453.559 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold] Running Loop=1
2024-05-17T00:40:53.560Z,1715906453.560 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold
2024-05-17T00:40:53.560Z,1715906453.560 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point] Running Loop=1
2024-05-17T00:40:53.560Z,1715906453.560 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point](DEBUG): Initialize.
2024-05-17T00:40:53.560Z,1715906453.560 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy] Running Loop=1
2024-05-17T00:40:53.560Z,1715906453.560 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2024-05-17T00:40:53.560Z,1715906453.560 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch] Running Loop=1
2024-05-17T00:40:53.560Z,1715906453.560 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch](DEBUG): Initialize.
2024-05-17T00:40:53.560Z,1715906453.560 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive] Running Loop=1
2024-05-17T00:40:53.560Z,1715906453.560 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive
2024-05-17T00:40:53.561Z,1715906453.561 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive:A] Running Loop=1
2024-05-17T00:40:53.561Z,1715906453.561 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:E] Running Loop=1
2024-05-17T00:40:53.561Z,1715906453.561 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:D] Running Loop=1
2024-05-17T00:40:53.561Z,1715906453.561 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:C] Running Loop=1
2024-05-17T00:40:53.561Z,1715906453.561 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:B] Running Loop=1
2024-05-17T00:40:53.562Z,1715906453.562 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:A] Running Loop=1
2024-05-17T00:40:53.912Z,1715906453.912 [WetLabsUBAT](INFO): Powering up
2024-05-17T00:40:54.038Z,1715906454.038 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive:A](INFO): Waiting for  0.000000 min while pumping down to neutral.
2024-05-17T00:40:54.038Z,1715906454.038 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive:A] Stopped
2024-05-17T00:40:54.038Z,1715906454.038 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait] Running Loop=1
2024-05-17T00:40:54.038Z,1715906454.038 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait](DEBUG): Initialize Wait Component.
2024-05-17T00:40:54.038Z,1715906454.038 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold] Stopped
2024-05-17T00:40:54.038Z,1715906454.038 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold](DEBUG): Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold
2024-05-17T00:40:54.038Z,1715906454.038 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point] Stopped
2024-05-17T00:40:54.039Z,1715906454.039 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy] Stopped
2024-05-17T00:40:54.039Z,1715906454.039 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2024-05-17T00:40:54.039Z,1715906454.039 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch] Stopped
2024-05-17T00:40:54.039Z,1715906454.039 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:A] Running Loop=1
2024-05-17T00:40:54.498Z,1715906454.498 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait](INFO): Done Waiting.
2024-05-17T00:40:54.498Z,1715906454.498 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait] Stopped
2024-05-17T00:40:54.498Z,1715906454.498 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait](DEBUG): Uninitialize Wait Component.
2024-05-17T00:40:54.498Z,1715906454.498 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive](INFO): Completed ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive
2024-05-17T00:40:54.498Z,1715906454.498 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive] Stopped
2024-05-17T00:40:54.498Z,1715906454.498 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive](DEBUG): Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive
2024-05-17T00:40:54.498Z,1715906454.498 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth] Running Loop=1
2024-05-17T00:40:54.499Z,1715906454.499 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth
2024-05-17T00:40:54.499Z,1715906454.499 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed] Running Loop=1
2024-05-17T00:40:54.499Z,1715906454.499 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed](DEBUG): Initialize.
2024-05-17T00:40:54.499Z,1715906454.499 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:A] Running Loop=1
2024-05-17T00:40:54.908Z,1715906454.908 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed] Running Loop=1
2024-05-17T00:40:54.909Z,1715906454.909 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:A](INFO): Moving to  7.000000 m 
2024-05-17T00:40:54.909Z,1715906454.909 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:A] Stopped
2024-05-17T00:40:54.909Z,1715906454.909 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch] Running Loop=1
2024-05-17T00:40:54.909Z,1715906454.909 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch](DEBUG): Initialize.
2024-05-17T00:40:57.168Z,1715906457.168 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2024-05-17T00:41:04.081Z,1715906464.081 [WetLabsUBAT](FAULT): UBAT flow rate is below the specified threshold of 0.05 l/s.
2024-05-17T00:42:12.643Z,1715906532.643 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2024-05-17T00:42:13.344Z,1715906533.344 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2024-05-17T00:42:13.344Z,1715906533.344 [RDI_Pathfinder] No Fault, FailCount= 3
2024-05-17T00:42:13.530Z,1715906533.530 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format
2024-05-17T00:42:15.655Z,1715906535.655 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.251354
2024-05-17T00:42:26.050Z,1715906546.050 [RDI_Pathfinder](FAULT): DVL failed to acquire valid data within timeout.
2024-05-17T00:42:26.050Z,1715906546.050 [RDI_Pathfinder] Data Fault, FailCount= 1
2024-05-17T00:42:26.050Z,1715906546.050 [RDI_Pathfinder](ERROR): Data Fault
2024-05-17T00:42:26.307Z,1715906546.307 [CBIT](ERROR): Data Fault in component: RDI_Pathfinder
2024-05-17T00:42:26.531Z,1715906546.531 [RDI_Pathfinder](INFO): Powering down
2024-05-17T00:42:27.506Z,1715906547.506 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2024-05-17T00:42:27.506Z,1715906547.506 [RDI_Pathfinder] No Fault, FailCount= 1
2024-05-17T00:42:27.679Z,1715906547.679 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format
2024-05-17T00:42:47.791Z,1715906567.791 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2024-05-17T00:42:49.883Z,1715906569.883 [RDI_Pathfinder](ERROR): No DVL communication! Re-initializing
2024-05-17T00:42:49.883Z,1715906569.883 [RDI_Pathfinder] Communications Fault, FailCount= 2
2024-05-17T00:42:49.883Z,1715906569.883 [RDI_Pathfinder](ERROR): Communications Fault
2024-05-17T00:42:50.115Z,1715906570.115 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2024-05-17T00:42:50.351Z,1715906570.351 [RDI_Pathfinder](INFO): Powering down
2024-05-17T00:42:51.428Z,1715906571.428 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2024-05-17T00:42:51.428Z,1715906571.428 [RDI_Pathfinder] No Fault, FailCount= 2
2024-05-17T00:42:51.497Z,1715906571.497 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format
2024-05-17T00:43:00.147Z,1715906580.147 [Radio_Surface](INFO): Powering down
2024-05-17T00:43:06.971Z,1715906586.971 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch] Stopped
2024-05-17T00:43:06.972Z,1715906586.972 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth](INFO): Completed ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth
2024-05-17T00:43:06.972Z,1715906586.972 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth] Stopped
2024-05-17T00:43:06.973Z,1715906586.973 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth](DEBUG): Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth
2024-05-17T00:43:06.973Z,1715906586.973 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed] Stopped
2024-05-17T00:43:06.973Z,1715906586.973 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed](DEBUG): Uninitialize.
2024-05-17T00:43:06.973Z,1715906586.973 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth](INFO): Completed ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth
2024-05-17T00:43:06.973Z,1715906586.973 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth] Stopped
2024-05-17T00:43:06.974Z,1715906586.974 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth](DEBUG): Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth
2024-05-17T00:43:06.974Z,1715906586.974 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:A] Stopped
2024-05-17T00:43:06.974Z,1715906586.974 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth] Running Loop=1
2024-05-17T00:43:06.974Z,1715906586.974 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth
2024-05-17T00:43:06.974Z,1715906586.974 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed] Running Loop=1
2024-05-17T00:43:06.974Z,1715906586.974 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed](DEBUG): Initialize.
2024-05-17T00:43:06.974Z,1715906586.974 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch] Running Loop=1
2024-05-17T00:43:06.974Z,1715906586.974 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch](DEBUG): Initialize.
2024-05-17T00:43:06.975Z,1715906586.975 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:C] Running Loop=1
2024-05-17T00:43:07.372Z,1715906587.372 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:C](INFO): Waiting for the vehicle to settle. Depth =  7.038107 m 
2024-05-17T00:43:07.372Z,1715906587.372 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:C] Stopped
2024-05-17T00:43:07.372Z,1715906587.372 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait] Running Loop=1
2024-05-17T00:43:07.372Z,1715906587.372 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait](DEBUG): Initialize Wait Component.
2024-05-17T00:43:07.372Z,1715906587.372 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch] Running Loop=1
2024-05-17T00:43:07.373Z,1715906587.373 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed] Running Loop=1
2024-05-17T00:43:13.818Z,1715906593.818 [RDI_Pathfinder](ERROR): No DVL communication! Re-initializing
2024-05-17T00:43:13.818Z,1715906593.818 [RDI_Pathfinder] Communications Fault, FailCount= 3
2024-05-17T00:43:13.818Z,1715906593.818 [RDI_Pathfinder](ERROR): Communications Fault
2024-05-17T00:43:14.016Z,1715906594.016 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2024-05-17T00:43:14.016Z,1715906594.016 [CBIT](CRITICAL): Communications Fault in component: RDI_Pathfinder
2024-05-17T00:43:14.299Z,1715906594.299 [RDI_Pathfinder](INFO): Powering down
2024-05-17T00:43:14.534Z,1715906594.534 [CBIT](INFO): Critical error at 20240517T004314
2024-05-17T00:43:14.534Z,1715906594.534 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2024-05-17T00:43:14.645Z,1715906594.645 [MissionManager](INFO): MissionManager is completed.
2024-05-17T00:43:14.645Z,1715906594.645 [MissionManager](INFO): Uninitializing Mission ballast_and_trim
2024-05-17T00:43:14.645Z,1715906594.645 [ballast_and_trim] Stopped
2024-05-17T00:43:14.645Z,1715906594.645 [ballast_and_trim](DEBUG): Aggregate::uninitialize ballast_and_trim
2024-05-17T00:43:14.645Z,1715906594.645 [ballast_and_trim:Science] Stopped
2024-05-17T00:43:14.646Z,1715906594.646 [ballast_and_trim:Science](DEBUG): Aggregate::uninitialize ballast_and_trim:Science
2024-05-17T00:43:14.646Z,1715906594.646 [ballast_and_trim:Science:B] Stopped
2024-05-17T00:43:14.646Z,1715906594.646 [ballast_and_trim:Science:C] Stopped
2024-05-17T00:43:14.646Z,1715906594.646 [ballast_and_trim:Science:E] Stopped
2024-05-17T00:43:14.646Z,1715906594.646 [ballast_and_trim:Science:F] Stopped
2024-05-17T00:43:14.646Z,1715906594.646 [ballast_and_trim:Science:OceanCurrent] Stopped
2024-05-17T00:43:14.646Z,1715906594.646 [ballast_and_trim:Science:OceanCurrent](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:OceanCurrent
2024-05-17T00:43:14.646Z,1715906594.646 [ballast_and_trim:Science:OceanCurrent:A.] Stopped
2024-05-17T00:43:14.646Z,1715906594.646 [ballast_and_trim:BackseatDriver] Stopped
2024-05-17T00:43:14.646Z,1715906594.646 [ballast_and_trim:BackseatDriver](DEBUG): Aggregate::uninitialize ballast_and_trim:BackseatDriver
2024-05-17T00:43:14.646Z,1715906594.646 [ballast_and_trim:BackseatDriver:A.BackseatDriver] Stopped
2024-05-17T00:43:14.646Z,1715906594.646 [ballast_and_trim:PowerOnly] Stopped
2024-05-17T00:43:14.646Z,1715906594.646 [ballast_and_trim:PowerOnly](DEBUG): Aggregate::uninitialize ballast_and_trim:PowerOnly
2024-05-17T00:43:14.647Z,1715906594.647 [ballast_and_trim:PowerOnly:E.Wait] Stopped
2024-05-17T00:43:14.647Z,1715906594.647 [ballast_and_trim:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2024-05-17T00:43:14.647Z,1715906594.647 [ballast_and_trim:RunBallastAndTrim] Stopped
2024-05-17T00:43:14.647Z,1715906594.647 [ballast_and_trim:RunBallastAndTrim](DEBUG): Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim
2024-05-17T00:43:14.647Z,1715906594.647 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim] Stopped
2024-05-17T00:43:14.647Z,1715906594.647 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim](DEBUG): Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim
2024-05-17T00:43:14.647Z,1715906594.647 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:A] Stopped
2024-05-17T00:43:14.647Z,1715906594.647 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:B] Stopped
2024-05-17T00:43:14.647Z,1715906594.647 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:C] Stopped
2024-05-17T00:43:14.647Z,1715906594.647 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:D] Stopped
2024-05-17T00:43:14.648Z,1715906594.648 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:E] Stopped
2024-05-17T00:43:14.648Z,1715906594.648 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth] Stopped
2024-05-17T00:43:14.648Z,1715906594.648 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth](DEBUG): Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth
2024-05-17T00:43:14.648Z,1715906594.648 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed] Stopped
2024-05-17T00:43:14.648Z,1715906594.648 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed](DEBUG): Uninitialize.
2024-05-17T00:43:14.648Z,1715906594.648 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch] Stopped
2024-05-17T00:43:14.648Z,1715906594.648 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait] Stopped
2024-05-17T00:43:14.648Z,1715906594.648 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait](DEBUG): Uninitialize Wait Component.
2024-05-17T00:43:14.648Z,1715906594.648 [ballast_and_trim:RunBallastAndTrim:Depth1] Stopped
2024-05-17T00:43:14.648Z,1715906594.648 [ballast_and_trim:RunBallastAndTrim:Depth1](DEBUG): Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim:Depth1
2024-05-17T00:43:14.648Z,1715906594.648 [ballast_and_trim:RunBallastAndTrim:Depth1:B] Stopped
2024-05-17T00:43:14.648Z,1715906594.648 [ballast_and_trim:RunBallastAndTrim:Depth1:B](DEBUG): Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim:Depth1:B
2024-05-17T00:43:14.771Z,1715906594.771 [WetLabsUBAT](INFO): Powering down
2024-05-17T00:43:15.036Z,1715906595.036 [MissionManager](IMPORTANT): Started mission Default
2024-05-17T00:43:15.036Z,1715906595.036 [Default] Running Loop=1
2024-05-17T00:43:15.037Z,1715906595.037 [Default](DEBUG): Aggregate::initialize Default
2024-05-17T00:43:15.037Z,1715906595.037 [Default:B.GoToSurface] Running Loop=1
2024-05-17T00:43:15.037Z,1715906595.037 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2024-05-17T00:43:15.037Z,1715906595.037 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2024-05-17T00:43:15.037Z,1715906595.037 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2024-05-17T00:43:15.038Z,1715906595.038 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2024-05-17T00:43:15.038Z,1715906595.038 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2024-05-17T00:43:15.038Z,1715906595.038 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2024-05-17T00:43:15.038Z,1715906595.038 [Default:A.Wait] Running Loop=1
2024-05-17T00:43:15.038Z,1715906595.038 [Default:A.Wait](DEBUG): Initialize Wait Component.
2024-05-17T00:43:15.183Z,1715906595.183 [WetLabsBB2FL](INFO): Powering down
2024-05-17T00:43:15.438Z,1715906595.438 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -25.00 mm (1 active estimators).
2024-05-17T00:43:15.500Z,1715906595.500 [Radio_Surface](INFO): Powering up
2024-05-17T00:43:22.952Z,1715906602.952 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2024-05-17T00:43:28.369Z,1715906608.369 [Default:A.Wait](INFO): Done Waiting.
2024-05-17T00:43:28.369Z,1715906608.369 [Default:A.Wait] Stopped
2024-05-17T00:43:28.370Z,1715906608.370 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2024-05-17T00:43:58.091Z,1715906638.091 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2024-05-17T00:44:33.231Z,1715906673.231 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2024-05-17T00:45:08.373Z,1715906708.373 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2024-05-17T00:45:43.515Z,1715906743.515 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2024-05-17T00:46:03.720Z,1715906763.720 [Default:CheckIn] Running Loop=1
2024-05-17T00:46:03.721Z,1715906763.721 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2024-05-17T00:46:03.721Z,1715906763.721 [Default:CheckIn:Read_GPS] Running Loop=1
2024-05-17T00:46:13.904Z,1715906773.904 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2024-05-17T00:46:13.904Z,1715906773.904 [RDI_Pathfinder] No Fault, FailCount= 3
2024-05-17T00:46:14.100Z,1715906774.100 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format
2024-05-17T00:46:18.659Z,1715906778.659 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2024-05-17T00:46:19.276Z,1715906779.276 [CBIT](INFO): Clearing failed state for component BPC1
2024-05-17T00:46:19.276Z,1715906779.276 [BPC1] No Fault, FailCount= 6
2024-05-17T00:46:26.713Z,1715906786.713 [RDI_Pathfinder](FAULT): DVL failed to acquire valid data within timeout.
2024-05-17T00:46:26.714Z,1715906786.714 [RDI_Pathfinder] Data Fault, FailCount= 1
2024-05-17T00:46:26.714Z,1715906786.714 [RDI_Pathfinder](ERROR): Data Fault
2024-05-17T00:46:26.931Z,1715906786.931 [CBIT](ERROR): Data Fault in component: RDI_Pathfinder
2024-05-17T00:46:27.187Z,1715906787.187 [RDI_Pathfinder](INFO): Powering down
2024-05-17T00:46:28.151Z,1715906788.151 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2024-05-17T00:46:28.151Z,1715906788.151 [RDI_Pathfinder] No Fault, FailCount= 1
2024-05-17T00:46:28.343Z,1715906788.343 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format
2024-05-17T00:46:43.817Z,1715906803.817 [NAL9602](INFO): SBD MO Status=0, MOMSN=37395, MT Status=0, MTMSN=0
2024-05-17T00:46:43.817Z,1715906803.817 [NAL9602](INFO): No messages in MT queue
2024-05-17T00:46:45.020Z,1715906805.020 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,004644.00,A,3648.16563,N,12147.28326,W,0.933,0.00,170524,,,A*70
2024-05-17T00:46:45.022Z,1715906805.022 [NAL9602](INFO): GPS fix at 20240517T004644: (36.802760, -121.788054)
2024-05-17T00:46:45.034Z,1715906805.034 [Default:CheckIn:Read_GPS] Stopped
2024-05-17T00:46:45.034Z,1715906805.034 [Default:CheckIn:Read_Iridium] Running Loop=1
2024-05-17T00:46:50.864Z,1715906810.864 [RDI_Pathfinder](ERROR): No DVL communication! Re-initializing
2024-05-17T00:46:50.864Z,1715906810.864 [RDI_Pathfinder] Communications Fault, FailCount= 2
2024-05-17T00:46:50.864Z,1715906810.864 [RDI_Pathfinder](ERROR): Communications Fault
2024-05-17T00:46:51.048Z,1715906811.048 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2024-05-17T00:46:51.343Z,1715906811.343 [RDI_Pathfinder](INFO): Powering down
2024-05-17T00:46:52.260Z,1715906812.260 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2024-05-17T00:46:52.260Z,1715906812.260 [RDI_Pathfinder] No Fault, FailCount= 2
2024-05-17T00:46:52.501Z,1715906812.501 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format
2024-05-17T00:46:53.799Z,1715906813.799 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2024-05-17T00:47:06.876Z,1715906826.876 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003044
2024-05-17T00:47:07.809Z,1715906827.809 [NAL9602](INFO): SBD MO Status=2, MOMSN=37396, MT Status=2, MTMSN=0
2024-05-17T00:47:07.809Z,1715906827.809 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2024-05-17T00:47:14.665Z,1715906834.665 [RDI_Pathfinder](ERROR): No DVL communication! Re-initializing
2024-05-17T00:47:14.665Z,1715906834.665 [RDI_Pathfinder] Communications Fault, FailCount= 3
2024-05-17T00:47:14.665Z,1715906834.665 [RDI_Pathfinder](ERROR): Communications Fault
2024-05-17T00:47:14.875Z,1715906834.875 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2024-05-17T00:47:14.876Z,1715906834.876 [CBIT](CRITICAL): Communications Fault in component: RDI_Pathfinder
2024-05-17T00:47:15.139Z,1715906835.139 [RDI_Pathfinder](INFO): Powering down
2024-05-17T00:47:15.358Z,1715906835.358 [CBIT](INFO): Critical error at 20240517T004714
2024-05-17T00:47:17.084Z,1715906837.084 [DataOverHttps](INFO): Sending 158 bytes from file Logs/20240517T003620/Courier0003.lzma
2024-05-17T00:47:18.085Z,1715906838.085 [DataOverHttps](INFO): Moved sent file to Logs/20240517T003620/Courier0003.lzma.bak
2024-05-17T00:47:18.085Z,1715906838.085 [DataOverHttps](INFO): SBD MOMSN=21032123
2024-05-17T00:47:26.422Z,1715906846.422 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2024-05-17T00:47:36.082Z,1715906856.082 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20240517T003620/Courier0006.lzma
2024-05-17T00:47:37.085Z,1715906857.085 [DataOverHttps](INFO): Moved sent file to Logs/20240517T003620/Courier0006.lzma.bak
2024-05-17T00:47:37.085Z,1715906857.085 [DataOverHttps](INFO): SBD MOMSN=21032128
2024-05-17T00:47:38.316Z,1715906858.316 [NAL9602](INFO): Not Powering down - fast GPS
2024-05-17T00:47:41.866Z,1715906861.866 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2024-05-17T00:47:56.905Z,1715906876.905 [DataOverHttps](INFO): Sending 987 bytes from file Logs/20240517T003620/Express0004.lzma
2024-05-17T00:47:57.905Z,1715906877.905 [DataOverHttps](INFO): Moved sent file to Logs/20240517T003620/Express0004.lzma.bak
2024-05-17T00:47:57.905Z,1715906877.905 [DataOverHttps](INFO): SBD MOMSN=21032130
2024-05-17T00:47:57.969Z,1715906877.969 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2024-05-17T00:48:13.309Z,1715906893.309 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2024-05-17T00:48:16.563Z,1715906896.563 [DataOverHttps](INFO): Sending 120 bytes from file Logs/20240517T003620/Express0007.lzma
2024-05-17T00:48:17.565Z,1715906897.565 [DataOverHttps](INFO): Moved sent file to Logs/20240517T003620/Express0007.lzma.bak
2024-05-17T00:48:17.565Z,1715906897.565 [DataOverHttps](INFO): SBD MOMSN=21032153
2024-05-17T00:48:22.368Z,1715906902.368 [Default:CheckIn:Read_Iridium] Stopped
2024-05-17T00:48:22.368Z,1715906902.368 [Default:CheckIn:C.Wait] Running Loop=1
2024-05-17T00:48:22.368Z,1715906902.368 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2024-05-17T00:48:28.786Z,1715906908.786 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2024-05-17T00:48:44.023Z,1715906924.023 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2024-05-17T00:50:14.728Z,1715907014.728 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2024-05-17T00:50:14.728Z,1715907014.728 [RDI_Pathfinder] No Fault, FailCount= 3
2024-05-17T00:50:14.985Z,1715907014.985 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format
2024-05-17T00:50:27.500Z,1715907027.500 [RDI_Pathfinder](FAULT): DVL failed to acquire valid data within timeout.
2024-05-17T00:50:27.501Z,1715907027.501 [RDI_Pathfinder] Data Fault, FailCount= 1
2024-05-17T00:50:27.501Z,1715907027.501 [RDI_Pathfinder](ERROR): Data Fault
2024-05-17T00:50:27.730Z,1715907027.730 [CBIT](ERROR): Data Fault in component: RDI_Pathfinder
2024-05-17T00:50:27.979Z,1715907027.979 [RDI_Pathfinder](INFO): Powering down
2024-05-17T00:50:28.884Z,1715907028.884 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2024-05-17T00:50:28.884Z,1715907028.884 [RDI_Pathfinder] No Fault, FailCount= 1
2024-05-17T00:50:29.116Z,1715907029.116 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format
2024-05-17T00:50:48.604Z,1715907048.604 [CommandExec](IMPORTANT): got command restart system
2024-05-17T00:50:50.663Z,1715907050.663 [CommandExec ThreadHandler](INFO): Uninitializing protected caller thread.
2024-05-17T00:50:50.663Z,1715907050.663 [CommandExec](INFO): Uninitializing the command executive.
2024-05-17T00:50:50.663Z,1715907050.663 [CommandExec](INFO): Uninitializing the command scheduler.
2024-05-17T00:50:50.664Z,1715907050.664 [CommandExec ThreadHandler](INFO): Thread cancelled.
2024-05-17T00:50:50.787Z,1715907050.787 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2024-05-17T00:50:50.787Z,1715907050.787 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2024-05-17T00:50:50.787Z,1715907050.787 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2024-05-17T00:50:50.788Z,1715907050.788 [NavChartDb](INFO): Join timeout helper Thread ID is 2979
2024-05-17T00:50:51.055Z,1715907051.055 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2024-05-17T00:50:51.056Z,1715907051.056 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2024-05-17T00:50:51.075Z,1715907051.075 [ComponentRegistry](INFO): Shutting down WetLabsUBAT ThreadHandler
2024-05-17T00:50:51.075Z,1715907051.075 [WetLabsUBAT ThreadHandler](INFO): Thread cancelled.
2024-05-17T00:50:51.076Z,1715907051.076 [WetLabsUBAT](INFO): Join timeout helper Thread ID is 2980
2024-05-17T00:50:51.083Z,1715907051.083 [WetLabsUBAT ThreadHandler](INFO): Uninitializing protected caller thread.
2024-05-17T00:50:51.083Z,1715907051.083 [WetLabsUBAT](INFO): Powering down
2024-05-17T00:50:51.084Z,1715907051.084 [WetLabsUBAT ThreadHandler](INFO): Thread cancelled.
2024-05-17T00:50:51.099Z,1715907051.099 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2024-05-17T00:50:51.099Z,1715907051.099 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2024-05-17T00:50:51.100Z,1715907051.100 [WetLabsBB2FL](INFO): Join timeout helper Thread ID is 2981
2024-05-17T00:50:51.337Z,1715907051.337 [RDI_Pathfinder](ERROR): No DVL communication! Re-initializing
2024-05-17T00:50:51.337Z,1715907051.337 [RDI_Pathfinder] Communications Fault, FailCount= 2
2024-05-17T00:50:51.337Z,1715907051.337 [RDI_Pathfinder](ERROR): Communications Fault
2024-05-17T00:50:51.500Z,1715907051.500 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2024-05-17T00:50:51.579Z,1715907051.579 [WetLabsBB2FL ThreadHandler](INFO): Uninitializing protected caller thread.
2024-05-17T00:50:51.579Z,1715907051.579 [WetLabsBB2FL](INFO): Powering down
2024-05-17T00:50:51.580Z,1715907051.580 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2024-05-17T00:50:51.583Z,1715907051.583 [ComponentRegistry](INFO): Shutting down CTD_Seabird ThreadHandler
2024-05-17T00:50:51.583Z,1715907051.583 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2024-05-17T00:50:51.583Z,1715907051.583 [CTD_Seabird](INFO): Join timeout helper Thread ID is 2982
2024-05-17T00:50:51.767Z,1715907051.767 [CTD_Seabird](INFO): Powering down
2024-05-17T00:50:51.787Z,1715907051.787 [CTD_Seabird ThreadHandler](INFO): Uninitializing protected caller thread.
2024-05-17T00:50:51.787Z,1715907051.787 [CTD_Seabird](INFO): Powering down
2024-05-17T00:50:51.800Z,1715907051.800 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2024-05-17T00:50:51.803Z,1715907051.803 [ComponentRegistry](INFO): Shutting down DAT ThreadHandler
2024-05-17T00:50:51.803Z,1715907051.803 [DAT ThreadHandler](INFO): Thread cancelled.
2024-05-17T00:50:51.804Z,1715907051.804 [DAT](INFO): Join timeout helper Thread ID is 2983
2024-05-17T00:50:51.812Z,1715907051.812 [RDI_Pathfinder](INFO): Powering down
2024-05-17T00:50:51.843Z,1715907051.843 [DAT](INFO): Powering down
2024-05-17T00:50:51.916Z,1715907051.916 [DAT ThreadHandler](INFO): Uninitializing protected caller thread.
2024-05-17T00:50:51.916Z,1715907051.916 [DAT](INFO): Powering down
2024-05-17T00:50:51.917Z,1715907051.917 [DAT ThreadHandler](INFO): Thread cancelled.
2024-05-17T00:50:51.928Z,1715907051.928 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2024-05-17T00:50:51.928Z,1715907051.928 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2024-05-17T00:50:51.929Z,1715907051.929 [Radio_Surface](INFO): Join timeout helper Thread ID is 2984
2024-05-17T00:50:52.311Z,1715907052.311 [Radio_Surface](INFO): Powering down
2024-05-17T00:50:52.312Z,1715907052.312 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2024-05-17T00:50:52.313Z,1715907052.313 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2024-05-17T00:50:52.336Z,1715907052.336 [ComponentRegistry](INFO): Shutting down Onboard ThreadHandler
2024-05-17T00:50:52.336Z,1715907052.336 [Onboard ThreadHandler](INFO): Thread cancelled.
2024-05-17T00:50:52.337Z,1715907052.337 [Onboard](INFO): Join timeout helper Thread ID is 2985
2024-05-17T00:50:52.720Z,1715907052.720 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2024-05-17T00:50:52.720Z,1715907052.720 [RDI_Pathfinder] No Fault, FailCount= 2
2024-05-17T00:50:52.763Z,1715907052.763 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2024-05-17T00:50:52.973Z,1715907052.973 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format
2024-05-17T00:50:53.003Z,1715907053.003 [Onboard ThreadHandler](INFO): Uninitializing protected caller thread.
2024-05-17T00:50:53.003Z,1715907053.003 [Onboard ThreadHandler](INFO): Thread cancelled.
2024-05-17T00:50:53.012Z,1715907053.012 [ComponentRegistry](INFO): Shutting down DataOverHttps ThreadHandler
2024-05-17T00:50:53.012Z,1715907053.012 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2024-05-17T00:50:53.012Z,1715907053.012 [DataOverHttps](INFO): Join timeout helper Thread ID is 2987
2024-05-17T00:50:53.767Z,1715907053.767 [DataOverHttps ThreadHandler](INFO): Uninitializing protected caller thread.
2024-05-17T00:50:53.767Z,1715907053.767 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2024-05-17T00:50:53.796Z,1715907053.796 [ComponentRegistry](INFO): Shutting down BackseatComponent ThreadHandler
2024-05-17T00:50:53.796Z,1715907053.796 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2024-05-17T00:50:53.796Z,1715907053.796 [BackseatComponent](INFO): Join timeout helper Thread ID is 2988
2024-05-17T00:50:53.994Z,1715907053.994 [BackseatComponent ThreadHandler](INFO): Uninitializing protected caller thread.
2024-05-17T00:50:53.994Z,1715907053.994 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2024-05-17T00:50:53.000Z,1715907054.000 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2024-05-17T00:50:53.000Z,1715907054.000 [logger ThreadHandler](INFO): Thread cancelled.
2024-05-17T00:50:54.000Z,1715907054.000 [logger](INFO): Join timeout helper Thread ID is 2989
2024-05-17T00:50:54.043Z,1715907054.043 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2024-05-17T00:50:54.043Z,1715907054.043 [logger ThreadHandler](INFO): Thread cancelled.
2024-05-17T00:50:54.059Z,1715907054.059 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2024-05-17T00:50:54.060Z,1715907054.060 [CommandLine ThreadHandler](INFO): Thread cancelled.
2024-05-17T00:50:54.060Z,1715907054.060 [CommandLine](INFO): Join timeout helper Thread ID is 2990
2024-05-17T00:50:54.079Z,1715907054.079 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2024-05-17T00:50:54.079Z,1715907054.079 [CommandLine ThreadHandler](INFO): Thread cancelled.
2024-05-17T00:50:54.099Z,1715907054.099 [ComponentRegistry](INFO): Shutting down CommandExec ThreadHandler
2024-05-17T00:50:54.100Z,1715907054.100 [CommandExec ThreadHandler](INFO): Thread cancelled.
2024-05-17T00:50:54.100Z,1715907054.100 [CommandExec](INFO): Join timeout helper Thread ID is 2991
2024-05-17T00:50:54.101Z,1715907054.101 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2024-05-17T00:50:54.101Z,1715907054.101 [controlThread ThreadHandler](INFO): Thread cancelled.
2024-05-17T00:50:54.102Z,1715907054.102 [controlThread](INFO): Join timeout helper Thread ID is 2992
2024-05-17T00:50:54.147Z,1715907054.147 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2024-05-17T00:50:54.147Z,1715907054.147 [controlThread](DEBUG): Uninitializing ControlThread
2024-05-17T00:50:54.148Z,1715907054.148 [AHRS_M2](INFO): Powering down
2024-05-17T00:50:54.220Z,1715907054.220 [NAL9602](INFO): Powering down
2024-05-17T00:50:54.291Z,1715907054.291 [RDI_Pathfinder](INFO): Powering down
2024-05-17T00:50:54.292Z,1715907054.292 [DepthRateCalculator](DEBUG): Uninitializing DepthRateCalculator.
2024-05-17T00:50:54.293Z,1715907054.293 [ElevatorOffsetCalculator](DEBUG): Uninitializing ElevatorOffsetCalculator.
2024-05-17T00:50:54.294Z,1715907054.294 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2024-05-17T00:50:54.294Z,1715907054.294 [MissionManager](INFO): Uninitializing Mission Default
2024-05-17T00:50:54.294Z,1715907054.294 [Default] Stopped
2024-05-17T00:50:54.294Z,1715907054.294 [Default](DEBUG): Aggregate::uninitialize Default
2024-05-17T00:50:54.294Z,1715907054.294 [Default:B.GoToSurface] Stopped
2024-05-17T00:50:54.295Z,1715907054.295 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2024-05-17T00:50:54.295Z,1715907054.295 [Default:CheckIn] Stopped
2024-05-17T00:50:54.295Z,1715907054.295 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2024-05-17T00:50:54.295Z,1715907054.295 [Default:CheckIn:C.Wait] Stopped
2024-05-17T00:50:54.295Z,1715907054.295 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2024-05-17T00:50:54.298Z,1715907054.298 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2024-05-17T00:50:54.298Z,1715907054.298 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2024-05-17T00:50:54.298Z,1715907054.298 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2024-05-17T00:50:54.299Z,1715907054.299 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2024-05-17T00:50:54.299Z,1715907054.299 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2024-05-17T00:50:54.300Z,1715907054.300 [BuoyancyServo](INFO): Powering down
2024-05-17T00:50:54.311Z,1715907054.311 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2024-05-17T00:50:54.311Z,1715907054.311 [ElevatorServo](INFO): Powering down
2024-05-17T00:50:54.312Z,1715907054.312 [DockingStepper](DEBUG): Uninitialize Docking Stepper.
2024-05-17T00:50:54.312Z,1715907054.312 [DockingStepper](INFO): Powering down
2024-05-17T00:50:54.313Z,1715907054.313 [MassServo](DEBUG): Uninitialize Mass Servo.
2024-05-17T00:50:54.313Z,1715907054.313 [MassServo](INFO): Powering down
2024-05-17T00:50:54.314Z,1715907054.314 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2024-05-17T00:50:54.314Z,1715907054.314 [RudderServo](INFO): Powering down
2024-05-17T00:50:54.315Z,1715907054.315 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2024-05-17T00:50:54.315Z,1715907054.315 [ThrusterServo](INFO): Powering down
2024-05-17T00:50:54.316Z,1715907054.316 [SBIT](DEBUG): Uninitialize SBIT Component.
2024-05-17T00:50:54.317Z,1715907054.317 [IBIT](DEBUG): Uninitialize IBIT Component.
2024-05-17T00:50:54.317Z,1715907054.317 [CBIT](DEBUG): Uninitialize CBIT Component.
2024-05-17T00:50:54.317Z,1715907054.317 [CBIT](DEBUG): Powering off loads.
2024-05-17T00:50:54.331Z,1715907054.331 [CBIT](DEBUG): Disabling WDT.
2024-05-17T00:50:54.343Z,1715907054.343 [CBIT](DEBUG): Opening all GF detection circuits.
2024-05-17T00:50:54.344Z,1715907054.344 [controlThread ThreadHandler](INFO): Thread cancelled.
2024-05-17T00:50:54.413Z,1715907054.413 [DAT ThreadHandler](INFO): Thread cancelled.
2024-05-17T00:50:54.421Z,1715907054.421 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2024-05-17T00:50:54.423Z,1715907054.423 [Onboard ThreadHandler](INFO): Thread cancelled.
2024-05-17T00:50:54.429Z,1715907054.429 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2024-05-17T00:50:54.474Z,1715907054.474 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2024-05-17T00:50:54.666Z,1715907054.666 [WetLabsUBAT ThreadHandler](INFO): Thread cancelled.
2024-05-17T00:50:54.668Z,1715907054.668 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2024-05-17T00:50:54.675Z,1715907054.675 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2024-05-17T00:50:54.683Z,1715907054.683 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2024-05-17T00:50:54.763Z,1715907054.763 [logger ThreadHandler](INFO): Thread cancelled.