2025-06-13T19:35:03.857Z,1749843303.857 [Supervisor](DEBUG): Initializing supervisor.
2025-06-13T19:35:03.866Z,1749843303.866 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2025-06-13T19:35:03.867Z,1749843303.867 [SyncHandler](INFO): Protected caller Thread ID is 840
2025-06-13T19:35:03.868Z,1749843303.868 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2025-06-13T19:35:03.870Z,1749843303.870 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2025-06-13T19:35:03.871Z,1749843303.871 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 841
2025-06-13T19:35:03.880Z,1749843303.880 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2025-06-13T19:35:03.925Z,1749843303.925 [ComponentRegistry](DEBUG): Component "CommandExec" handled in its own thread.
2025-06-13T19:35:03.927Z,1749843303.927 [CommandExec ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2025-06-13T19:35:03.928Z,1749843303.928 [CommandExec ThreadHandler](INFO): Protected caller Thread ID is 842
2025-06-13T19:35:03.938Z,1749843303.938 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2025-06-13T19:35:03.939Z,1749843303.939 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2025-06-13T19:35:03.940Z,1749843303.940 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 843
2025-06-13T19:35:03.945Z,1749843303.945 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2025-06-13T19:35:03.947Z,1749843303.947 [logger ThreadHandler](DEBUG): Created PCaller Thread at 405114E0
2025-06-13T19:35:03.948Z,1749843303.948 [logger ThreadHandler](INFO): Protected caller Thread ID is 844
2025-06-13T19:35:03.957Z,1749843303.957 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2025-06-13T19:35:03.958Z,1749843303.958 [Supervisor](INFO): Looking for Config files in directory: Config/
2025-06-13T19:35:03.963Z,1749843303.963 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2025-06-13T19:35:04.151Z,1749843304.151 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2025-06-13T19:35:04.151Z,1749843304.151 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2025-06-13T19:35:05.534Z,1749843305.534 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2025-06-13T19:35:05.536Z,1749843305.536 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2025-06-13T19:35:05.994Z,1749843305.994 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2025-06-13T19:35:05.996Z,1749843305.996 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2025-06-13T19:35:06.140Z,1749843306.140 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2025-06-13T19:35:06.590Z,1749843306.590 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2025-06-13T19:35:06.590Z,1749843306.590 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2025-06-13T19:35:06.704Z,1749843306.704 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Guidance
2025-06-13T19:35:06.706Z,1749843306.706 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2025-06-13T19:35:06.824Z,1749843306.824 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2025-06-13T19:35:06.825Z,1749843306.825 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2025-06-13T19:35:07.244Z,1749843307.244 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2025-06-13T19:35:07.246Z,1749843307.246 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2025-06-13T19:35:07.791Z,1749843307.791 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2025-06-13T19:35:07.793Z,1749843307.793 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2025-06-13T19:35:08.022Z,1749843308.022 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2025-06-13T19:35:08.022Z,1749843308.022 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2025-06-13T19:35:08.217Z,1749843308.217 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2025-06-13T19:35:08.219Z,1749843308.219 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2025-06-13T19:35:08.785Z,1749843308.785 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2025-06-13T19:35:08.785Z,1749843308.785 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2025-06-13T19:35:09.084Z,1749843309.084 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2025-06-13T19:35:09.086Z,1749843309.086 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2025-06-13T19:35:09.335Z,1749843309.335 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2025-06-13T19:35:09.337Z,1749843309.337 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2025-06-13T19:35:09.732Z,1749843309.732 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2025-06-13T19:35:09.733Z,1749843309.733 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2025-06-13T19:35:10.093Z,1749843310.093 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2025-06-13T19:35:10.095Z,1749843310.095 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-pontus/
2025-06-13T19:35:10.097Z,1749843310.097 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/secure.cfg
2025-06-13T19:35:10.190Z,1749843310.190 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Sensor.cfg
2025-06-13T19:35:10.367Z,1749843310.367 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Dock.cfg
2025-06-13T19:35:10.482Z,1749843310.482 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/workSite.cfg
2025-06-13T19:35:10.585Z,1749843310.585 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Servo.cfg
2025-06-13T19:35:10.703Z,1749843310.703 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Simulator.cfg
2025-06-13T19:35:10.799Z,1749843310.799 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/logger.cfg
2025-06-13T19:35:10.905Z,1749843310.905 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/vehicle.cfg
2025-06-13T19:35:11.028Z,1749843311.028 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Battery.cfg
2025-06-13T19:35:11.330Z,1749843311.330 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2025-06-13T19:35:11.330Z,1749843311.330 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Navigation.cfg
2025-06-13T19:35:11.886Z,1749843311.886 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/BIT.cfg
2025-06-13T19:35:12.359Z,1749843312.359 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Science.cfg
2025-06-13T19:35:12.508Z,1749843312.508 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Control.cfg
2025-06-13T19:35:12.613Z,1749843312.613 [Supervisor](IMPORTANT): Reloading configuration overrides from Data/persisted.cfg
2025-06-13T19:35:12.632Z,1749843312.632 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2025-06-13T19:35:12.811Z,1749843312.811 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2025-06-13T19:35:12.811Z,1749843312.811 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2025-06-13T19:35:12.886Z,1749843312.886 [VerticalControl](DEBUG): Construct VerticalControl.
2025-06-13T19:35:12.950Z,1749843312.950 [VerticalControl] Loaded
2025-06-13T19:35:12.950Z,1749843312.950 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2025-06-13T19:35:12.953Z,1749843312.953 [HorizontalControl](DEBUG): Construct HorizontalControl.
2025-06-13T19:35:13.002Z,1749843313.002 [HorizontalControl] Loaded
2025-06-13T19:35:13.003Z,1749843313.003 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2025-06-13T19:35:13.005Z,1749843313.005 [SpeedControl](DEBUG): Construct SpeedControl.
2025-06-13T19:35:13.008Z,1749843313.008 [SpeedControl] Loaded
2025-06-13T19:35:13.008Z,1749843313.008 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2025-06-13T19:35:13.011Z,1749843313.011 [LoopControl](DEBUG): Construct LoopControl.
2025-06-13T19:35:13.012Z,1749843313.012 [LoopControl] Loaded
2025-06-13T19:35:13.012Z,1749843313.012 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2025-06-13T19:35:13.012Z,1749843313.012 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2025-06-13T19:35:13.013Z,1749843313.013 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2025-06-13T19:35:13.087Z,1749843313.087 [DepthRateCalculator] Loaded
2025-06-13T19:35:13.087Z,1749843313.087 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2025-06-13T19:35:13.092Z,1749843313.092 [PitchRateCalculator] Loaded
2025-06-13T19:35:13.092Z,1749843313.092 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2025-06-13T19:35:13.103Z,1749843313.103 [SpeedCalculator] Loaded
2025-06-13T19:35:13.103Z,1749843313.103 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2025-06-13T19:35:13.107Z,1749843313.107 [YawRateCalculator] Loaded
2025-06-13T19:35:13.108Z,1749843313.108 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2025-06-13T19:35:13.127Z,1749843313.127 [ElevatorOffsetCalculator] Loaded
2025-06-13T19:35:13.127Z,1749843313.127 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2025-06-13T19:35:13.128Z,1749843313.128 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2025-06-13T19:35:13.129Z,1749843313.129 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2025-06-13T19:35:13.178Z,1749843313.178 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2025-06-13T19:35:13.179Z,1749843313.179 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2025-06-13T19:35:13.271Z,1749843313.271 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2025-06-13T19:35:13.272Z,1749843313.272 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2025-06-13T19:35:13.701Z,1749843313.701 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2025-06-13T19:35:13.701Z,1749843313.701 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2025-06-13T19:35:13.923Z,1749843313.923 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2025-06-13T19:35:13.924Z,1749843313.924 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2025-06-13T19:35:14.792Z,1749843314.792 [AHRS_M2] Loaded
2025-06-13T19:35:14.792Z,1749843314.792 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2025-06-13T19:35:15.046Z,1749843315.046 [BackseatComponent] Loaded
2025-06-13T19:35:15.046Z,1749843315.046 [ComponentRegistry](DEBUG): Component "BackseatComponent" handled in its own thread.
2025-06-13T19:35:15.047Z,1749843315.047 [BackseatComponent ThreadHandler](DEBUG): Created PCaller Thread at 409E94E0
2025-06-13T19:35:15.048Z,1749843315.048 [BackseatComponent ThreadHandler](INFO): Protected caller Thread ID is 932
2025-06-13T19:35:15.051Z,1749843315.051 [LcmUniversalReporter] Loaded
2025-06-13T19:35:15.051Z,1749843315.051 [ComponentRegistry](DEBUG): SyncComponent "LcmUniversalReporter" handled in the control thread.
2025-06-13T19:35:15.924Z,1749843315.924 [BPC1] Loaded
2025-06-13T19:35:15.924Z,1749843315.924 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2025-06-13T19:35:16.025Z,1749843316.025 [DAT] Loaded
2025-06-13T19:35:16.025Z,1749843316.025 [ComponentRegistry](DEBUG): Component "DAT" handled in its own thread.
2025-06-13T19:35:16.026Z,1749843316.026 [DAT ThreadHandler](DEBUG): Created PCaller Thread at 40A194E0
2025-06-13T19:35:16.027Z,1749843316.027 [DAT ThreadHandler](INFO): Protected caller Thread ID is 933
2025-06-13T19:35:16.174Z,1749843316.174 [DataOverHttps] Loaded
2025-06-13T19:35:16.174Z,1749843316.174 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2025-06-13T19:35:16.175Z,1749843316.175 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 40A494E0
2025-06-13T19:35:16.176Z,1749843316.176 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 934
2025-06-13T19:35:16.199Z,1749843316.199 [Depth_Keller] Loaded
2025-06-13T19:35:16.200Z,1749843316.200 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2025-06-13T19:35:16.267Z,1749843316.267 [NAL9602] Loaded
2025-06-13T19:35:16.267Z,1749843316.267 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2025-06-13T19:35:16.298Z,1749843316.298 [Onboard] Loaded
2025-06-13T19:35:16.298Z,1749843316.298 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread.
2025-06-13T19:35:16.299Z,1749843316.299 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 40A794E0
2025-06-13T19:35:16.300Z,1749843316.300 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 935
2025-06-13T19:35:16.314Z,1749843316.314 [Power24vConverter] Loaded
2025-06-13T19:35:16.315Z,1749843316.315 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread.
2025-06-13T19:35:16.332Z,1749843316.332 [Radio_Surface] Loaded
2025-06-13T19:35:16.332Z,1749843316.332 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2025-06-13T19:35:16.333Z,1749843316.333 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 40AA94E0
2025-06-13T19:35:16.333Z,1749843316.333 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 936
2025-06-13T19:35:16.383Z,1749843316.383 [RDI_Pathfinder] Loaded
2025-06-13T19:35:16.383Z,1749843316.383 [ComponentRegistry](DEBUG): SyncComponent "RDI_Pathfinder" handled in the control thread.
2025-06-13T19:35:16.399Z,1749843316.399 [Sonardyne_Nano] Loaded
2025-06-13T19:35:16.399Z,1749843316.399 [ComponentRegistry](DEBUG): SyncComponent "Sonardyne_Nano" handled in the control thread.
2025-06-13T19:35:16.400Z,1749843316.400 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2025-06-13T19:35:16.401Z,1749843316.401 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2025-06-13T19:35:16.865Z,1749843316.865 [DeadReckonUsingMultipleVelocitySources] Loaded
2025-06-13T19:35:16.866Z,1749843316.866 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2025-06-13T19:35:16.880Z,1749843316.880 [NavChart] Loaded
2025-06-13T19:35:16.880Z,1749843316.880 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2025-06-13T19:35:16.886Z,1749843316.886 [UniversalFixResidualReporter] Loaded
2025-06-13T19:35:16.886Z,1749843316.886 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2025-06-13T19:35:16.887Z,1749843316.887 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2025-06-13T19:35:16.888Z,1749843316.888 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2025-06-13T19:35:17.650Z,1749843317.650 [SBIT](DEBUG): Construct Startup Built In Test.
2025-06-13T19:35:17.660Z,1749843317.660 [SBIT] Loaded
2025-06-13T19:35:17.660Z,1749843317.660 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2025-06-13T19:35:17.663Z,1749843317.663 [IBIT](DEBUG): Construct Initiated Built In Test.
2025-06-13T19:35:17.676Z,1749843317.676 [IBIT] Loaded
2025-06-13T19:35:17.677Z,1749843317.677 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2025-06-13T19:35:17.682Z,1749843317.682 [CBIT](DEBUG): Construct Continuous Built In Test.
2025-06-13T19:35:17.767Z,1749843317.767 [CBIT] Loaded
2025-06-13T19:35:17.767Z,1749843317.767 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2025-06-13T19:35:17.802Z,1749843317.802 [GFScanner] Loaded
2025-06-13T19:35:17.802Z,1749843317.802 [ComponentRegistry](DEBUG): SyncComponent "GFScanner" handled in the control thread.
2025-06-13T19:35:17.803Z,1749843317.803 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2025-06-13T19:35:17.803Z,1749843317.803 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2025-06-13T19:35:17.976Z,1749843317.976 [BuoyancyServo] Loaded
2025-06-13T19:35:17.977Z,1749843317.977 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2025-06-13T19:35:18.001Z,1749843318.001 [ElevatorServo] Loaded
2025-06-13T19:35:18.001Z,1749843318.001 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2025-06-13T19:35:18.032Z,1749843318.032 [DockingStepper] Loaded
2025-06-13T19:35:18.032Z,1749843318.032 [ComponentRegistry](DEBUG): SyncComponent "DockingStepper" handled in the control thread.
2025-06-13T19:35:18.054Z,1749843318.054 [MassServo] Loaded
2025-06-13T19:35:18.055Z,1749843318.055 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2025-06-13T19:35:18.077Z,1749843318.077 [RudderServo] Loaded
2025-06-13T19:35:18.077Z,1749843318.077 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2025-06-13T19:35:18.097Z,1749843318.097 [ThrusterServo] Loaded
2025-06-13T19:35:18.097Z,1749843318.097 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2025-06-13T19:35:18.098Z,1749843318.098 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2025-06-13T19:35:18.098Z,1749843318.098 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2025-06-13T19:35:18.114Z,1749843318.114 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2025-06-13T19:35:18.115Z,1749843318.115 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2025-06-13T19:35:18.347Z,1749843318.347 [CTD_Seabird] Loaded
2025-06-13T19:35:18.347Z,1749843318.347 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread.
2025-06-13T19:35:18.348Z,1749843318.348 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 40C0C4E0
2025-06-13T19:35:18.349Z,1749843318.349 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 937
2025-06-13T19:35:18.372Z,1749843318.372 [PAR_Licor] Loaded
2025-06-13T19:35:18.372Z,1749843318.372 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2025-06-13T19:35:18.420Z,1749843318.420 [WetLabsBB2FL] Loaded
2025-06-13T19:35:18.420Z,1749843318.420 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2025-06-13T19:35:18.421Z,1749843318.421 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 40C3C4E0
2025-06-13T19:35:18.422Z,1749843318.422 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 938
2025-06-13T19:35:18.443Z,1749843318.443 [WetLabsUBAT] Loaded
2025-06-13T19:35:18.444Z,1749843318.444 [ComponentRegistry](DEBUG): Component "WetLabsUBAT" handled in its own thread.
2025-06-13T19:35:18.445Z,1749843318.445 [WetLabsUBAT ThreadHandler](DEBUG): Created PCaller Thread at 40C6C4E0
2025-06-13T19:35:18.445Z,1749843318.445 [WetLabsUBAT ThreadHandler](INFO): Protected caller Thread ID is 939
2025-06-13T19:35:18.446Z,1749843318.446 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2025-06-13T19:35:18.452Z,1749843318.452 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2025-06-13T19:35:18.455Z,1749843318.455 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2025-06-13T19:35:18.467Z,1749843318.467 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2025-06-13T19:35:18.468Z,1749843318.468 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40C9C4E0
2025-06-13T19:35:18.469Z,1749843318.469 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 940
2025-06-13T19:35:18.473Z,1749843318.473 [Supervisor](INFO): Main Thread ID is 831
2025-06-13T19:35:18.473Z,1749843318.473 [Supervisor](DEBUG): Running supervisor.
2025-06-13T19:35:18.474Z,1749843318.474 [CommandExec ThreadHandler](INFO): Handler Thread ID is 941
2025-06-13T19:35:18.474Z,1749843318.474 [CommandExec](INFO): Initializing the command executive.
2025-06-13T19:35:18.476Z,1749843318.476 [CommandLine ThreadHandler](INFO): Handler Thread ID is 942
2025-06-13T19:35:18.478Z,1749843318.478 [controlThread ThreadHandler](INFO): Handler Thread ID is 943
2025-06-13T19:35:18.478Z,1749843318.478 [controlThread](DEBUG): Initializing ControlThread
2025-06-13T19:35:18.479Z,1749843318.479 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2025-06-13T19:35:18.481Z,1749843318.481 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2025-06-13T19:35:18.481Z,1749843318.481 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2025-06-13T19:35:18.482Z,1749843318.482 [LoopControl](DEBUG): Initialize LoopControlComponent.
2025-06-13T19:35:18.482Z,1749843318.482 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2025-06-13T19:35:18.483Z,1749843318.483 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2025-06-13T19:35:18.483Z,1749843318.483 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2025-06-13T19:35:18.483Z,1749843318.483 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2025-06-13T19:35:18.484Z,1749843318.484 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2025-06-13T19:35:18.486Z,1749843318.486 [NavChart](DEBUG): Initialize NavChart Navigation.
2025-06-13T19:35:18.486Z,1749843318.486 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2025-06-13T19:35:18.487Z,1749843318.487 [SBIT](INFO): Initialize SBIT Component.
2025-06-13T19:35:18.487Z,1749843318.487 [SBIT](IMPORTANT): git: 2025-06-05-2-g07de84f03
2025-06-13T19:35:18.487Z,1749843318.487 [SBIT](INFO): git hash: 07de84f036b9b391a47d8c2a08834ee5eaa918cc
2025-06-13T19:35:18.488Z,1749843318.488 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2025-06-13T19:35:18.489Z,1749843318.489 [SBIT](INFO): Kernel Reporting Different Version From Configuration.
Kernel Expected: #1 PREEMPT Thu Feb 21 11:17:40 PST 2019
Kernel Reported: #1 PREEMPT Wed Mar 17 08:23:48 PDT 2021
2025-06-13T19:35:18.490Z,1749843318.490 [SBIT](INFO): Beginning SBIT in 96.000000 seconds.
2025-06-13T19:35:18.490Z,1749843318.490 [IBIT](INFO): Initialize IBIT Component.
2025-06-13T19:35:18.491Z,1749843318.491 [CBIT](DEBUG): Initialize CBIT Component.
2025-06-13T19:35:18.492Z,1749843318.492 [logger ThreadHandler](INFO): Handler Thread ID is 944
2025-06-13T19:35:18.504Z,1749843318.504 [CBIT](DEBUG): Initialized mux pins.
2025-06-13T19:35:18.504Z,1749843318.504 [CBIT](DEBUG): Initializing the watchdog timer.
2025-06-13T19:35:18.512Z,1749843318.512 [BackseatComponent ThreadHandler](INFO): Handler Thread ID is 945
2025-06-13T19:35:18.528Z,1749843318.528 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2025-06-13T19:35:18.528Z,1749843318.528 [CBIT](DEBUG): Initializing heartbeat.
2025-06-13T19:35:18.529Z,1749843318.529 [DAT ThreadHandler](INFO): Handler Thread ID is 946
2025-06-13T19:35:18.530Z,1749843318.530 [DAT](INFO): Powering up
2025-06-13T19:35:18.530Z,1749843318.530 [DAT](DEBUG): Initializing DAT.
2025-06-13T19:35:18.533Z,1749843318.533 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 948
2025-06-13T19:35:18.535Z,1749843318.535 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2025-06-13T19:35:18.556Z,1749843318.556 [Onboard ThreadHandler](INFO): Handler Thread ID is 949
2025-06-13T19:35:18.573Z,1749843318.573 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 950
2025-06-13T19:35:18.595Z,1749843318.595 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 951
2025-06-13T19:35:18.596Z,1749843318.596 [CTD_Seabird](DEBUG): Initializing CTD_Seabird.
2025-06-13T19:35:18.600Z,1749843318.600 [CBIT](DEBUG): Deactivating emergency mode.
2025-06-13T19:35:18.601Z,1749843318.601 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 953
2025-06-13T19:35:18.604Z,1749843318.604 [WetLabsBB2FL](INFO): Powering up
2025-06-13T19:35:18.606Z,1749843318.606 [WetLabsUBAT ThreadHandler](INFO): Handler Thread ID is 955
2025-06-13T19:35:18.608Z,1749843318.608 [WetLabsUBAT](INFO): Powering up
2025-06-13T19:35:18.609Z,1749843318.609 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 957
2025-06-13T19:35:18.618Z,1749843318.618 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2025-06-13T19:35:18.619Z,1749843318.619 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2025-06-13T19:35:18.619Z,1749843318.619 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2025-06-13T19:35:18.619Z,1749843318.619 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2025-06-13T19:35:18.619Z,1749843318.619 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2025-06-13T19:35:18.619Z,1749843318.619 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2025-06-13T19:35:18.619Z,1749843318.619 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2025-06-13T19:35:18.620Z,1749843318.620 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2025-06-13T19:35:18.640Z,1749843318.640 [CBIT](DEBUG): Backplane powered.
2025-06-13T19:35:18.640Z,1749843318.640 [GFScanner](DEBUG): Initializing GFScanner
2025-06-13T19:35:18.640Z,1749843318.640 [GFScanner](DEBUG): Deactivating GF circuits.
2025-06-13T19:35:18.649Z,1749843318.649 [MissionManager](IMPORTANT): Using TethysL tl-to-tx parser
2025-06-13T19:35:18.649Z,1749843318.649 [MissionManager](INFO): Loading Mission from file: Missions/underIce/StartupUnder.tl
2025-06-13T19:35:18.650Z,1749843318.650 [MissionManager](DEBUG): TethyslAPI: loading: Missions/underIce/StartupUnder.tl
2025-06-13T19:35:18.660Z,1749843318.660 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/underIce/StartupUnder.tl
2025-06-13T19:35:18.675Z,1749843318.675 [MissionManager](DEBUG): TethyslAPI: Missions/underIce/StartupUnder.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="StartupUnder" />

2025-06-13T19:35:18.676Z,1749843318.676 [MissionManager](ERROR): Top node has no child nodes: Mission
2025-06-13T19:35:18.676Z,1749843318.676 [MissionManager](ERROR): Could not load startup mission.
2025-06-13T19:35:18.677Z,1749843318.677 [MissionManager](INFO): Loading Mission from file: Missions/underIce/DefaultWithUndock.tl
2025-06-13T19:35:18.677Z,1749843318.677 [MissionManager](DEBUG): TethyslAPI: loading: Missions/underIce/DefaultWithUndock.tl
2025-06-13T19:35:18.679Z,1749843318.679 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/underIce/DefaultWithUndock.tl
2025-06-13T19:35:18.980Z,1749843318.980 [Radio_Surface](INFO): Powering up
2025-06-13T19:35:19.240Z,1749843319.240 [MissionManager](DEBUG): TethyslAPI: Missions/underIce/DefaultWithUndock.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="DefaultWithUndock">
    <DefineArg Name="ElapsedSinceDefaultStarted">
        <Units:minute />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="DetachTimeout">
        <Units:hour />
        <Value>6</Value>
    </DefineArg>
    <DefineArg Name="TransponderCode">
        <Dock:Dock.transponderCode />
    </DefineArg>
    <DefineArg Name="TrackingUpdatePeriod">
        <Units:second />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="NumberOfPings">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="DriftTimeout">
        <Units:minute />
        <Value>3</Value>
    </DefineArg>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:second />
            <Value>30</Value>
        </Setting>
    </Guidance:Wait>
    <Aggregate Id="LeaveDock">
        <Sequence />
        <Timeout Duration="DetachTimeout">
            <Syslog Severity="Important">
                Timed out while trying to detach from dock at current depth of 
                <Universal:depth />
                <Units:meter />
                .
            </Syslog>
        </Timeout>
        <Estimation:TrackAcousticContact>
            <While>
                <Universal:depth />
                <Gt>
                    <Control:VerticalControl.surfaceThreshold />
                </Gt>
            </While>
            <Setting>
                <Estimation:TrackAcousticContact.contactLabelSetting />
                <Arg Name="TransponderCode" />
            </Setting>
            <Setting>
                <Estimation:TrackAcousticContact.numberOfSamplesSetting />
                <Arg Name="NumberOfPings" />
            </Setting>
            <Setting>
                <Estimation:TrackAcousticContact.updatePeriodSetting />
                <Arg Name="TrackingUpdatePeriod" />
            </Setting>
        </Estimation:TrackAcousticContact>
        <Dock:Undock>
            <Sequence />
            <Setting>
                <Dock:Undock.driftTimeout />
                <Arg Name="DriftTimeout" />
            </Setting>
        </Dock:Undock>
    </Aggregate>
    <Aggregate Id="SurfaceDefault">
        <Sequence />
        <Guidance:GoToSurface>
            <Progression />
        </Guidance:GoToSurface>
        <Aggregate Id="CheckIn">
            <Sequence Repeat="288" />
            <ReadDatum Id="Read_GPS">
                <Timeout Duration="P5M" />
                <Universal:time_fix />
            </ReadDatum>
            <ReadDatum Id="Read_Iridium">
                <Timeout Duration="P2H">
                    <Guidance:Execute>
                        <Sequence />
                        <Setting>
                            <Guidance:Execute.command />
                            <String>Burn on</String>
                        </Setting>
                    </Guidance:Execute>
                    <Syslog Severity="Critical">Dropped weight due to communications timeout.</Syslog>
                </Timeout>
                <Universal:platform_communications />
            </ReadDatum>
            <Guidance:Wait>
                <Sequence />
                <Setting>
                    <Guidance:Wait.duration />
                    <Units:minute />
                    <Value>5</Value>
                </Setting>
            </Guidance:Wait>
            <Assign>
                <Sequence />
                <Arg Name="ElapsedSinceDefaultStarted" />
                <Elapsed>
                    <Universal:mission_started />
                </Elapsed>
            </Assign>
            <Syslog Severity="Important">
                Default mission has been running for 
                <Arg Name="ElapsedSinceDefaultStarted" />
                <Units:minute />
            </Syslog>
        </Aggregate>
    </Aggregate>
    <Syslog Severity="Important">Restarting logs and Default mission.</Syslog>
    <Guidance:Execute>
        <Sequence />
        <Setting>
            <Guidance:Execute.command />
            <String>restart logs</String>
        </Setting>
    </Guidance:Execute>
</Mission>

2025-06-13T19:35:19.247Z,1749843319.247 [MissionManager](INFO): DefineArg DefaultWithUndock.ElapsedSinceDefaultStarted = 0.000000 min
2025-06-13T19:35:19.259Z,1749843319.259 [MissionManager](INFO): DefineArg DefaultWithUndock.DetachTimeout = 6.000000 h
2025-06-13T19:35:19.263Z,1749843319.263 [MissionManager](INFO): DefineArg DefaultWithUndock.TransponderCode = 50 count
2025-06-13T19:35:19.288Z,1749843319.288 [MissionManager](INFO): DefineArg DefaultWithUndock.TrackingUpdatePeriod = 10.000000 s
2025-06-13T19:35:19.312Z,1749843319.312 [MissionManager](INFO): DefineArg DefaultWithUndock.NumberOfPings = 1.000000 count
2025-06-13T19:35:19.316Z,1749843319.316 [MissionManager](INFO): DefineArg DefaultWithUndock.DriftTimeout = 3.000000 min
2025-06-13T19:35:19.317Z,1749843319.317 [DefaultWithUndock:A.Wait](DEBUG): Construct Wait.
2025-06-13T19:35:19.478Z,1749843319.478 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Construct.
2025-06-13T19:35:19.478Z,1749843319.478 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2025-06-13T19:35:19.547Z,1749843319.547 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Construct GoToSurface.
2025-06-13T19:35:19.597Z,1749843319.597 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2025-06-13T19:35:19.599Z,1749843319.599 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Construct Wait.
2025-06-13T19:35:19.621Z,1749843319.621 [DefaultWithUndock:E.Execute](DEBUG): Construct Execute.
2025-06-13T19:35:19.625Z,1749843319.625 [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 DefaultWithUndock {
  arguments {
    ElapsedSinceDefaultStarted = 0 minute

    DetachTimeout = 6 hour
      """
      Maximum time duration for the vehicle to detach form the dock.
      """

    TransponderCode = Dock:Dock.transponderCode
      """
      Dock transponder address.
      """

    TrackingUpdatePeriod = 10 second
      """
      Time duration between acoustic range queries while the mission is
      detaching from the dock.
      """

    NumberOfPings = 1 count
      """
      Number of pings requested each time.
      """

    DriftTimeout = 3 minute
      """
      How long to allow vehicle to drift away from dock before retrying reverse
      """
  }

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

    run in sequence

    set duration = 30 second
  }

  aggregate LeaveDock {
    run in sequence

    timeout duration=DetachTimeout {
      syslog important "Timed out while trying to detach from dock at current depth of "
           + Universal:depth~meter + "."
    }

    # Acoustic tracking directives

    behavior Estimation:TrackAcousticContact {
      run while (
        Universal:depth > Control:VerticalControl.surfaceThreshold
      )

      set contactLabelSetting = TransponderCode
      set numberOfSamplesSetting = NumberOfPings
      set updatePeriodSetting = TrackingUpdatePeriod
    }

    # Leave the dock

    behavior Dock:Undock {
      run in sequence

      set driftTimeout = DriftTimeout
    }
  }

  aggregate SurfaceDefault {
    run in sequence

    # This mission assumes open water so from here on it's the same old default that's always used

    behavior Guidance:GoToSurface {
      run in progression
    }

    aggregate CheckIn {
      run in sequence repeat=288

      readDatum id="Read_GPS" {
        timeout duration=P5M

        Universal:time_fix
      }

      readDatum id="Read_Iridium" {
        timeout duration=P2H {
          behavior Guidance:Execute {
            run in sequence

            set command = "Burn on"
          }

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

        Universal:platform_communications
      }

      behavior Guidance:Wait {
        run in sequence

        set duration = 5 minute
      }

      assign in sequence ElapsedSinceDefaultStarted = elapsed ( Universal:mission_started )

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

  syslog important "Restarting logs and Default mission."

  behavior Guidance:Execute {
    run in sequence

    set command = "restart logs"
  }
}


2025-06-13T19:35:19.636Z,1749843319.636 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,BPC1,Depth_Keller,NAL9602,Power24vConverter,RDI_Pathfinder,Sonardyne_Nano,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,DockingStepper,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,GFScanner,LcmUniversalReporter,Reporter,LogSplitter,
2025-06-13T19:35:19.644Z,1749843319.644 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2025-06-13T19:35:19.776Z,1749843319.776 [Depth_Keller](INFO): Initializing.
2025-06-13T19:35:19.778Z,1749843319.778 [Power24vConverter](INFO): Powering up.
2025-06-13T19:35:19.778Z,1749843319.778 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format
2025-06-13T19:35:19.785Z,1749843319.785 [Sonardyne_Nano](INFO): Initializing.
2025-06-13T19:35:19.828Z,1749843319.828 [DepthRateCalculator](ERROR): Depth measurement is not active
2025-06-13T19:35:19.858Z,1749843319.858 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2025-06-13T19:35:19.864Z,1749843319.864 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2025-06-13T19:35:19.865Z,1749843319.865 [ElevatorServo](DEBUG): Initializing EZServoServo.
2025-06-13T19:35:19.872Z,1749843319.872 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2025-06-13T19:35:19.873Z,1749843319.873 [DockingStepper](INFO): Start
2025-06-13T19:35:19.873Z,1749843319.873 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-06-13T19:35:19.880Z,1749843319.880 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-06-13T19:35:19.881Z,1749843319.881 [MassServo](DEBUG): Initializing EZServoServo.
2025-06-13T19:35:19.888Z,1749843319.888 [MassServo](DEBUG): Initializing MassServo.
2025-06-13T19:35:19.889Z,1749843319.889 [RudderServo](DEBUG): Initializing EZServoServo.
2025-06-13T19:35:19.896Z,1749843319.896 [RudderServo](DEBUG): Initializing RudderServo.
2025-06-13T19:35:19.897Z,1749843319.897 [ThrusterServo](DEBUG): Initializing EZServoServo.
2025-06-13T19:35:19.904Z,1749843319.904 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2025-06-13T19:35:20.115Z,1749843320.115 [DockingStepper](INFO): Starting
2025-06-13T19:35:20.471Z,1749843320.471 [DockingStepper](INFO): Starting
2025-06-13T19:35:20.996Z,1749843320.996 [DockingStepper](INFO): Starting
2025-06-13T19:35:21.045Z,1749843321.045 [DockingStepper](INFO): Init string: /1z16368aE13561N3m50
2025-06-13T19:35:21.216Z,1749843321.216 [WetLabsBB2FL](INFO): Powering down
2025-06-13T19:35:21.293Z,1749843321.293 [DockingStepper](INFO): Starting
2025-06-13T19:35:21.679Z,1749843321.679 [DockingStepper](INFO): Starting
2025-06-13T19:35:22.070Z,1749843322.070 [Sonardyne_Nano](ERROR): Failed to get valid response or reached max queue size, flushing UART
2025-06-13T19:35:22.123Z,1749843322.123 [DockingStepper](INFO): Starting
2025-06-13T19:35:22.556Z,1749843322.556 [DockingStepper](INFO): Starting
2025-06-13T19:35:22.581Z,1749843322.580 [DockingStepper](INFO): Sent speed cmd:/1V10000 Response:ÿ/0@
2025-06-13T19:35:23.035Z,1749843323.035 [DockingStepper](INFO): Starting
2025-06-13T19:35:23.323Z,1749843323.323 [Sonardyne_Nano](IMPORTANT): Found beacon with acoustic ID 2103
2025-06-13T19:35:23.792Z,1749843323.792 [DockingStepper](INFO): Pause
2025-06-13T19:35:24.232Z,1749843324.232 [Radio_Surface](INFO): Checking local IP, expecting subnet 10.89.10
2025-06-13T19:35:24.233Z,1749843324.233 [Radio_Surface](INFO): No local IP found
2025-06-13T19:35:25.624Z,1749843325.624 [CTD_Seabird](ERROR): Device message queue exceeded the allowed limit.
2025-06-13T19:35:27.908Z,1749843327.908 [WetLabsUBAT](INFO): Powering down
2025-06-13T19:35:31.888Z,1749843331.888 [DAT](INFO): DAT read: 

2025-06-13T19:35:31.890Z,1749843331.890 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-06-13T19:35:37.433Z,1749843337.433 [DAT](INFO): DAT read: MF Frequency Band

2025-06-13T19:35:37.434Z,1749843337.434 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.17.2

2025-06-13T19:35:37.435Z,1749843337.435 [DAT](INFO): DAT read: Jun 13 2025 19:34:01 

2025-06-13T19:35:38.693Z,1749843338.693 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-06-13T19:35:38.695Z,1749843338.695 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-06-13T19:35:38.695Z,1749843338.695 [DAT](INFO): commRate: 600
2025-06-13T19:35:40.760Z,1749843340.760 [DAT](INFO): entering command mode
2025-06-13T19:35:40.961Z,1749843340.961 [DAT](INFO): DAT read: 

2025-06-13T19:35:40.961Z,1749843340.961 [DAT](INFO): DAT read: user:1>

2025-06-13T19:35:40.961Z,1749843340.961 [DAT](INFO): setting verbose to 3
2025-06-13T19:35:41.213Z,1749843341.213 [DAT](INFO): DAT read: user:1>

2025-06-13T19:35:41.214Z,1749843341.214 [DAT](INFO): DAT read: Verbose         | 3           

2025-06-13T19:35:41.214Z,1749843341.214 [DAT](INFO): set verbose to 3
2025-06-13T19:35:41.214Z,1749843341.214 [DAT](INFO): setting DatVerbose to 27440
2025-06-13T19:35:41.466Z,1749843341.466 [DAT](INFO): DAT read: user:2>

2025-06-13T19:35:41.469Z,1749843341.469 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-06-13T19:35:41.470Z,1749843341.470 [DAT](INFO): set DatVerbose to 27440
2025-06-13T19:35:41.471Z,1749843341.471 [DAT](INFO): setting transmit power to 8
2025-06-13T19:35:41.717Z,1749843341.717 [DAT](INFO): DAT read: user:3>

2025-06-13T19:35:41.718Z,1749843341.718 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-06-13T19:35:41.718Z,1749843341.718 [DAT](INFO): set transmit power to 8
2025-06-13T19:35:41.718Z,1749843341.718 [DAT](INFO): setting local address to 10
2025-06-13T19:35:41.969Z,1749843341.969 [DAT](INFO): DAT read: user:4>

2025-06-13T19:35:41.970Z,1749843341.970 [DAT](INFO): DAT read: LocalAddr       | 10          

2025-06-13T19:35:41.970Z,1749843341.970 [DAT](INFO): set local address to 10
2025-06-13T19:35:41.971Z,1749843341.971 [DAT](INFO): Setting time to: 19:35:41 And date to:6/13/2025
2025-06-13T19:35:42.221Z,1749843342.221 [DAT](INFO): DAT read: user:5>

2025-06-13T19:35:42.222Z,1749843342.222 [DAT](INFO): DAT read: Fri Jun 13, 2025  19:35:41  

2025-06-13T19:35:42.222Z,1749843342.222 [DAT](INFO): Local DAT time set to Fri Jun 13, 2025  19:35:41  

2025-06-13T19:35:46.453Z,1749843346.453 [NAL9602](INFO): Powering up NAL9602
2025-06-13T19:35:57.357Z,1749843357.357 [NAL9602](INFO): NAL9602 initialized
2025-06-13T19:36:55.164Z,1749843415.164 [SBIT](IMPORTANT): Beginning Startup BIT
2025-06-13T19:36:55.169Z,1749843415.169 [GFScanner](IMPORTANT): Beginning ground fault scan
2025-06-13T19:36:59.681Z,1749843419.681 [GFScanner](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): 0.013730
CHAN A1 (24V): 0.009539
CHAN A2 (12V): 0.009006
CHAN A3 (5V): 0.003085
CHAN B0 (3.3V): 0.002285
CHAN B1 (3.15aV): 0.002576
CHAN B2 (3.15bV): 0.003103
CHAN B3 (GND): 0.001494
OPEN: -0.001128
Full Scale: +/- 1 mA
2025-06-13T19:37:48.948Z,1749843468.948 [SBIT](IMPORTANT): SBIT PASSED
2025-06-13T19:37:48.948Z,1749843468.948 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2025-06-13T19:37:48.949Z,1749843468.949 [SBIT](IMPORTANT): CBIT.gf24Offset=173 microampere;

2025-06-13T19:37:48.949Z,1749843468.949 [SBIT](IMPORTANT): Docked.verbose=0 bool;

2025-06-13T19:37:48.949Z,1749843468.949 [SBIT](IMPORTANT): DockingStepper.closedValue=16450 count;

2025-06-13T19:37:48.949Z,1749843468.949 [SBIT](IMPORTANT): DockingStepper.slideValue=10700 count;

2025-06-13T19:37:48.949Z,1749843468.949 [SBIT](IMPORTANT): DropWeight.loadAtStartup=0 bool;

2025-06-13T19:37:48.950Z,1749843468.950 [SBIT](IMPORTANT): Express mostRecent WetLabsUBAT.average_bioluminescence;

2025-06-13T19:37:48.950Z,1749843468.950 [SBIT](IMPORTANT): Normal linearApproximation _.dinoflagellates 10000000000.000000 none;

2025-06-13T19:37:48.950Z,1749843468.950 [SBIT](IMPORTANT): RudderServo.offsetAngle=0.2 degree;

2025-06-13T19:37:48.950Z,1749843468.950 [SBIT](IMPORTANT): SpeedControl.rollOptimum=1.025000 m/s;

2025-06-13T19:37:48.950Z,1749843468.950 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=402.547437 cubic_centimeter;

2025-06-13T19:37:48.950Z,1749843468.950 [SBIT](IMPORTANT): VerticalControl.massDefault=19.020168 millimeter;

2025-06-13T19:37:49.327Z,1749843469.327 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2025-06-13T19:37:49.327Z,1749843469.327 [DefaultWithUndock] Running Loop=1
2025-06-13T19:37:49.327Z,1749843469.327 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2025-06-13T19:37:49.327Z,1749843469.327 [DefaultWithUndock:A.Wait] Running Loop=1
2025-06-13T19:37:49.327Z,1749843469.327 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2025-06-13T19:38:13.248Z,1749843493.248 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T19:38:18.841Z,1749843498.841 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2025-06-13T19:38:18.841Z,1749843498.841 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2025-06-13T19:38:18.851Z,1749843498.851 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2025-06-13T19:38:19.244Z,1749843499.244 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2025-06-13T19:38:19.244Z,1749843499.244 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2025-06-13T19:38:19.621Z,1749843499.621 [DefaultWithUndock:A.Wait](INFO): Done Waiting.
2025-06-13T19:38:19.621Z,1749843499.621 [DefaultWithUndock:A.Wait] Stopped
2025-06-13T19:38:19.621Z,1749843499.621 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2025-06-13T19:38:19.622Z,1749843499.622 [DefaultWithUndock:LeaveDock] Running Loop=1
2025-06-13T19:38:19.622Z,1749843499.622 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock
2025-06-13T19:38:19.622Z,1749843499.622 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2025-06-13T19:38:19.622Z,1749843499.622 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact.
2025-06-13T19:38:19.622Z,1749843499.622 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1
2025-06-13T19:38:19.622Z,1749843499.622 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2025-06-13T19:38:19.622Z,1749843499.622 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2025-06-13T19:38:20.031Z,1749843500.031 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2025-06-13T19:38:20.031Z,1749843500.031 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2025-06-13T19:38:20.033Z,1749843500.033 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached from dock at depth -0.049633 m.
2025-06-13T19:38:20.033Z,1749843500.033 [DefaultWithUndock:LeaveDock:A.] Stopped
2025-06-13T19:38:20.033Z,1749843500.033 [DefaultWithUndock:LeaveDock:A.](DEBUG): Uninitializing TrackAcousticContact.
2025-06-13T19:38:20.038Z,1749843500.038 [DockingStepper](INFO): Resume
2025-06-13T19:38:20.450Z,1749843500.450 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer.
2025-06-13T19:38:20.457Z,1749843500.457 [DockingStepper](INFO): Resuming
2025-06-13T19:38:20.875Z,1749843500.875 [DockingStepper](INFO): Start
2025-06-13T19:38:20.875Z,1749843500.875 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-06-13T19:38:20.989Z,1749843500.989 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-06-13T19:38:21.243Z,1749843501.243 [DockingStepper](INFO): Starting
2025-06-13T19:38:21.651Z,1749843501.651 [DockingStepper](INFO): Starting
2025-06-13T19:38:22.189Z,1749843502.189 [DockingStepper](INFO): Starting
2025-06-13T19:38:22.240Z,1749843502.240 [DockingStepper](INFO): Init string: /1z16368aE13561N3m50
2025-06-13T19:38:22.489Z,1749843502.489 [DockingStepper](INFO): Starting
2025-06-13T19:38:22.933Z,1749843502.933 [DockingStepper](INFO): Starting
2025-06-13T19:38:23.302Z,1749843503.302 [DockingStepper](INFO): Starting
2025-06-13T19:38:23.701Z,1749843503.701 [DockingStepper](INFO): Starting
2025-06-13T19:38:23.734Z,1749843503.734 [DockingStepper](INFO): Sent speed cmd:/1V10000 Response:ÿ/0@
2025-06-13T19:38:24.117Z,1749843504.117 [DockingStepper](INFO): Starting
2025-06-13T19:38:40.633Z,1749843520.633 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached at range: nan m. Transitioning docking module to standby.
2025-06-13T19:38:41.115Z,1749843521.115 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Docking module at standby.
2025-06-13T19:38:41.476Z,1749843521.476 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete.
2025-06-13T19:38:41.476Z,1749843521.476 [DefaultWithUndock:LeaveDock:B.Undock] Stopped
2025-06-13T19:38:41.476Z,1749843521.476 [DefaultWithUndock:LeaveDock](INFO): Completed DefaultWithUndock:LeaveDock
2025-06-13T19:38:41.476Z,1749843521.476 [DefaultWithUndock:LeaveDock] Stopped
2025-06-13T19:38:41.476Z,1749843521.476 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock
2025-06-13T19:38:41.476Z,1749843521.476 [DefaultWithUndock:SurfaceDefault] Running Loop=1
2025-06-13T19:38:41.476Z,1749843521.476 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault
2025-06-13T19:38:41.477Z,1749843521.477 [DefaultWithUndock:SurfaceDefault:A.GoToSurface] Running Loop=1
2025-06-13T19:38:41.477Z,1749843521.477 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-06-13T19:38:41.477Z,1749843521.477 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-06-13T19:38:41.478Z,1749843521.478 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-06-13T19:38:41.478Z,1749843521.478 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-06-13T19:38:41.478Z,1749843521.478 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-06-13T19:38:41.478Z,1749843521.478 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-06-13T19:38:41.479Z,1749843521.479 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-06-13T19:38:41.864Z,1749843521.864 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=1
2025-06-13T19:38:41.864Z,1749843521.864 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2025-06-13T19:38:41.864Z,1749843521.864 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2025-06-13T19:38:41.997Z,1749843521.997 [DockingStepper](INFO): Pause
2025-06-13T19:38:42.262Z,1749843522.262 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-06-13T19:38:44.384Z,1749843524.384 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T19:39:13.218Z,1749843553.218 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004263
2025-06-13T19:39:14.216Z,1749843554.216 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T19:39:22.956Z,1749843562.956 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T19:39:31.485Z,1749843571.485 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T19:39:40.484Z,1749843580.484 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T19:39:45.877Z,1749843585.877 [CommandExec](IMPORTANT): got command show stack
2025-06-13T19:39:45.877Z,1749843585.877 [CommandExec](IMPORTANT): Behavior Stack:

2025-06-13T19:39:45.878Z,1749843585.878 [DefaultWithUndock:SurfaceDefault](IMPORTANT): Priority 0: DefaultWithUndock:SurfaceDefault:A.GoToSurface
2025-06-13T19:39:45.878Z,1749843585.878 [DefaultWithUndock:SurfaceDefault:CheckIn](IMPORTANT): Priority 1: DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS
2025-06-13T19:39:49.048Z,1749843589.048 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T19:39:51.483Z,1749843591.483 [CommandExec](IMPORTANT): got command get latitude
2025-06-13T19:39:51.483Z,1749843591.483 [CommandExec](FAULT): Element has no value
2025-06-13T19:39:58.540Z,1749843598.540 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T19:40:07.229Z,1749843607.229 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T19:40:16.485Z,1749843616.485 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T19:40:28.472Z,1749843628.472 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T19:40:31.861Z,1749843631.861 [RDI_Pathfinder](ERROR): only read -1 of 1 data item for altitude. Device response is::BD,      -13.85,      -11.20,    
2025-06-13T19:40:37.168Z,1749843637.168 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T19:40:45.761Z,1749843645.761 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T19:40:54.252Z,1749843654.252 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T19:41:00.861Z,1749843660.861 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2025-06-13T19:41:02.844Z,1749843662.844 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T19:41:07.779Z,1749843667.779 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,194108.00,A,3653.78162,N,12206.60078,W,0.156,154.32,130625,,,A*7E
2025-06-13T19:41:07.786Z,1749843667.786 [NAL9602](INFO): GPS fix at 20250613T194108: (36.896360, -122.110013)
2025-06-13T19:41:07.880Z,1749843667.880 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2025-06-13T19:41:07.880Z,1749843667.880 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2025-06-13T19:41:08.283Z,1749843668.283 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-06-13T19:41:09.286Z,1749843669.286 [DataOverHttps](INFO): Sending 65 bytes from file Logs/20250613T043014/Courier0054.lzma
2025-06-13T19:41:09.938Z,1749843669.938 [DataOverHttps](INFO): Moved sent file to Logs/20250613T043014/Courier0054.lzma.bak
2025-06-13T19:41:09.938Z,1749843669.938 [DataOverHttps](INFO): SBD MOMSN=25209084
2025-06-13T19:41:29.220Z,1749843689.220 [DataOverHttps](INFO): Sending 267 bytes from file Logs/20250613T193503/Courier0000.lzma
2025-06-13T19:41:30.222Z,1749843690.222 [DataOverHttps](INFO): Moved sent file to Logs/20250613T193503/Courier0000.lzma.bak
2025-06-13T19:41:30.222Z,1749843690.222 [DataOverHttps](INFO): SBD MOMSN=25209087
2025-06-13T19:41:39.961Z,1749843699.961 [NAL9602](INFO): Not Powering down - fast GPS
2025-06-13T19:41:48.030Z,1749843708.030 [DataOverHttps](INFO): Sending 830 bytes from file Logs/20250613T043014/Express0055.lzma
2025-06-13T19:41:49.030Z,1749843709.030 [DataOverHttps](INFO): Moved sent file to Logs/20250613T043014/Express0055.lzma.bak
2025-06-13T19:41:49.030Z,1749843709.030 [DataOverHttps](INFO): SBD MOMSN=25209094
2025-06-13T19:42:05.455Z,1749843725.455 [DataOverHttps](INFO): Sending 1467 bytes from file Logs/20250613T193503/Express0001.lzma
2025-06-13T19:42:06.454Z,1749843726.454 [DataOverHttps](INFO): Moved sent file to Logs/20250613T193503/Express0001.lzma.bak
2025-06-13T19:42:06.454Z,1749843726.454 [DataOverHttps](INFO): SBD MOMSN=25209147
2025-06-13T19:42:08.677Z,1749843728.677 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2025-06-13T19:42:08.677Z,1749843728.677 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2025-06-13T19:42:08.677Z,1749843728.677 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-06-13T19:42:30.653Z,1749843750.653 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T19:42:39.460Z,1749843759.460 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T19:42:48.336Z,1749843768.336 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T19:42:57.369Z,1749843777.369 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T19:43:06.008Z,1749843786.008 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T19:43:14.796Z,1749843794.796 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T19:43:23.528Z,1749843803.528 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T19:43:32.524Z,1749843812.524 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T19:43:41.212Z,1749843821.212 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T19:43:50.156Z,1749843830.156 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T19:43:58.844Z,1749843838.844 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T19:44:07.624Z,1749843847.624 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T19:44:17.292Z,1749843857.292 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T19:44:29.148Z,1749843869.148 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T19:44:37.816Z,1749843877.816 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T19:44:47.361Z,1749843887.361 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T19:44:56.200Z,1749843896.200 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T19:45:04.936Z,1749843904.936 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T19:45:13.680Z,1749843913.680 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T19:45:22.476Z,1749843922.476 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T19:45:31.036Z,1749843931.036 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T19:45:32.456Z,1749843932.456 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-06-13T19:45:39.780Z,1749843939.780 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T19:45:48.516Z,1749843948.516 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T19:45:57.260Z,1749843957.260 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T19:46:05.980Z,1749843965.980 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T19:46:15.381Z,1749843975.381 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T19:46:27.128Z,1749843987.128 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T19:46:35.397Z,1749843995.397 [DataOverHttps](IMPORTANT): SBD MTMSN=20250613T194636
2025-06-13T19:46:43.280Z,1749844003.280 [DataOverHttps](INFO): Received command: schedule clear
2025-06-13T19:46:43.338Z,1749844003.338 [CommandExec](IMPORTANT): got command schedule clear
2025-06-13T19:46:43.338Z,1749844003.338 [CommandExec](IMPORTANT): Cleared 0 scheduled commands.
2025-06-13T19:46:45.284Z,1749844005.284 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T19:46:54.017Z,1749844014.017 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T19:47:02.792Z,1749844022.792 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T19:47:09.469Z,1749844029.469 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting.
2025-06-13T19:47:09.469Z,1749844029.469 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2025-06-13T19:47:09.469Z,1749844029.469 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-06-13T19:47:09.469Z,1749844029.469 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1
2025-06-13T19:47:09.864Z,1749844029.864 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped
2025-06-13T19:47:09.864Z,1749844029.864 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1
2025-06-13T19:47:10.268Z,1749844030.268 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for  9.342279 min 
2025-06-13T19:47:10.268Z,1749844030.268 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped
2025-06-13T19:47:10.268Z,1749844030.268 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn
2025-06-13T19:47:10.268Z,1749844030.268 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2025-06-13T19:47:10.269Z,1749844030.269 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2025-06-13T19:47:10.269Z,1749844030.269 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #2
2025-06-13T19:47:10.269Z,1749844030.269 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=2
2025-06-13T19:47:10.269Z,1749844030.269 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2025-06-13T19:47:10.269Z,1749844030.269 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2025-06-13T19:47:11.568Z,1749844031.568 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T19:47:12.280Z,1749844032.280 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,194714.00,A,3653.73713,N,12206.58939,W,1.924,146.66,130625,,,A*77
2025-06-13T19:47:12.282Z,1749844032.282 [NAL9602](INFO): GPS fix at 20250613T194714: (36.895619, -122.109823)
2025-06-13T19:47:12.295Z,1749844032.295 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2025-06-13T19:47:12.295Z,1749844032.295 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2025-06-13T19:47:19.655Z,1749844039.655 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250613T193503/Courier0004.lzma
2025-06-13T19:47:20.658Z,1749844040.658 [DataOverHttps](INFO): Moved sent file to Logs/20250613T193503/Courier0004.lzma.bak
2025-06-13T19:47:20.658Z,1749844040.658 [DataOverHttps](INFO): SBD MOMSN=25209207
2025-06-13T19:47:37.384Z,1749844057.384 [DataOverHttps](INFO): Sending 292 bytes from file Logs/20250613T193503/Express0005.lzma
2025-06-13T19:47:38.386Z,1749844058.386 [DataOverHttps](INFO): Moved sent file to Logs/20250613T193503/Express0005.lzma.bak
2025-06-13T19:47:38.387Z,1749844058.387 [DataOverHttps](INFO): SBD MOMSN=25209210
2025-06-13T19:47:43.046Z,1749844063.046 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2025-06-13T19:47:43.124Z,1749844063.124 [NAL9602](ERROR): received: 
+CSQ:0

OK
2025-06-13T19:47:55.039Z,1749844075.039 [DataOverHttps](INFO): Sending 61 bytes from file Logs/20250613T193503/Express0008.lzma
2025-06-13T19:47:56.042Z,1749844076.042 [DataOverHttps](INFO): Moved sent file to Logs/20250613T193503/Express0008.lzma.bak
2025-06-13T19:47:56.042Z,1749844076.042 [DataOverHttps](INFO): SBD MOMSN=25209216
2025-06-13T19:47:57.985Z,1749844077.985 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2025-06-13T19:47:57.985Z,1749844077.985 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2025-06-13T19:47:57.985Z,1749844077.985 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-06-13T19:48:06.960Z,1749844086.960 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T19:48:18.944Z,1749844098.944 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T19:48:27.816Z,1749844107.816 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T19:48:36.501Z,1749844116.501 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T19:48:46.261Z,1749844126.261 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T19:48:55.080Z,1749844135.080 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T19:49:03.836Z,1749844143.836 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T19:49:12.800Z,1749844152.800 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T19:49:21.521Z,1749844161.521 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T19:49:30.372Z,1749844170.372 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T19:49:39.168Z,1749844179.168 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T19:49:47.880Z,1749844187.880 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T19:49:57.708Z,1749844197.708 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T19:50:06.472Z,1749844206.472 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T19:50:15.252Z,1749844215.252 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T19:50:27.132Z,1749844227.132 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T19:50:35.932Z,1749844235.932 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T19:50:44.792Z,1749844244.792 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T19:50:54.504Z,1749844254.504 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T19:51:03.340Z,1749844263.340 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T19:51:11.630Z,1749844271.630 [NAL9602](INFO): SBD MO Status=2, MOMSN=48320, MT Status=2, MTMSN=0
2025-06-13T19:51:11.631Z,1749844271.631 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-06-13T19:51:16.160Z,1749844276.160 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T19:51:26.788Z,1749844286.788 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T19:51:38.552Z,1749844298.552 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T19:51:57.552Z,1749844317.552 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T19:52:13.493Z,1749844333.493 [DataOverHttps](IMPORTANT): SBD MTMSN=20250613T195214
2025-06-13T19:52:14.255Z,1749844334.255 [NAL9602](INFO): SBD MO Status=2, MOMSN=48320, MT Status=2, MTMSN=0
2025-06-13T19:52:14.255Z,1749844334.255 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-06-13T19:52:15.046Z,1749844335.046 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2025-06-13T19:52:34.381Z,1749844354.381 [DataOverHttps](INFO): Received command: schedule pause
2025-06-13T19:52:34.442Z,1749844354.442 [CommandExec](IMPORTANT): got command schedule pause
2025-06-13T19:52:34.442Z,1749844354.442 [CommandExec](IMPORTANT): Scheduling is paused
2025-06-13T19:52:35.382Z,1749844355.382 [DataOverHttps](IMPORTANT): SBD MTMSN=20250613T195236
2025-06-13T19:52:45.753Z,1749844365.753 [NAL9602](INFO): Not Powering down - fast GPS
2025-06-13T19:52:49.096Z,1749844369.096 [DataOverHttps](INFO): Received command: sched asap "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.StayOnDock 1 bool;set lineCaptureHoming.DockingAltitude 7.75 m;set lineCaptureHoming.AltitudeDepthLimit 68 m;set lineCaptureHoming.MaxDepth 70 m" 2ptvh 1 2
2025-06-13T19:52:49.141Z,1749844369.141 [CommandExec](IMPORTANT): got command schedule asap "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.StayOnDock 1 bool;set lineCaptureHoming.DockingAltitude 7.75 m;set lineCaptureHoming.AltitudeDepthLimit 68 m;set lineCaptureHoming.MaxDepth 70 m" 2ptvh 1 2.000000
2025-06-13T19:52:49.141Z,1749844369.141 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=2ptvh
2025-06-13T19:52:49.142Z,1749844369.142 [CommandExec](IMPORTANT): Scheduled #1 (#1 of 2 with id='2ptvh'): "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.StayOnDock 1 bool;set lineCaptureHoming.DockingAltitude 7.75 m;set lineCaptureHoming.AltitudeDepthLimit 68 m;set lineCaptureHoming.MaxDepth 70 m", ASAP
2025-06-13T19:52:51.101Z,1749844371.101 [DataOverHttps](IMPORTANT): SBD MTMSN=20250613T195252
2025-06-13T19:52:58.695Z,1749844378.695 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting.
2025-06-13T19:52:58.696Z,1749844378.696 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2025-06-13T19:52:58.696Z,1749844378.696 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-06-13T19:52:58.696Z,1749844378.696 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1
2025-06-13T19:52:59.111Z,1749844379.111 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped
2025-06-13T19:52:59.111Z,1749844379.111 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1
2025-06-13T19:52:59.499Z,1749844379.499 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for  15.163073 min 
2025-06-13T19:52:59.499Z,1749844379.499 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped
2025-06-13T19:52:59.499Z,1749844379.499 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn
2025-06-13T19:52:59.499Z,1749844379.499 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2025-06-13T19:52:59.499Z,1749844379.499 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2025-06-13T19:52:59.499Z,1749844379.499 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #3
2025-06-13T19:52:59.499Z,1749844379.499 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=3
2025-06-13T19:52:59.500Z,1749844379.500 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2025-06-13T19:52:59.500Z,1749844379.500 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2025-06-13T19:53:01.719Z,1749844381.719 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,195303.00,A,3653.69113,N,12206.55226,W,1.186,155.65,130625,,,A*70
2025-06-13T19:53:01.726Z,1749844381.726 [NAL9602](INFO): GPS fix at 20250613T195303: (36.894852, -122.109204)
2025-06-13T19:53:01.750Z,1749844381.750 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2025-06-13T19:53:01.750Z,1749844381.750 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2025-06-13T19:53:08.359Z,1749844388.359 [DataOverHttps](INFO): Sending 74 bytes from file Logs/20250613T193503/Courier0010.lzma
2025-06-13T19:53:08.362Z,1749844388.362 [DataOverHttps](INFO): Received command: sched asap "set lineCaptureHoming.CorrectForSoundSpeed 1 bool;run" 2ptvh 2 2
2025-06-13T19:53:08.419Z,1749844388.419 [CommandExec](IMPORTANT): got command schedule asap "set lineCaptureHoming.CorrectForSoundSpeed 1 bool;run" 2ptvh 2 2.000000
2025-06-13T19:53:08.419Z,1749844388.419 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=2ptvh
2025-06-13T19:53:08.420Z,1749844388.420 [CommandExec](IMPORTANT): Scheduled #2 (#2 of 2 with id='2ptvh'): "set lineCaptureHoming.CorrectForSoundSpeed 1 bool;run", ASAP
2025-06-13T19:53:08.630Z,1749844388.630 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/lineCaptureHoming.tl
2025-06-13T19:53:08.630Z,1749844388.630 [MissionManager](INFO): Loading Mission from file: ./Missions/Engineering/lineCaptureHoming.tl
2025-06-13T19:53:08.630Z,1749844388.630 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Engineering/lineCaptureHoming.tl
2025-06-13T19:53:08.641Z,1749844388.641 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Engineering/lineCaptureHoming.tl
2025-06-13T19:53:16.105Z,1749844396.105 [MissionManager](DEBUG): TethyslAPI: ./Missions/Engineering/lineCaptureHoming.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="lineCaptureHoming">
    <DefineArg Name="MissionTimeout">
        <Units:hour />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>180</Value>
    </DefineArg>
    <DefineArg Name="MicromodemCommsInterval">
        <Units:hour />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="Repeat">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="WaitOnDockTimeout">
        <Units:minute />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="StayOnDock">
        <False />
    </DefineArg>
    <DefineArg Name="TrySlide">
        <False />
    </DefineArg>
    <DefineArg Name="RetryIncompleteDock">
        <False />
    </DefineArg>
    <DefineArg Name="SlideRetries">
        <Units:count />
        <Value>4</Value>
    </DefineArg>
    <DefineArg Name="SlideSinkDuration">
        <Units:minute />
        <Value>1.5</Value>
    </DefineArg>
    <DefineArg Name="SlideCloseDuration">
        <Units:minute />
        <Value>1.5</Value>
    </DefineArg>
    <DefineArg Name="TransponderCode">
        <Dock:Dock.transponderCode />
    </DefineArg>
    <DefineArg Name="TrackingUpdatePeriodMidcourse">
        <Units:second />
        <Value>60</Value>
    </DefineArg>
    <DefineArg Name="TrackingUpdatePeriodTerminal">
        <Units:second />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="TrackingUpdatePeriodDocked">
        <Units:minute />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="TrackingNumFixesLowPassFilter">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="NumberOfPings">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="NumPingsUSBL">
        <Units:count />
        <Value>120</Value>
    </DefineArg>
    <DefineArg Name="RangeUSBL">
        <Units:meter />
        <Value>40</Value>
    </DefineArg>
    <DefineArg Name="TrackingNumFixesLowPassFilterUSBL">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="DockingAltitude">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="InvalidAltitudeTimeout">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="AltitudeDepthLimit">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>4</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>205</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepthTimeout">
        <Units:minute />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepthRate">
        <Units:meter_per_second />
        <Value>0.05</Value>
    </DefineArg>
    <DefineArg Name="Lat1">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon1">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="CaptureRadius">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="CorrectForSoundSpeed">
        <False />
    </DefineArg>
    <DefineArg Name="MidcourseDepth">
        <Dock:LineCapture.midcourseDepth />
    </DefineArg>
    <DefineArg Name="MidcourseSpeed">
        <Dock:LineCapture.midcourseSpeed />
    </DefineArg>
    <DefineArg Name="TrackingPeriod">
        <Units:second />
        <Value>60</Value>
    </DefineArg>
    <DefineOutput Name="Mode">
        <Units:count />
        <Value>-1</Value>
    </DefineOutput>
    <DefineOutput Name="NumPings">
        <Units:count />
        <Value>1</Value>
    </DefineOutput>
    <DefineOutput Name="LowPassFilterWinSize">
        <Units:count />
        <Value>1</Value>
    </DefineOutput>
    <DefineOutput Name="LowPassFilterWinOverlap">
        <True />
    </DefineOutput>
    <DefineOutput Name="EndDockingSequence">
        <Arg Name="StayOnDock" />
    </DefineOutput>
    <DefineOutput Name="LastDockSuccessful">
        <False />
    </DefineOutput>
    <DefineOutput Name="DockSuccessfulCount">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="RepeatArg">
        <Arg Name="Repeat" />
    </DefineOutput>
    <Timeout Duration="MissionTimeout" />
    <Insert Filename="Insert/Science.tl" />
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="NeedCommsTime" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:WaitForPitchUp" />
        <Units:minute />
        <Value>0</Value>
    </Assign>
    <Insert Id="MicromodemComms" Filename="Insert/MicromodemComms.tl">
        <RedefineArg Name="CommsInterval">
            <Arg Name="MicromodemCommsInterval" />
        </RedefineArg>
    </Insert>
    <ReadData>
        <While>
            <Arg Name="Mode" />
            <Ge>
                <Units:count />
                <Value>0</Value>
            </Ge>
            <And>
                <Sensor:DataOverHttps.connectionStatus />
                <Eq>
                    <True />
                </Eq>
            </And>
        </While>
        <Universal:platform_communications />
    </ReadData>
    <Insert Filename="Insert/LineCapture.tl" />
    <Assign>
        <Sequence />
        <Arg Name="LineCapture:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="LineCapture:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="LineCapture:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="LineCapture:DockingAltitude" />
        <Arg Name="DockingAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="LineCapture:InvalidAltitudeTimeout" />
        <Arg Name="InvalidAltitudeTimeout" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="LineCapture:AltitudeDepthLimit" />
        <Arg Name="AltitudeDepthLimit" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="NumPings" />
        <Arg Name="NumberOfPings" />
    </Assign>
    <Estimation:TrackAcousticContact Id="TrackAC">
        <Parallel />
        <Setting>
            <Estimation:TrackAcousticContact.contactLabelSetting />
            <Arg Name="TransponderCode" />
        </Setting>
        <Setting>
            <Estimation:TrackAcousticContact.numberOfSamplesSetting />
            <Arg Name="NumPings" />
        </Setting>
        <Setting>
            <Estimation:TrackAcousticContact.updatePeriodSetting />
            <Arg Name="TrackingPeriod" />
        </Setting>
        <Setting>
            <Estimation:TrackAcousticContact.numFixesLowPassSetting />
            <Arg Name="LowPassFilterWinSize" />
        </Setting>
        <Setting>
            <Estimation:TrackAcousticContact.lowPassOverlapSetting />
            <Arg Name="LowPassFilterWinOverlap" />
        </Setting>
        <Setting>
            <Estimation:TrackAcousticContact.useSoundSpeedCorrectionSetting />
            <Arg Name="CorrectForSoundSpeed" />
        </Setting>
    </Estimation:TrackAcousticContact>
    <Aggregate Id="UpdateNumPings_NotTerminal">
        <While>
            <Not>
                <Arg Name="LineCapture:GuidanceMode" />
                <Eq>
                    <Arg Name="LineCapture:Terminal" />
                </Eq>
            </Not>
            <And>
                <Not>
                    <Arg Name="NumPings" />
                    <Eq>
                        <Arg Name="NumberOfPings" />
                    </Eq>
                </Not>
            </And>
        </While>
        <Syslog Severity="Info">
            No longer in Terminal. Resuming normal ranging with 
            <Arg Name="NumberOfPings" />
            <Units:count />
            pings.
        </Syslog>
        <Assign>
            <Sequence />
            <Arg Name="NumPings" />
            <Arg Name="NumberOfPings" />
        </Assign>
        <Assign>
            <Sequence />
            <Arg Name="LowPassFilterWinSize" />
            <Arg Name="TrackingNumFixesLowPassFilter" />
        </Assign>
        <Assign>
            <Sequence />
            <Arg Name="LowPassFilterWinOverlap" />
            <True />
        </Assign>
    </Aggregate>
    <Aggregate Id="UpdateNumPings_Terminal">
        <While>
            <Arg Name="LineCapture:GuidanceMode" />
            <Eq>
                <Arg Name="LineCapture:Terminal" />
            </Eq>
        </While>
        <Aggregate Id="UpdateNumPingsUSBL">
            <When>
                <Not>
                    <Arg Name="NumPings" />
                    <Eq>
                        <Arg Name="NumPingsUSBL" />
                    </Eq>
                </Not>
                <And>
                    <Arg Name="LineCapture:Range" />
                    <Lt>
                        <Arg Name="RangeUSBL" />
                    </Lt>
                    <And>
                        <Not>
                            <Dock:LineCapture.guidanceMode />
                            <Eq>
                                <Units:count />
                                <Value>5</Value>
                            </Eq>
                        </Not>
                    </And>
                </And>
            </When>
            <Syslog Severity="Info">
                Entering USBL mode with 
                <Arg Name="NumPingsUSBL" />
                <Units:count />
                pings at 
                <Arg Name="LineCapture:Range" />
                <Units:meter />
                (mode 
                <Dock:LineCapture.guidanceMode />
                <Units:count />
                ).
            </Syslog>
            <Assign>
                <Sequence />
                <Arg Name="NumPings" />
                <Arg Name="NumPingsUSBL" />
            </Assign>
            <Assign>
                <Sequence />
                <Arg Name="LowPassFilterWinSize" />
                <Arg Name="TrackingNumFixesLowPassFilterUSBL" />
            </Assign>
            <Assign>
                <Sequence />
                <Arg Name="LowPassFilterWinOverlap" />
                <True />
            </Assign>
        </Aggregate>
        <Aggregate Id="UpdateNumPingsATR">
            <When>
                <Not>
                    <Arg Name="NumPings" />
                    <Eq>
                        <Arg Name="NumberOfPings" />
                    </Eq>
                </Not>
                <And>
                    <Arg Name="LineCapture:Range" />
                    <Ge>
                        <Arg Name="RangeUSBL" />
                    </Ge>
                    <Or>
                        <Dock:LineCapture.guidanceMode />
                        <Eq>
                            <Units:count />
                            <Value>5</Value>
                        </Eq>
                    </Or>
                </And>
            </When>
            <Syslog Severity="Info">
                Resuming normal ranging with 
                <Arg Name="NumberOfPings" />
                <Units:count />
                pings 
                <Arg Name="LineCapture:Range" />
                <Units:meter />
                (mode 
                <Dock:LineCapture.guidanceMode />
                <Units:count />
                ).
            </Syslog>
            <Assign>
                <Sequence />
                <Arg Name="NumPings" />
                <Arg Name="NumberOfPings" />
            </Assign>
            <Assign>
                <Sequence />
                <Arg Name="LowPassFilterWinSize" />
                <Arg Name="TrackingNumFixesLowPassFilter" />
            </Assign>
            <Assign>
                <Sequence />
                <Arg Name="LowPassFilterWinOverlap" />
                <True />
            </Assign>
        </Aggregate>
    </Aggregate>
    <Aggregate Id="UpdatePingUpdateRate_Midcourse">
        <When>
            <Not>
                <Arg Name="TrackingPeriod" />
                <Eq>
                    <Arg Name="TrackingUpdatePeriodMidcourse" />
                </Eq>
            </Not>
            <And>
                <Arg Name="LineCapture:Range" />
                <Gt>
                    <Arg Name="LineCapture:TerminalRange" />
                </Gt>
                <Or>
                    <Dock:LineCapture.guidanceMode />
                    <Eq>
                        <Units:count />
                        <Value>5</Value>
                    </Eq>
                </Or>
            </And>
        </When>
        <Syslog Severity="Info">
            Entering Midcourse tracking update period 
            <Arg Name="TrackingUpdatePeriodMidcourse" />
            <Units:second />
            sec at
            <Arg Name="LineCapture:Range" />
            <Units:meter />
            (mode 
            <Dock:LineCapture.guidanceMode />
            <Units:count />
            ).
        </Syslog>
        <Assign>
            <Sequence />
            <Arg Name="TrackingPeriod" />
            <Arg Name="TrackingUpdatePeriodMidcourse" />
        </Assign>
        <Assign>
            <Sequence />
            <Arg Name="LowPassFilterWinSize" />
            <Arg Name="TrackingNumFixesLowPassFilter" />
        </Assign>
        <Assign>
            <Sequence />
            <Arg Name="LowPassFilterWinOverlap" />
            <True />
        </Assign>
    </Aggregate>
    <Aggregate Id="UpdatePingUpdateRate_Terminal">
        <When>
            <Not>
                <Arg Name="TrackingPeriod" />
                <Eq>
                    <Arg Name="TrackingUpdatePeriodTerminal" />
                </Eq>
            </Not>
            <And>
                <Arg Name="LineCapture:Range" />
                <Le>
                    <Arg Name="LineCapture:TerminalRange" />
                </Le>
                <And>
                    <Not>
                        <Dock:LineCapture.guidanceMode />
                        <Eq>
                            <Units:count />
                            <Value>5</Value>
                        </Eq>
                    </Not>
                </And>
                <And>
                    <Not>
                        <Arg Name="LineCapture:GuidanceMode" />
                        <Eq>
                            <Units:count />
                            <Value>0</Value>
                        </Eq>
                    </Not>
                </And>
            </And>
        </When>
        <Syslog Severity="Info">
            Entering Terminal tracking update period 
            <Arg Name="TrackingUpdatePeriodTerminal" />
            <Units:second />
            sec at
            <Arg Name="LineCapture:Range" />
            <Units:meter />
            (mode 
            <Dock:LineCapture.guidanceMode />
            <Units:count />
            ).
        </Syslog>
        <Assign>
            <Sequence />
            <Arg Name="TrackingPeriod" />
            <Arg Name="TrackingUpdatePeriodTerminal" />
        </Assign>
        <Assign>
            <Sequence />
            <Arg Name="LowPassFilterWinSize" />
            <Arg Name="TrackingNumFixesLowPassFilter" />
        </Assign>
        <Assign>
            <Sequence />
            <Arg Name="LowPassFilterWinOverlap" />
            <True />
        </Assign>
    </Aggregate>
    <Aggregate Id="restartDHCP">
        <When>
            <Called />
        </When>
        <Syslog Severity="Info">Restarting DHCP...</Syslog>
        <Guidance:Execute>
            <Sequence />
            <Setting>
                <Guidance:Execute.command />
                <String>! /mnt/mmc/LRAUV/Tools/dhcp.sh</String>
            </Setting>
        </Guidance:Execute>
    </Aggregate>
    <Call RefId="NeedComms" Id="StartingMission" PriorityHere="false" />
    <Syslog Severity="Important">Restarting logs</Syslog>
    <Guidance:Execute>
        <Sequence />
        <Setting>
            <Guidance:Execute.command />
            <String>restart logs</String>
        </Setting>
    </Guidance:Execute>
    <Aggregate Id="InitialDive">
        <Sequence />
        <Guidance:SetSpeed>
            <Parallel />
            <Setting>
                <Guidance:SetSpeed.speed />
                <Arg Name="MidcourseSpeed" />
            </Setting>
        </Guidance:SetSpeed>
        <Guidance:Mass>
            <Parallel />
            <Setting>
                <Guidance:Mass.position />
                <Control:VerticalControl.massDefault />
            </Setting>
        </Guidance:Mass>
        <Guidance:Pitch>
            <Sequence />
            <Timeout Duration="ApproachDepthTimeout">
                <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="MidcourseDepth" />
            </Setting>
            <Setting>
                <Guidance:Pitch.depthRate />
                <Arg Name="ApproachDepthRate" />
            </Setting>
        </Guidance:Pitch>
    </Aggregate>
    <Aggregate Id="RepeatHack">
        <Sequence />
        <Break>
            <Not>
                <Arg Name="RetryIncompleteDock" />
            </Not>
        </Break>
        <Assign>
            <Sequence />
            <Arg Name="RepeatArg" />
            <Arg Name="Repeat" />
            <Add>
                <Units:count />
                <Value>1</Value>
            </Add>
        </Assign>
    </Aggregate>
    <Aggregate Id="Lap">
        <Sequence Repeat="RepeatArg" />
        <Break>
            <Arg Name="StayOnDock" />
            <And>
                <Arg Name="LastDockSuccessful" />
            </And>
            <Or>
                <Arg Name="RetryIncompleteDock" />
                <And>
                    <Arg Name="DockSuccessfulCount" />
                    <Eq>
                        <Arg Name="Repeat" />
                    </Eq>
                </And>
            </Or>
        </Break>
        <Assign>
            <Sequence />
            <Arg Name="Mode" />
            <Units:count />
            <Value>-99</Value>
        </Assign>
        <Call RefId="LineCapture" PriorityHere="false" />
        <Assign>
            <Sequence />
            <Arg Name="Mode" />
            <Arg Name="LineCapture:GuidanceMode" />
        </Assign>
        <Syslog Severity="Info">
            Mode
            <Arg Name="Mode" />
            <Units:count />
        </Syslog>
        <Call RefId="restartDHCP" PriorityHere="false" />
        <Aggregate Id="Docked">
            <Sequence />
            <Break>
                <Arg Name="Mode" />
                <Lt>
                    <Units:count />
                    <Value>0</Value>
                </Lt>
            </Break>
            <Syslog Severity="Info">
                Waiting on dock for 
                <Arg Name="WaitOnDockTimeout" />
                <Units:minute />
            </Syslog>
            <Insert Filename="Insert/SetNavAcoustic.tl" />
            <Assign>
                <Sequence />
                <Arg Name="TrackingPeriod" />
                <Arg Name="TrackingUpdatePeriodDocked" />
            </Assign>
            <Assign>
                <Sequence />
                <Arg Name="EndDockingSequence" />
                <Arg Name="StayOnDock" />
            </Assign>
            <Dock:Docked Id="Docked">
                <Sequence />
                <Timeout Duration="WaitOnDockTimeout" />
                <Setting>
                    <Dock:Docked.slideSinkTime />
                    <Arg Name="SlideSinkDuration" />
                </Setting>
                <Setting>
                    <Dock:Docked.slideCloseTime />
                    <Arg Name="SlideCloseDuration" />
                </Setting>
                <Setting>
                    <Dock:Docked.slideRetries />
                    <Arg Name="SlideRetries" />
                </Setting>
                <Setting>
                    <Dock:Docked.slideAllowed />
                    <Arg Name="TrySlide" />
                </Setting>
                <OutputArg Name="LastDockSuccessful">
                    <Dock:Docked.dockSuccessful />
                </OutputArg>
            </Dock:Docked>
            <Aggregate Id="setCompletion">
                <Sequence />
                <Break>
                    <Not>
                        <Arg Name="RetryIncompleteDock" />
                    </Not>
                </Break>
                <Assign>
                    <Sequence />
                    <Arg Name="EndDockingSequence" />
                    <Arg Name="LastDockSuccessful" />
                    <And>
                        <Arg Name="StayOnDock" />
                    </And>
                </Assign>
                <Assign>
                    <Sequence />
                    <Arg Name="DockSuccessfulCount" />
                    <Arg Name="DockSuccessfulCount" />
                    <Add>
                        <Arg Name="LastDockSuccessful" />
                    </Add>
                </Assign>
                <Aggregate Id="setRetry">
                    <Sequence />
                    <Break>
                        <Arg Name="LastDockSuccessful" />
                    </Break>
                    <Syslog Severity="Important">Retrying incomplete docking attempt</Syslog>
                    <Assign>
                        <Sequence />
                        <Arg Name="RepeatArg" />
                        <Arg Name="RepeatArg" />
                        <Add>
                            <Units:count />
                            <Value>1</Value>
                        </Add>
                    </Assign>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Detach">
                <Sequence />
                <Break>
                    <Arg Name="EndDockingSequence" />
                </Break>
                <Syslog Severity="Important">
                    Breaking off. Range: 
                    <Universal:acoustic_contact_range />
                    <Units:meter />
                    .
                </Syslog>
                <Dock:Undock Id="Undock">
                    <Sequence />
                </Dock:Undock>
                <Call RefId="restartDHCP" PriorityHere="false" />
            </Aggregate>
            <Aggregate Id="Wpt1">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Lat1" />
                    </IsNaN>
                    <Or>
                        <IsNaN>
                            <Arg Name="Lon1" />
                        </IsNaN>
                    </Or>
                    <Or>
                        <Arg Name="EndDockingSequence" />
                    </Or>
                </Break>
                <Syslog Severity="Important">
                    Driving to post-undock waypoint 
                    <Arg Name="Lat1" />
                    <Units:degree />
                    ,
                    <Arg Name="Lon1" />
                    <Units:degree />
                </Syslog>
                <Guidance:Pitch>
                    <Parallel />
                    <Setting>
                        <Guidance:Pitch.depth />
                        <Arg Name="MidcourseDepth" />
                    </Setting>
                </Guidance:Pitch>
                <Guidance:SetSpeed>
                    <Parallel />
                    <Setting>
                        <Guidance:SetSpeed.speed />
                        <Arg Name="MidcourseSpeed" />
                    </Setting>
                </Guidance:SetSpeed>
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat1" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon1" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.captureRadius />
                        <Arg Name="CaptureRadius" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Drift">
                <Sequence />
                <Break>
                    <Not>
                        <IsNaN>
                            <Arg Name="Lat1" />
                        </IsNaN>
                    </Not>
                    <And>
                        <Not>
                            <IsNaN>
                                <Arg Name="Lon1" />
                            </IsNaN>
                        </Not>
                    </And>
                    <Or>
                        <Arg Name="EndDockingSequence" />
                    </Or>
                </Break>
                <Syslog Severity="Important">
                    No post-undock waypoint, drifting for 
                    <Dock:LineCapture.rolloutTimeout />
                    <Units:minute />
                     minutes
                </Syslog>
                <Guidance:Buoyancy>
                    <Parallel />
                    <Setting>
                        <Guidance:Buoyancy.position />
                        <Control:VerticalControl.buoyancyNeutral />
                    </Setting>
                </Guidance:Buoyancy>
                <Guidance:Pitch>
                    <Parallel />
                    <Setting>
                        <Guidance:Pitch.massPosition />
                        <Control:VerticalControl.massDefault />
                    </Setting>
                    <Setting>
                        <Guidance:Pitch.elevatorAngle />
                        <Units:degree />
                        <Value>0</Value>
                    </Setting>
                </Guidance:Pitch>
                <Guidance:Point>
                    <Parallel />
                    <Setting>
                        <Guidance:Point.rudderAngle />
                        <Units:degree />
                        <Value>0</Value>
                    </Setting>
                </Guidance:Point>
                <Guidance:SetSpeed>
                    <Parallel />
                    <Setting>
                        <Guidance:SetSpeed.speed />
                        <Units:meter_per_second />
                        <Value>0</Value>
                    </Setting>
                </Guidance:SetSpeed>
                <Guidance:Wait>
                    <Sequence />
                    <Setting>
                        <Guidance:Wait.duration />
                        <Dock:LineCapture.rolloutTimeout />
                    </Setting>
                </Guidance:Wait>
            </Aggregate>
        </Aggregate>
    </Aggregate>
</Mission>

2025-06-13T19:53:16.128Z,1749844396.128 [MissionManager](INFO): DefineArg lineCaptureHoming.MissionTimeout = 3.000000 h
2025-06-13T19:53:16.131Z,1749844396.131 [MissionManager](INFO): DefineArg lineCaptureHoming.NeedCommsTime = 180.000000 min
2025-06-13T19:53:16.134Z,1749844396.134 [MissionManager](INFO): DefineArg lineCaptureHoming.MicromodemCommsInterval = 3.000000 h
2025-06-13T19:53:16.137Z,1749844396.137 [MissionManager](INFO): DefineArg lineCaptureHoming.Repeat = 1.000000 count
2025-06-13T19:53:16.141Z,1749844396.141 [MissionManager](INFO): DefineArg lineCaptureHoming.WaitOnDockTimeout = 5.000000 min
2025-06-13T19:53:16.143Z,1749844396.143 [MissionManager](INFO): DefineArg lineCaptureHoming.StayOnDock = 0 bool
2025-06-13T19:53:16.146Z,1749844396.146 [MissionManager](INFO): DefineArg lineCaptureHoming.TrySlide = 0 bool
2025-06-13T19:53:16.149Z,1749844396.149 [MissionManager](INFO): DefineArg lineCaptureHoming.RetryIncompleteDock = 0 bool
2025-06-13T19:53:16.152Z,1749844396.152 [MissionManager](INFO): DefineArg lineCaptureHoming.SlideRetries = 4.000000 count
2025-06-13T19:53:16.155Z,1749844396.155 [MissionManager](INFO): DefineArg lineCaptureHoming.SlideSinkDuration = 1.500000 min
2025-06-13T19:53:16.159Z,1749844396.159 [MissionManager](INFO): DefineArg lineCaptureHoming.SlideCloseDuration = 1.500000 min
2025-06-13T19:53:16.162Z,1749844396.162 [MissionManager](INFO): DefineArg lineCaptureHoming.TransponderCode = 50 count
2025-06-13T19:53:16.234Z,1749844396.234 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingUpdatePeriodMidcourse = 60.000000 s
2025-06-13T19:53:16.239Z,1749844396.239 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingUpdatePeriodTerminal = 2.000000 s
2025-06-13T19:53:16.263Z,1749844396.263 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingUpdatePeriodDocked = 2.000000 min
2025-06-13T19:53:16.297Z,1749844396.297 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingNumFixesLowPassFilter = 5.000000 count
2025-06-13T19:53:16.316Z,1749844396.316 [MissionManager](INFO): DefineArg lineCaptureHoming.NumberOfPings = 1.000000 count
2025-06-13T19:53:16.319Z,1749844396.319 [MissionManager](INFO): DefineArg lineCaptureHoming.NumPingsUSBL = 120.000000 count
2025-06-13T19:53:16.339Z,1749844396.339 [MissionManager](INFO): DefineArg lineCaptureHoming.RangeUSBL = 40.000000 m
2025-06-13T19:53:16.350Z,1749844396.350 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingNumFixesLowPassFilterUSBL = 5.000000 count
2025-06-13T19:53:16.361Z,1749844396.361 [MissionManager](INFO): DefineArg lineCaptureHoming.DockingAltitude = nan m
2025-06-13T19:53:16.378Z,1749844396.378 [MissionManager](INFO): DefineArg lineCaptureHoming.InvalidAltitudeTimeout = 10.000000 min
2025-06-13T19:53:16.398Z,1749844396.398 [MissionManager](INFO): DefineArg lineCaptureHoming.AltitudeDepthLimit = nan m
2025-06-13T19:53:16.402Z,1749844396.402 [MissionManager](INFO): DefineArg lineCaptureHoming.MinAltitude = 4.000000 m
2025-06-13T19:53:16.421Z,1749844396.421 [MissionManager](INFO): DefineArg lineCaptureHoming.MaxDepth = 205.000000 m
2025-06-13T19:53:16.429Z,1749844396.429 [MissionManager](INFO): DefineArg lineCaptureHoming.MinOffshore = 2.000000 km
2025-06-13T19:53:16.444Z,1749844396.444 [MissionManager](INFO): DefineArg lineCaptureHoming.ApproachDepthTimeout = 20.000000 min
2025-06-13T19:53:16.447Z,1749844396.447 [MissionManager](INFO): DefineArg lineCaptureHoming.ApproachDepthRate = 0.050000 m/s
2025-06-13T19:53:16.473Z,1749844396.473 [MissionManager](INFO): DefineArg lineCaptureHoming.Lat1 = nan arcdeg
2025-06-13T19:53:16.486Z,1749844396.486 [MissionManager](INFO): DefineArg lineCaptureHoming.Lon1 = nan arcdeg
2025-06-13T19:53:16.489Z,1749844396.489 [MissionManager](INFO): DefineArg lineCaptureHoming.CaptureRadius = nan m
2025-06-13T19:53:16.496Z,1749844396.496 [MissionManager](INFO): DefineArg lineCaptureHoming.CorrectForSoundSpeed = 0 bool
2025-06-13T19:53:16.504Z,1749844396.504 [MissionManager](INFO): DefineArg lineCaptureHoming.MidcourseDepth = 50.000000 m
2025-06-13T19:53:16.512Z,1749844396.512 [MissionManager](INFO): DefineArg lineCaptureHoming.MidcourseSpeed = 0.800000 m/s
2025-06-13T19:53:16.515Z,1749844396.515 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingPeriod = 60.000000 s
2025-06-13T19:53:16.522Z,1749844396.522 [MissionManager](INFO): DefineOutput lineCaptureHoming.Mode = -1.000000 count
2025-06-13T19:53:16.534Z,1749844396.534 [MissionManager](INFO): DefineOutput lineCaptureHoming.NumPings = 1.000000 count
2025-06-13T19:53:16.546Z,1749844396.546 [MissionManager](INFO): DefineOutput lineCaptureHoming.LowPassFilterWinSize = 1.000000 count
2025-06-13T19:53:16.558Z,1749844396.558 [MissionManager](INFO): DefineOutput lineCaptureHoming.LowPassFilterWinOverlap = 1 bool
2025-06-13T19:53:16.569Z,1749844396.569 [MissionManager](INFO): DefineOutput lineCaptureHoming.EndDockingSequence = 0 bool
2025-06-13T19:53:16.580Z,1749844396.580 [MissionManager](INFO): DefineOutput lineCaptureHoming.LastDockSuccessful = 0 bool
2025-06-13T19:53:16.588Z,1749844396.588 [MissionManager](INFO): DefineOutput lineCaptureHoming.DockSuccessfulCount = 0.000000 count
2025-06-13T19:53:16.591Z,1749844396.591 [MissionManager](INFO): DefineOutput lineCaptureHoming.RepeatArg = 1.000000 count
2025-06-13T19:53:16.591Z,1749844396.591 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-06-13T19:53:16.596Z,1749844396.596 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-06-13T19:53:16.649Z,1749844396.649 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-06-13T19:53:18.398Z,1749844398.398 [DataOverHttps](INFO): Moved sent file to Logs/20250613T193503/Courier0010.lzma.bak
2025-06-13T19:53:18.398Z,1749844398.398 [DataOverHttps](INFO): SBD MOMSN=25209235
2025-06-13T19:53:21.359Z,1749844401.359 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/Science.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="Science">
    <DefineArg Name="PeakDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="TimeWindowPeakReport">
        <Units:minute />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="HighestChlPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestSaltPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestOilPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="PatchTracking">
        <False />
    </DefineArg>
    <DefineArg Name="FilterWidthHorizontal">
        <Units:count />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesSlidingwindow">
        <Units:count />
        <Value>100</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionHorizontal">
        <Units:percent />
        <Value>80</Value>
    </DefineArg>
    <DefineArg Name="PeakDetectNO3Active">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectOilActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectFDOMActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectSalinityActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDinoflagellatesActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreDinoflagellatesActive">
        <False />
    </DefineArg>
    <DefineArg Name="UpwardDerivativeOfTemperatureActive">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledAanderaaO2">
        <Science:Aanderaa_O2.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledNeilBrown">
        <Science:CTD_NeilBrown.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledRBRTridente">
        <Science:RBRTridente.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledSeabird">
        <Science:CTD_Seabird.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsBB2FL">
        <Science:WetLabsBB2FL.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsSeaOWL_UV_A">
        <Science:WetLabsSeaOWL_UV_A.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsUBAT">
        <Science:WetLabsUBAT.loadAtStartup />
    </DefineArg>
    <DefineArg Name="LowPassWindowLength">
        <Units:count />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="MedianFilterLen">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="ShallowBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DeepBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DepChangeThreshForAttitudeFlip">
        <Units:meter />
        <Value>2.0</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionVerticalAscent">
        <Units:percent />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionVerticalDescent">
        <Units:percent />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlPeakThresh">
        <Units:microgram_per_liter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="ChlThreshTriggerActive">
        <False />
    </DefineArg>
    <DefineArg Name="ChlLowerThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlUpperThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesThresh">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreLMavgROIPeakThresh">
        <Units:count_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreHMavgROIPeakThresh">
        <Units:count_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreDiatomsPeakThresh">
        <Units:count_per_milliliter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreDinoflagellatesPeakThresh">
        <Units:count_per_milliliter />
        <Value>0</Value>
    </DefineArg>
    <DefineOutput Name="GoDown">
        <True />
    </DefineOutput>
    <DefineOutput Name="PeakChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3">
        <Units:micromole_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Depth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOil">
        <Units:kilogram_per_cubic_meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOM">
        <Units:part_per_billion />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatoms">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatoms">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOil">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="TriggeredOnChl">
        <False />
    </DefineOutput>
    <DefineOutput Name="ChlTriggering">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledAanderaaO2" />
        </While>
        <Universal:mass_concentration_of_oxygen_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
        </While>
        <Universal:sea_water_temperature />
        <Universal:sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledSeabird" />
        </While>
        <Science:CTD_Seabird.sea_water_temperature />
        <Science:CTD_Seabird.sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
            <And>
                <Arg Name="UpwardDerivativeOfTemperatureActive" />
            </And>
        </While>
        <Universal:upward_derivative_of_sea_water_temperature />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsBB2FL" />
            <Or>
                <Arg Name="EnabledRBRTridente" />
            </Or>
            <Or>
                <Arg Name="PeakDetectChlActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_chlorophyll_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsUBAT" />
        </While>
        <Science:WetLabsUBAT.average_bioluminescence />
    </ReadData>
    <ReadData Id="Read_Oil" Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsSeaOWL_UV_A" />
            <Or>
                <Arg Name="PeakDetectOilActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
    </ReadData>
    <Aggregate Id="OceanCurrent">
        <Sequence />
        <Estimation:CurrentEstimator>
            <Parallel />
        </Estimation:CurrentEstimator>
    </Aggregate>
    <Aggregate Id="PeakDetectChl">
        <While>
            <Arg Name="PeakDetectChlActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakChl">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectChl">
        <While>
            <Arg Name="EdgeDetectChlActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="ChlPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakChl">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgeChl">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgeChlDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgeChlTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgeChlLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgeChlLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, ChlPeakThresh, PeakChl, PeakChlDepth, EdgeChl, EdgeChlDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="ChlPeakThresh" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChlDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgeChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="EdgeChlDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
            <Arg Name="EdgeChl" />
            <Arg Name="EdgeChlDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestChlPeakReport">
        <While>
            <Arg Name="HighestChlPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakChlDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakChlLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakChlLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchChl">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchChlDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchChlLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchChlLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchChlDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectNO3">
        <While>
            <Arg Name="PeakDetectNO3Active" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mole_concentration_of_nitrate_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakNO3">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakNO3Depth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakNO3Latitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakNO3Longitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakNO3" />
            <Arg Name="PeakNO3Depth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectOil">
        <While>
            <Arg Name="PeakDetectOilActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakOil">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakOilDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakOilLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakOilLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakOil" />
            <Arg Name="PeakOilDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestOilPeakReport">
        <While>
            <Arg Name="HighestOilPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakOil" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakOilDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakOilLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakOilLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchOil">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchOilDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchOilLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchOilLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchOilDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectFDOM">
        <While>
            <Arg Name="PeakDetectFDOMActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:concentration_of_colored_dissolved_organic_matter_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakFDOM">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakFDOMDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakFDOMTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakFDOMLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakFDOMLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakFDOM" />
            <Arg Name="PeakFDOMDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectSalinity">
        <While>
            <Arg Name="PeakDetectSalinityActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:sea_water_salinity />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakSalt">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakSaltDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakSaltTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakSaltLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakSaltLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakSalt" />
            <Arg Name="PeakSaltDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestSaltPeakReport">
        <While>
            <Arg Name="HighestSaltPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakSalt" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakSaltDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakSaltLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakSaltLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchSalt">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchSaltDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchSaltLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchSaltLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchSaltDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="EdgeDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreLMavgROIPeakThresh, PeakPlanktivoreLMavgROI, PeakPlanktivoreLMavgROIDepth, EdgePlanktivoreLMavgROI, EdgePlanktivoreLMavgROIDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreHMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_HM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="EdgeDetectPlanktivoreHMavgROIActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_HM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreHMavgROIPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROI">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreHMavgROIPeakThresh, PeakPlanktivoreHMavgROI, PeakPlanktivoreHMavgROIDepth, EdgePlanktivoreHMavgROI, EdgePlanktivoreHMavgROIDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreHMavgROIPeakThresh" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreHMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="EdgePlanktivoreHMavgROIDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
            <Arg Name="EdgePlanktivoreHMavgROI" />
            <Arg Name="EdgePlanktivoreHMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="PeakDetectPlanktivoreDiatomsActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_diatoms</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="EdgeDetectPlanktivoreDiatomsActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_diatoms</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreDiatomsPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatoms">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreDiatomsPeakThresh, PeakPlanktivoreDiatoms, PeakPlanktivoreDiatomsDepth, EdgePlanktivoreDiatoms, EdgePlanktivoreDiatomsDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreDiatomsPeakThresh" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreDiatoms" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="EdgePlanktivoreDiatomsDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
            <Arg Name="EdgePlanktivoreDiatoms" />
            <Arg Name="EdgePlanktivoreDiatomsDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="PeakDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDinoflagellates">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="EdgeDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreDinoflagellatesPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellates">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellates">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreDinoflagellatesPeakThresh, PeakPlanktivoreDinoflagellates, PeakPlanktivoreDinoflagellatesDepth, EdgePlanktivoreDinoflagellates, EdgePlanktivoreDinoflagellatesDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreDinoflagellatesPeakThresh" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreDinoflagellates" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="EdgePlanktivoreDinoflagellatesDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
            <Arg Name="EdgePlanktivoreDinoflagellates" />
            <Arg Name="EdgePlanktivoreDinoflagellatesDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="ChlThreshTrigger">
        <While>
            <Arg Name="ChlThreshTriggerActive" />
        </While>
        <Trigger:ValueDetect>
            <Sequence />
            <Setting>
                <Trigger:ValueDetect.detect />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.lowerThreshold />
                <Arg Name="ChlLowerThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.upperThreshold />
                <Arg Name="ChlUpperThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.numProfilesThreshold />
                <Arg Name="NumProfilesThresh" />
            </Setting>
            <OutputArg Name="ChlTriggering">
                <Trigger:ValueDetect.outputValue />
            </OutputArg>
        </Trigger:ValueDetect>
        <Assign>
            <Sequence />
            <Arg Name="TriggeredOnChl" />
            <True />
        </Assign>
        <Syslog Severity="Important">
            Triggered. PeakChl values on 
            <Arg Name="NumProfilesThresh" />
            <Units:count />
             consecutive yo-yo profiles fall in [
            <Arg Name="ChlLowerThresh" />
            <Units:microgram_per_liter />
            <Arg Name="ChlUpperThresh" />
            <Units:microgram_per_liter />
            ] (NaN bound is ignored).
        </Syslog>
    </Aggregate>
</Aggregate>

2025-06-13T19:53:21.387Z,1749844401.387 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectChlActive = 0 bool
2025-06-13T19:53:21.390Z,1749844401.390 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EdgeDetectChlActive = 0 bool
2025-06-13T19:53:21.394Z,1749844401.394 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.TimeWindowPeakReport = nan min
2025-06-13T19:53:21.397Z,1749844401.397 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.HighestChlPeakReportActive = 0 bool
2025-06-13T19:53:21.420Z,1749844401.420 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.HighestSaltPeakReportActive = 0 bool
2025-06-13T19:53:21.423Z,1749844401.423 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.HighestOilPeakReportActive = 0 bool
2025-06-13T19:53:21.435Z,1749844401.435 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PatchTracking = 0 bool
2025-06-13T19:53:21.517Z,1749844401.517 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.FilterWidthHorizontal = 3.000000 count
2025-06-13T19:53:21.523Z,1749844401.523 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.NumProfilesSlidingwindow = 100.000000 count
2025-06-13T19:53:21.534Z,1749844401.534 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.OffPeakFractionHorizontal = 80.000000 %
2025-06-13T19:53:21.537Z,1749844401.537 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectNO3Active = 0 bool
2025-06-13T19:53:21.556Z,1749844401.556 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectOilActive = 0 bool
2025-06-13T19:53:21.559Z,1749844401.559 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectFDOMActive = 0 bool
2025-06-13T19:53:21.562Z,1749844401.562 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectSalinityActive = 0 bool
2025-06-13T19:53:21.581Z,1749844401.581 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-06-13T19:53:21.590Z,1749844401.590 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-06-13T19:53:21.594Z,1749844401.594 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-06-13T19:53:21.605Z,1749844401.605 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EdgeDetectPlanktivoreHMavgROIActive = 0 bool
2025-06-13T19:53:21.612Z,1749844401.612 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-06-13T19:53:21.620Z,1749844401.620 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EdgeDetectPlanktivoreDiatomsActive = 0 bool
2025-06-13T19:53:21.623Z,1749844401.623 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-06-13T19:53:21.627Z,1749844401.627 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EdgeDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-06-13T19:53:21.638Z,1749844401.638 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-06-13T19:53:21.653Z,1749844401.653 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledAanderaaO2 = 0 bool
2025-06-13T19:53:21.666Z,1749844401.666 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledNeilBrown = 0 bool
2025-06-13T19:53:21.681Z,1749844401.681 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledRBRTridente = 0 bool
2025-06-13T19:53:21.685Z,1749844401.685 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledSeabird = 1 bool
2025-06-13T19:53:21.693Z,1749844401.693 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledWetLabsBB2FL = 1 bool
2025-06-13T19:53:21.697Z,1749844401.697 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-06-13T19:53:21.709Z,1749844401.709 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledWetLabsUBAT = 1 bool
2025-06-13T19:53:21.716Z,1749844401.716 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.LowPassWindowLength = 20.000000 count
2025-06-13T19:53:21.719Z,1749844401.719 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.MedianFilterLen = 5.000000 count
2025-06-13T19:53:21.727Z,1749844401.727 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.ShallowBound = nan m
2025-06-13T19:53:21.731Z,1749844401.731 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.DeepBound = nan m
2025-06-13T19:53:21.750Z,1749844401.750 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-06-13T19:53:21.753Z,1749844401.753 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.OffPeakFractionVerticalAscent = nan %
2025-06-13T19:53:21.769Z,1749844401.769 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.OffPeakFractionVerticalDescent = nan %
2025-06-13T19:53:21.776Z,1749844401.776 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.ChlPeakThresh = 0.000000 ug/l
2025-06-13T19:53:21.779Z,1749844401.779 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.ChlThreshTriggerActive = 0 bool
2025-06-13T19:53:21.786Z,1749844401.786 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.ChlLowerThresh = nan ug/l
2025-06-13T19:53:21.790Z,1749844401.790 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.ChlUpperThresh = nan ug/l
2025-06-13T19:53:21.805Z,1749844401.805 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.NumProfilesThresh = 5.000000 count
2025-06-13T19:53:21.812Z,1749844401.812 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-06-13T19:53:21.815Z,1749844401.815 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PlanktivoreHMavgROIPeakThresh = 0.000000 count/s
2025-06-13T19:53:21.823Z,1749844401.823 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PlanktivoreDiatomsPeakThresh = 0.000000 count/ml
2025-06-13T19:53:21.838Z,1749844401.838 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PlanktivoreDinoflagellatesPeakThresh = 0.000000 count/ml
2025-06-13T19:53:21.841Z,1749844401.841 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.GoDown = 1 bool
2025-06-13T19:53:21.893Z,1749844401.893 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakChl = nan ug/l
2025-06-13T19:53:21.904Z,1749844401.904 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakChlDepth = nan m
2025-06-13T19:53:21.924Z,1749844401.924 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakChlTemperature = nan degC
2025-06-13T19:53:21.927Z,1749844401.927 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakChlLatitude = nan arcdeg
2025-06-13T19:53:21.938Z,1749844401.938 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakChlLongitude = nan arcdeg
2025-06-13T19:53:21.950Z,1749844401.950 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgeChl = nan ug/l
2025-06-13T19:53:21.970Z,1749844401.970 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgeChlDepth = nan m
2025-06-13T19:53:21.979Z,1749844401.979 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgeChlTemperature = nan degC
2025-06-13T19:53:22.027Z,1749844402.027 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgeChlLatitude = nan arcdeg
2025-06-13T19:53:22.050Z,1749844402.050 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgeChlLongitude = nan arcdeg
2025-06-13T19:53:22.070Z,1749844402.070 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakNO3 = nan umol/l
2025-06-13T19:53:22.077Z,1749844402.077 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakNO3Depth = nan m
2025-06-13T19:53:22.084Z,1749844402.084 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakNO3Latitude = nan arcdeg
2025-06-13T19:53:22.092Z,1749844402.092 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakNO3Longitude = nan arcdeg
2025-06-13T19:53:22.095Z,1749844402.095 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakOil = nan kg/m3
2025-06-13T19:53:22.106Z,1749844402.106 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakOilDepth = nan m
2025-06-13T19:53:22.110Z,1749844402.110 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakOilLatitude = nan arcdeg
2025-06-13T19:53:22.121Z,1749844402.121 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakOilLongitude = nan arcdeg
2025-06-13T19:53:22.133Z,1749844402.133 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakFDOM = nan ppb
2025-06-13T19:53:22.140Z,1749844402.140 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakFDOMDepth = nan m
2025-06-13T19:53:22.145Z,1749844402.145 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakFDOMTemperature = nan degC
2025-06-13T19:53:22.150Z,1749844402.150 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakFDOMLatitude = nan arcdeg
2025-06-13T19:53:22.153Z,1749844402.153 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakFDOMLongitude = nan arcdeg
2025-06-13T19:53:22.173Z,1749844402.173 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakSalt = nan psu
2025-06-13T19:53:22.184Z,1749844402.184 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakSaltDepth = nan m
2025-06-13T19:53:22.187Z,1749844402.187 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakSaltTemperature = nan degC
2025-06-13T19:53:22.200Z,1749844402.200 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakSaltLatitude = nan arcdeg
2025-06-13T19:53:22.203Z,1749844402.203 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakSaltLongitude = nan arcdeg
2025-06-13T19:53:22.211Z,1749844402.211 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-06-13T19:53:22.226Z,1749844402.226 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-06-13T19:53:22.230Z,1749844402.230 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-06-13T19:53:22.246Z,1749844402.246 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-06-13T19:53:22.250Z,1749844402.250 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-06-13T19:53:22.254Z,1749844402.254 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-06-13T19:53:22.301Z,1749844402.301 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-06-13T19:53:22.336Z,1749844402.336 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-06-13T19:53:22.339Z,1749844402.339 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-06-13T19:53:22.379Z,1749844402.379 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-06-13T19:53:22.386Z,1749844402.386 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-06-13T19:53:22.395Z,1749844402.395 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-06-13T19:53:22.418Z,1749844402.418 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-06-13T19:53:22.423Z,1749844402.423 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-06-13T19:53:22.435Z,1749844402.435 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-06-13T19:53:22.447Z,1749844402.447 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreHMavgROI = nan count/s
2025-06-13T19:53:22.459Z,1749844402.459 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreHMavgROIDepth = nan m
2025-06-13T19:53:22.474Z,1749844402.474 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreHMavgROITemperature = nan degC
2025-06-13T19:53:22.482Z,1749844402.482 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreHMavgROILatitude = nan arcdeg
2025-06-13T19:53:22.486Z,1749844402.486 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreHMavgROILongitude = nan arcdeg
2025-06-13T19:53:22.505Z,1749844402.505 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-06-13T19:53:22.509Z,1749844402.509 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-06-13T19:53:22.513Z,1749844402.513 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-06-13T19:53:22.532Z,1749844402.532 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-06-13T19:53:22.540Z,1749844402.540 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-06-13T19:53:22.548Z,1749844402.548 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDiatoms = nan count/ml
2025-06-13T19:53:22.551Z,1749844402.551 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDiatomsDepth = nan m
2025-06-13T19:53:22.567Z,1749844402.567 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDiatomsTemperature = nan degC
2025-06-13T19:53:22.574Z,1749844402.574 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDiatomsLatitude = nan arcdeg
2025-06-13T19:53:22.587Z,1749844402.587 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDiatomsLongitude = nan arcdeg
2025-06-13T19:53:22.611Z,1749844402.611 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-06-13T19:53:22.632Z,1749844402.632 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-06-13T19:53:22.635Z,1749844402.635 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-06-13T19:53:22.647Z,1749844402.647 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-06-13T19:53:22.655Z,1749844402.655 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-06-13T19:53:22.695Z,1749844402.695 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDinoflagellates = nan count/ml
2025-06-13T19:53:22.726Z,1749844402.726 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDinoflagellatesDepth = nan m
2025-06-13T19:53:22.734Z,1749844402.734 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDinoflagellatesTemperature = nan degC
2025-06-13T19:53:22.745Z,1749844402.745 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-06-13T19:53:22.749Z,1749844402.749 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-06-13T19:53:22.772Z,1749844402.772 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchChl = nan ug/l
2025-06-13T19:53:22.775Z,1749844402.775 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchChlDepth = nan m
2025-06-13T19:53:22.783Z,1749844402.783 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchChlLatitude = nan arcdeg
2025-06-13T19:53:22.790Z,1749844402.790 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchChlLongitude = nan arcdeg
2025-06-13T19:53:22.798Z,1749844402.798 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchChlDistance = nan m
2025-06-13T19:53:22.813Z,1749844402.813 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchSalt = nan psu
2025-06-13T19:53:22.825Z,1749844402.825 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchSaltDepth = nan m
2025-06-13T19:53:22.830Z,1749844402.830 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchSaltLatitude = nan arcdeg
2025-06-13T19:53:22.834Z,1749844402.834 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchSaltLongitude = nan arcdeg
2025-06-13T19:53:22.838Z,1749844402.838 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchSaltDistance = nan m
2025-06-13T19:53:22.862Z,1749844402.862 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchOil = nan psu
2025-06-13T19:53:22.881Z,1749844402.881 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchOilDepth = nan m
2025-06-13T19:53:22.893Z,1749844402.893 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchOilLatitude = nan arcdeg
2025-06-13T19:53:22.900Z,1749844402.900 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchOilLongitude = nan arcdeg
2025-06-13T19:53:22.903Z,1749844402.903 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchOilDistance = nan m
2025-06-13T19:53:22.911Z,1749844402.911 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.TriggeredOnChl = 0 bool
2025-06-13T19:53:22.926Z,1749844402.926 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.ChlTriggering = nan ug/l
2025-06-13T19:53:23.032Z,1749844403.032 [lineCaptureHoming:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-13T19:53:23.063Z,1749844403.063 [lineCaptureHoming:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-06-13T19:53:23.203Z,1749844403.203 [lineCaptureHoming:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-06-13T19:53:23.256Z,1749844403.256 [lineCaptureHoming:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-13T19:53:23.289Z,1749844403.289 [lineCaptureHoming:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-13T19:53:23.321Z,1749844403.321 [lineCaptureHoming:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-06-13T19:53:23.369Z,1749844403.369 [lineCaptureHoming:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-13T19:53:23.425Z,1749844403.425 [lineCaptureHoming:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-13T19:53:23.467Z,1749844403.467 [lineCaptureHoming:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-06-13T19:53:23.546Z,1749844403.546 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-13T19:53:23.609Z,1749844403.609 [lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-06-13T19:53:23.677Z,1749844403.677 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-13T19:53:23.699Z,1749844403.699 [lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-06-13T19:53:23.801Z,1749844403.801 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-13T19:53:23.839Z,1749844403.839 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-06-13T19:53:23.974Z,1749844403.974 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-13T19:53:24.063Z,1749844404.063 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-06-13T19:53:24.123Z,1749844404.123 [lineCaptureHoming:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-06-13T19:53:24.138Z,1749844404.138 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-06-13T19:53:24.138Z,1749844404.138 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-06-13T19:53:24.139Z,1749844404.139 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-06-13T19:53:24.337Z,1749844404.337 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>1.5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-06-13T19:53:24.358Z,1749844404.358 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinAltitude = 5.000000 m
2025-06-13T19:53:24.366Z,1749844404.366 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2025-06-13T19:53:24.386Z,1749844404.386 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MaxDepth = 200.000000 m
2025-06-13T19:53:24.393Z,1749844404.393 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-06-13T19:53:24.394Z,1749844404.394 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-06-13T19:53:24.437Z,1749844404.437 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-06-13T19:53:24.469Z,1749844404.469 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-06-13T19:53:24.505Z,1749844404.505 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-06-13T19:53:24.505Z,1749844404.505 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-06-13T19:53:24.506Z,1749844404.506 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-06-13T19:53:25.185Z,1749844405.185 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/NeedComms.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="NeedComms">
    <DefineArg Name="DiveInterval">
        <Units:hour />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="WaitForPitchUp">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="SurfacePitch">
        <Units:degree />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="SurfaceDepthRate">
        <Units:meter_per_second />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="SurfaceSpeed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="SurfacingTimeout">
        <Units:second />
        <Value>1000</Value>
    </DefineArg>
    <DefineArg Name="GPSTimeout">
        <Units:minute />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="CommsTimeout">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <When>
        <Called />
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
                <Add>
                    <Arg Name="WaitForPitchUp" />
                </Add>
            </Gt>
        </Or>
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
            </Gt>
            <And>
                <Universal:platform_pitch_angle />
                <Gt>
                    <Units:degree />
                    <Value>0</Value>
                </Gt>
            </And>
        </Or>
    </When>
    <Syslog Severity="Info">
        last time_fix was: 
        <Universal:time_fix />
        <Units:epoch_second />
    </Syslog>
    <Guidance:GoToSurface>
        <Progression />
        <Setting>
            <Guidance:GoToSurface.pitch />
            <Arg Name="SurfacePitch" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.depthRate />
            <Arg Name="SurfaceDepthRate" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.speed />
            <Arg Name="SurfaceSpeed" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.surfaceTimeout />
            <Arg Name="SurfacingTimeout" />
        </Setting>
    </Guidance:GoToSurface>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">first GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="CommsTimeout">
            <Syslog Severity="Important">
                Comms timed out after 
                <Arg Name="CommsTimeout" />
                <Units:minute />
                minutes
            </Syslog>
        </Timeout>
        <Universal:platform_communications />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">second GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
</Aggregate>

2025-06-13T19:53:25.203Z,1749844405.203 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.DiveInterval = 1.000000 h
2025-06-13T19:53:25.207Z,1749844405.207 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.WaitForPitchUp = 10.000000 min
2025-06-13T19:53:25.231Z,1749844405.231 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-06-13T19:53:25.238Z,1749844405.238 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceDepthRate = nan m/s
2025-06-13T19:53:25.242Z,1749844405.242 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-06-13T19:53:25.259Z,1749844405.259 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfacingTimeout = 1000.000000 s
2025-06-13T19:53:25.263Z,1749844405.263 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.GPSTimeout = 7.000000 min
2025-06-13T19:53:25.279Z,1749844405.279 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.CommsTimeout = 30.000000 min
2025-06-13T19:53:25.303Z,1749844405.303 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-06-13T19:53:25.384Z,1749844405.384 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/MicromodemComms.tl
2025-06-13T19:53:25.384Z,1749844405.384 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/MicromodemComms.tl
2025-06-13T19:53:25.387Z,1749844405.387 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/MicromodemComms.tl
2025-06-13T19:53:25.549Z,1749844405.549 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/MicromodemComms.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="MicromodemComms">
    <DefineArg Name="Timeout">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="CommsInterval">
        <Units:minute />
        <Value>5</Value>
    </DefineArg>
    <While>
        <Elapsed>
            <Universal:platform_communications />
        </Elapsed>
        <Gt>
            <Arg Name="CommsInterval" />
        </Gt>
    </While>
    <Aggregate Id="CheckIn">
        <Sequence />
        <ReadDatum>
            <Timeout Duration="Timeout" />
            <Universal:platform_communications />
        </ReadDatum>
    </Aggregate>
</Aggregate>

2025-06-13T19:53:25.562Z,1749844405.562 [MissionManager](INFO): DefineArg lineCaptureHoming:MicromodemComms.Timeout = 10.000000 min
2025-06-13T19:53:25.570Z,1749844405.570 [MissionManager](INFO): DefineArg lineCaptureHoming:MicromodemComms.CommsInterval = 5.000000 min
2025-06-13T19:53:25.591Z,1749844405.591 [MissionManager](INFO): RedefineArg lineCaptureHoming:MicromodemComms.CommsInterval = reader:lineCaptureHoming.MicromodemCommsInterval
2025-06-13T19:53:25.598Z,1749844405.598 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/LineCapture.tl
2025-06-13T19:53:25.598Z,1749844405.598 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/LineCapture.tl
2025-06-13T19:53:25.605Z,1749844405.605 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/LineCapture.tl
2025-06-13T19:53:27.780Z,1749844407.780 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/LineCapture.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="LineCapture">
    <DefineArg Name="DockLat">
        <Dock:Dock.lat />
    </DefineArg>
    <DefineArg Name="DockLon">
        <Dock:Dock.lon />
    </DefineArg>
    <DefineArg Name="DetachTimeout">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="MidcourseDepth">
        <Dock:LineCapture.midcourseDepth />
    </DefineArg>
    <DefineArg Name="MidcourseSpeed">
        <Dock:LineCapture.midcourseSpeed />
    </DefineArg>
    <DefineArg Name="MidcourseTimeout">
        <Dock:LineCapture.midcourseTimeout />
    </DefineArg>
    <DefineArg Name="TerminalRange">
        <Dock:LineCapture.terminalRange />
    </DefineArg>
    <DefineArg Name="AcousticTimeout">
        <Dock:LineCapture.acousticTimeout />
    </DefineArg>
    <DefineArg Name="losRateIIRFilterDecay">
        <Units:none />
        <Value>0.0</Value>
    </DefineArg>
    <DefineArg Name="SearchTimeout">
        <Dock:LineCapture.searchTimeout />
    </DefineArg>
    <DefineArg Name="CircleRadius">
        <Dock:LineCapture.searchCircleRadius />
    </DefineArg>
    <DefineArg Name="CircleMaxError">
        <Units:meter />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="CircleTurnToPort">
        <False />
    </DefineArg>
    <DefineArg Name="DepthDeadband">
        <Units:meter />
        <Value>0.01</Value>
    </DefineArg>
    <DefineArg Name="RudderDeadband">
        <Units:degree />
        <Value>0.001</Value>
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>8</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="DockingAltitude">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="InvalidAltitudeTimeout">
        <Units:minute />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="AltitudeDepthLimit">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="AltitudeIIRFilterDecay">
        <Units:none />
        <Value>0.0</Value>
    </DefineArg>
    <DefineArg Name="ElapsedRange">
        <Units:minute />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="Range">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineOutput Name="DoneTimeout">
        <Units:count />
        <Value>-1</Value>
    </DefineOutput>
    <DefineOutput Name="Done">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="DetachFromDock">
        <Units:count />
        <Value>1</Value>
    </DefineOutput>
    <DefineOutput Name="Midcourse">
        <Units:count />
        <Value>2</Value>
    </DefineOutput>
    <DefineOutput Name="Terminal">
        <Units:count />
        <Value>3</Value>
    </DefineOutput>
    <DefineOutput Name="GuidanceMode">
        <Arg Name="DetachFromDock" />
    </DefineOutput>
    <DefineOutput Name="DockingDepth">
        <Units:meter />
        <Value>1</Value>
    </DefineOutput>
    <DefineOutput Name="LineCapRollout">
        <Units:count />
        <Value>5</Value>
    </DefineOutput>
    <When>
        <Called />
    </When>
    <Assign>
        <Sequence />
        <Arg Name="GuidanceMode" />
        <Arg Name="DetachFromDock" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="DockingDepth" />
        <Dock:Dock.depth />
        <Add>
            <Dock:Docked.dockingDepthOffset />
        </Add>
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Assign>
        <Parallel />
        <Arg Name="ElapsedRange" />
        <Elapsed>
            <Universal:acoustic_contact_range />
        </Elapsed>
    </Assign>
    <Assign>
        <Parallel />
        <Arg Name="Range" />
        <Universal:acoustic_contact_range />
    </Assign>
    <Aggregate Id="HoldMass">
        <While>
            <Abs>
                <Control:SpeedControl.speedCmd />
            </Abs>
            <Gt>
                <Units:meter_per_second />
                <Value>0</Value>
            </Gt>
            <Or>
                <Dock:LineCapture.guidanceMode />
                <Eq>
                    <Arg Name="LineCapRollout" />
                </Eq>
            </Or>
        </While>
        <Assign>
            <Parallel />
            <Control:VerticalControl.depthDeadband />
            <Arg Name="DepthDeadband" />
        </Assign>
        <Guidance:Mass>
            <Parallel />
            <Setting>
                <Guidance:Mass.position />
                <Control:VerticalControl.massDefault />
            </Setting>
        </Guidance:Mass>
    </Aggregate>
    <Aggregate Id="HoldBuoyancy">
        <While>
            <Abs>
                <Control:SpeedControl.speedCmd />
            </Abs>
            <Gt>
                <Units:meter_per_second />
                <Value>0</Value>
            </Gt>
        </While>
        <Guidance:Buoyancy>
            <Parallel />
            <Setting>
                <Guidance:Buoyancy.position />
                <Control:VerticalControl.buoyancyNeutral />
            </Setting>
        </Guidance:Buoyancy>
    </Aggregate>
    <Aggregate Id="HomingSequence">
        <Sequence />
        <Break>
            <Arg Name="GuidanceMode" />
            <Le>
                <Arg Name="Done" />
            </Le>
        </Break>
        <Aggregate Id="DetachFromDock">
            <While>
                <Arg Name="GuidanceMode" />
                <Eq>
                    <Arg Name="DetachFromDock" />
                </Eq>
            </While>
            <Aggregate Id="guide">
                <Sequence />
                <Dock:Undock>
                    <Sequence />
                    <Timeout Duration="DetachTimeout">
                        <Syslog Severity="Important">
                            Timed out while trying to detach from dock at current depth of 
                            <Universal:depth />
                            <Units:meter />
                            .
                        </Syslog>
                    </Timeout>
                </Dock:Undock>
                <Syslog Severity="Info">Transitioning to midcourse guidance.</Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="GuidanceMode" />
                    <Arg Name="Midcourse" />
                </Assign>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="MidcourseGuidance">
            <While>
                <Arg Name="GuidanceMode" />
                <Eq>
                    <Arg Name="Midcourse" />
                </Eq>
            </While>
            <Aggregate Id="guide">
                <Sequence />
                <Syslog Severity="Info">
                    Navigating to dock waypoint (
                    <Arg Name="DockLat" />
                    <Units:degree />
                    ,
                    <Arg Name="DockLon" />
                    <Units:degree />
                    )
                </Syslog>
                <Aggregate Id="CheckRange">
                    <When>
                        <Arg Name="Range" />
                        <Lt>
                            <Arg Name="TerminalRange" />
                        </Lt>
                        <And>
                            <Arg Name="ElapsedRange" />
                            <Le>
                                <Arg Name="AcousticTimeout" />
                            </Le>
                        </And>
                    </When>
                    <Syslog Severity="Info">
                        Transitioning to terminal guidance at range
                        <Arg Name="Range" />
                        <Units:meter />
                    </Syslog>
                    <Assign>
                        <Sequence />
                        <Arg Name="GuidanceMode" />
                        <Arg Name="Terminal" />
                    </Assign>
                </Aggregate>
                <Guidance:SetSpeed>
                    <Parallel />
                    <Setting>
                        <Guidance:SetSpeed.speed />
                        <Arg Name="MidcourseSpeed" />
                    </Setting>
                </Guidance:SetSpeed>
                <Guidance:Pitch>
                    <Parallel />
                    <Setting>
                        <Guidance:Pitch.depth />
                        <Arg Name="MidcourseDepth" />
                    </Setting>
                </Guidance:Pitch>
                <Guidance:Waypoint>
                    <Sequence />
                    <Timeout Duration="MidcourseTimeout">
                        <Syslog Severity="Important">Terminating homing sequence: timed out while navigating to the dock waypoint.</Syslog>
                        <Assign>
                            <Sequence />
                            <Arg Name="GuidanceMode" />
                            <Arg Name="DoneTimeout" />
                        </Assign>
                    </Timeout>
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="DockLat" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="DockLon" />
                    </Setting>
                </Guidance:Waypoint>
                <Syslog Severity="Info">Executing search pattern.</Syslog>
                <Aggregate Id="SearchPattern">
                    <Sequence />
                    <Timeout Duration="SearchTimeout">
                        <Syslog Severity="Important">Timed out while executing search pattern around dock waypoint.</Syslog>
                    </Timeout>
                    <Guidance:Circle>
                        <Parallel />
                        <Setting>
                            <Guidance:Circle.latitude />
                            <Arg Name="DockLat" />
                        </Setting>
                        <Setting>
                            <Guidance:Circle.longitude />
                            <Arg Name="DockLon" />
                        </Setting>
                        <Setting>
                            <Guidance:Circle.radius />
                            <Arg Name="CircleRadius" />
                        </Setting>
                        <Setting>
                            <Guidance:Circle.maxError />
                            <Arg Name="CircleMaxError" />
                        </Setting>
                        <Setting>
                            <Guidance:Circle.turnToPort />
                            <Arg Name="CircleTurnToPort" />
                        </Setting>
                    </Guidance:Circle>
                    <Guidance:Wait>
                        <Sequence />
                        <Setting>
                            <Guidance:Wait.duration />
                            <Arg Name="SearchTimeout" />
                        </Setting>
                    </Guidance:Wait>
                </Aggregate>
                <Syslog Severity="Important">Homing sequence timed out prior to docking.</Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="GuidanceMode" />
                    <Arg Name="DoneTimeout" />
                </Assign>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="TerminalGuidance">
            <While>
                <Arg Name="GuidanceMode" />
                <Eq>
                    <Arg Name="Terminal" />
                </Eq>
            </While>
            <Aggregate Id="guide">
                <Sequence />
                <Syslog Severity="Info">Terminal guidance.</Syslog>
                <Aggregate Id="CheckRange">
                    <When>
                        <Arg Name="Range" />
                        <Ge>
                            <Arg Name="TerminalRange" />
                        </Ge>
                        <Or>
                            <Arg Name="ElapsedRange" />
                            <Gt>
                                <Arg Name="AcousticTimeout" />
                            </Gt>
                        </Or>
                    </When>
                    <Syslog Severity="Important">
                        Transitioning to midcourse guidance. Received last range of
                        <Arg Name="Range" />
                        <Units:meter />
                        <Arg Name="ElapsedRange" />
                        <Units:minute />
                        ago.
                    </Syslog>
                    <Assign>
                        <Sequence />
                        <Arg Name="GuidanceMode" />
                        <Arg Name="Midcourse" />
                    </Assign>
                </Aggregate>
                <Aggregate Id="altitudeControl">
                    <While>
                        <Not>
                            <IsNaN>
                                <Arg Name="DockingAltitude" />
                            </IsNaN>
                        </Not>
                    </While>
                    <Guidance:AltitudeServo>
                        <Parallel />
                        <Setting>
                            <Guidance:AltitudeServo.targetAltitude />
                            <Arg Name="DockingAltitude" />
                        </Setting>
                        <Setting>
                            <Guidance:AltitudeServo.initialDepth />
                            <Arg Name="DockingDepth" />
                        </Setting>
                        <Setting>
                            <Guidance:AltitudeServo.invalidAltitudeTimeout />
                            <Arg Name="InvalidAltitudeTimeout" />
                        </Setting>
                        <Setting>
                            <Guidance:AltitudeServo.maxDepthLimit />
                            <Arg Name="AltitudeDepthLimit" />
                        </Setting>
                        <Setting>
                            <Guidance:AltitudeServo.iirFilterDecay />
                            <Arg Name="AltitudeIIRFilterDecay" />
                        </Setting>
                    </Guidance:AltitudeServo>
                </Aggregate>
                <Aggregate Id="depthControl">
                    <While>
                        <IsNaN>
                            <Arg Name="DockingAltitude" />
                        </IsNaN>
                    </While>
                    <Guidance:Pitch>
                        <Parallel />
                        <Setting>
                            <Guidance:Pitch.depth />
                            <Arg Name="DockingDepth" />
                        </Setting>
                    </Guidance:Pitch>
                </Aggregate>
                <Assign>
                    <Parallel />
                    <Servo:RudderServo.deviationAngle />
                    <Arg Name="RudderDeadband" />
                </Assign>
                <Assign>
                    <Parallel />
                    <Control:HorizontalControl.rudDeadband />
                    <Arg Name="RudderDeadband" />
                </Assign>
                <Dock:LineCapture>
                    <Sequence />
                    <Setting>
                        <Dock:LineCapture.iirFilterDecay />
                        <Arg Name="losRateIIRFilterDecay" />
                    </Setting>
                </Dock:LineCapture>
                <Syslog Severity="Info">Docked. Homing sequence complete.</Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="GuidanceMode" />
                    <Arg Name="Done" />
                </Assign>
            </Aggregate>
        </Aggregate>
    </Aggregate>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:second />
            <Value>3</Value>
        </Setting>
    </Guidance:Wait>
    <Syslog Severity="Info">
        GuidanceMode
        <Arg Name="GuidanceMode" />
        <Units:count />
    </Syslog>
</Aggregate>

2025-06-13T19:53:27.791Z,1749844407.791 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.DockLat = 36.905698 arcdeg
2025-06-13T19:53:27.795Z,1749844407.795 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.DockLon = -122.116120 arcdeg
2025-06-13T19:53:27.798Z,1749844407.798 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.DetachTimeout = 30.000000 min
2025-06-13T19:53:27.831Z,1749844407.831 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.MidcourseDepth = 50.000000 m
2025-06-13T19:53:27.854Z,1749844407.854 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.MidcourseSpeed = 0.800000 m/s
2025-06-13T19:53:27.866Z,1749844407.866 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.MidcourseTimeout = 6.000000 h
2025-06-13T19:53:27.874Z,1749844407.874 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.TerminalRange = 650.000000 m
2025-06-13T19:53:27.879Z,1749844407.879 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.AcousticTimeout = 5.000000 min
2025-06-13T19:53:27.895Z,1749844407.895 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.losRateIIRFilterDecay = 0.000000 n/a
2025-06-13T19:53:27.953Z,1749844407.953 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.SearchTimeout = 5.000000 min
2025-06-13T19:53:27.961Z,1749844407.961 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.CircleRadius = 1000.000000 m
2025-06-13T19:53:27.993Z,1749844407.993 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.CircleMaxError = 1.000000 m
2025-06-13T19:53:28.027Z,1749844408.027 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.CircleTurnToPort = 0 bool
2025-06-13T19:53:28.076Z,1749844408.076 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.DepthDeadband = 0.010000 m
2025-06-13T19:53:28.079Z,1749844408.079 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.RudderDeadband = 0.001000 arcdeg
2025-06-13T19:53:28.094Z,1749844408.094 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.MinAltitude = 2.000000 m
2025-06-13T19:53:28.098Z,1749844408.098 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.MaxDepth = 8.000000 m
2025-06-13T19:53:28.118Z,1749844408.118 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.MinOffshore = 1.000000 m
2025-06-13T19:53:28.122Z,1749844408.122 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.DockingAltitude = nan m
2025-06-13T19:53:28.134Z,1749844408.134 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.InvalidAltitudeTimeout = nan min
2025-06-13T19:53:28.141Z,1749844408.141 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.AltitudeDepthLimit = nan m
2025-06-13T19:53:28.148Z,1749844408.148 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.AltitudeIIRFilterDecay = 0.000000 n/a
2025-06-13T19:53:28.160Z,1749844408.160 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.ElapsedRange = 0.000000 min
2025-06-13T19:53:28.168Z,1749844408.168 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.Range = nan m
2025-06-13T19:53:28.171Z,1749844408.171 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.DoneTimeout = -1.000000 count
2025-06-13T19:53:28.179Z,1749844408.179 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.Done = 0.000000 count
2025-06-13T19:53:28.186Z,1749844408.186 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.DetachFromDock = 1.000000 count
2025-06-13T19:53:28.190Z,1749844408.190 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.Midcourse = 2.000000 count
2025-06-13T19:53:28.210Z,1749844408.210 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.Terminal = 3.000000 count
2025-06-13T19:53:28.214Z,1749844408.214 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.GuidanceMode = 1.000000 count
2025-06-13T19:53:28.229Z,1749844408.229 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.DockingDepth = 1.000000 m
2025-06-13T19:53:28.232Z,1749844408.232 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.LineCapRollout = 5.000000 count
2025-06-13T19:53:28.255Z,1749844408.255 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-06-13T19:53:28.255Z,1749844408.255 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-06-13T19:53:28.261Z,1749844408.261 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-06-13T19:53:28.513Z,1749844408.513 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>1.5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-06-13T19:53:28.530Z,1749844408.530 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture:StandardEnvelopes.MinAltitude = 5.000000 m
2025-06-13T19:53:28.542Z,1749844408.542 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2025-06-13T19:53:28.549Z,1749844408.549 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture:StandardEnvelopes.MaxDepth = 200.000000 m
2025-06-13T19:53:28.577Z,1749844408.577 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-06-13T19:53:28.578Z,1749844408.578 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-06-13T19:53:28.610Z,1749844408.610 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-06-13T19:53:28.656Z,1749844408.656 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-06-13T19:53:28.742Z,1749844408.742 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Construct.
2025-06-13T19:53:28.764Z,1749844408.764 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Construct Buoyancy.
2025-06-13T19:53:28.792Z,1749844408.792 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Construct.
2025-06-13T19:53:28.792Z,1749844408.792 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2025-06-13T19:53:28.875Z,1749844408.875 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Construct.
2025-06-13T19:53:28.887Z,1749844408.887 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Construct.
2025-06-13T19:53:28.901Z,1749844408.901 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Construct Waypoint.
2025-06-13T19:53:28.948Z,1749844408.948 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle](DEBUG): Construct.
2025-06-13T19:53:28.965Z,1749844408.965 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:B.Wait](DEBUG): Construct Wait.
2025-06-13T19:53:29.013Z,1749844409.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Construct.
2025-06-13T19:53:29.031Z,1749844409.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Construct.
2025-06-13T19:53:29.057Z,1749844409.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Construct.
2025-06-13T19:53:29.140Z,1749844409.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initializing internal variables to default values.
2025-06-13T19:53:29.141Z,1749844409.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2025-06-13T19:53:29.146Z,1749844409.146 [lineCaptureHoming:LineCapture:L.Wait](DEBUG): Construct Wait.
2025-06-13T19:53:29.377Z,1749844409.377 [lineCaptureHoming:restartDHCP:B.Execute](DEBUG): Construct Execute.
2025-06-13T19:53:29.385Z,1749844409.385 [lineCaptureHoming:BA.Execute](DEBUG): Construct Execute.
2025-06-13T19:53:29.392Z,1749844409.392 [lineCaptureHoming:InitialDive:A.SetSpeed](DEBUG): Construct.
2025-06-13T19:53:29.395Z,1749844409.395 [lineCaptureHoming:InitialDive:B.Mass](DEBUG): Construct.
2025-06-13T19:53:29.409Z,1749844409.409 [lineCaptureHoming:InitialDive:C.Pitch](DEBUG): Construct.
2025-06-13T19:53:29.426Z,1749844409.426 [lineCaptureHoming:InitialDive:C.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2025-06-13T19:53:29.467Z,1749844409.467 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/SetNavAcoustic.tl
2025-06-13T19:53:29.467Z,1749844409.467 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/SetNavAcoustic.tl
2025-06-13T19:53:29.473Z,1749844409.473 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/SetNavAcoustic.tl
2025-06-13T19:53:29.725Z,1749844409.725 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/SetNavAcoustic.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="SetNavAcoustic">
    <DefineArg Name="DockLat">
        <Dock:Dock.lat />
    </DefineArg>
    <DefineArg Name="DockLon">
        <Dock:Dock.lon />
    </DefineArg>
    <DefineArg Name="DockRange">
        <Dock:SetNav.dockRange />
    </DefineArg>
    <DefineArg Name="RangeTimeout">
        <Dock:SetNav.rangeTimeout />
    </DefineArg>
    <When>
        <Called />
        <Or>
            <Elapsed>
                <Dock:SetNav.time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="RangeTimeout" />
            </Gt>
            <And>
                <Estimation:TrackAcousticContact.range_to_contact />
                <Le>
                    <Arg Name="DockRange" />
                </Le>
            </And>
            <And>
                <Elapsed>
                    <Estimation:TrackAcousticContact.range_to_contact />
                </Elapsed>
                <Lt>
                    <Arg Name="RangeTimeout" />
                </Lt>
            </And>
        </Or>
    </When>
    <Aggregate Id="UpdateNav">
        <Sequence />
        <Timeout Duration="P1M" />
        <Syslog Severity="Info">
            Reseting nav to dock location at range
            <Estimation:TrackAcousticContact.range_to_contact />
            <Units:meter />
        </Syslog>
        <Dock:SetNav>
            <Sequence />
            <Setting>
                <Dock:SetNav.latitude />
                <Arg Name="DockLat" />
            </Setting>
            <Setting>
                <Dock:SetNav.longitude />
                <Arg Name="DockLon" />
            </Setting>
        </Dock:SetNav>
    </Aggregate>
</Aggregate>

2025-06-13T19:53:29.731Z,1749844409.731 [MissionManager](INFO): DefineArg lineCaptureHoming:Lap:Docked:SetNavAcoustic.DockLat = 36.905698 arcdeg
2025-06-13T19:53:29.743Z,1749844409.743 [MissionManager](INFO): DefineArg lineCaptureHoming:Lap:Docked:SetNavAcoustic.DockLon = -122.116120 arcdeg
2025-06-13T19:53:29.751Z,1749844409.751 [MissionManager](INFO): DefineArg lineCaptureHoming:Lap:Docked:SetNavAcoustic.DockRange = 0.000000 m
2025-06-13T19:53:29.755Z,1749844409.755 [MissionManager](INFO): DefineArg lineCaptureHoming:Lap:Docked:SetNavAcoustic.RangeTimeout = 5.000000 min
2025-06-13T19:53:29.775Z,1749844409.775 [lineCaptureHoming:Lap:Docked:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Construct SetNav.
2025-06-13T19:53:29.791Z,1749844409.791 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Construct.
2025-06-13T19:53:29.791Z,1749844409.791 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values.
2025-06-13T19:53:29.861Z,1749844409.861 [lineCaptureHoming:Lap:Docked:Detach:Undock.Undock](DEBUG): Construct.
2025-06-13T19:53:29.861Z,1749844409.861 [lineCaptureHoming:Lap:Docked:Detach:Undock.Undock](DEBUG): Initializing internal variables to default values.
2025-06-13T19:53:29.893Z,1749844409.893 [lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch](DEBUG): Construct.
2025-06-13T19:53:29.908Z,1749844409.908 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed](DEBUG): Construct.
2025-06-13T19:53:29.911Z,1749844409.911 [lineCaptureHoming:Lap:Docked:Wpt1:D.Waypoint](DEBUG): Construct Waypoint.
2025-06-13T19:53:29.977Z,1749844409.977 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy](DEBUG): Construct Buoyancy.
2025-06-13T19:53:30.003Z,1749844410.003 [lineCaptureHoming:Lap:Docked:Drift:C.Pitch](DEBUG): Construct.
2025-06-13T19:53:30.067Z,1749844410.067 [lineCaptureHoming:Lap:Docked:Drift:D.Point](DEBUG): Construct.
2025-06-13T19:53:30.090Z,1749844410.090 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed](DEBUG): Construct.
2025-06-13T19:53:30.095Z,1749844410.095 [lineCaptureHoming:Lap:Docked:Drift:F.Wait](DEBUG): Construct Wait.
2025-06-13T19:53:30.270Z,1749844410.270 [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 lineCaptureHoming {
  """
  Home to transponder while maintaining altitude or depth. Altitude gets
  priority if non nan. The mission sequence: (*) Start (1) Midcourse
  guidance: nav to target WP while querying transponder (2) Terminal
  guidance: home to target using USBL tracking data (4) Dock: final
  approach using fixed heading.
  """

  # Define mission arguments

  arguments {
    MissionTimeout = 3 hour
      """
      Maximum length of mission
      """

    NeedCommsTime = 180 minute
      """
      How often to surface for commumications
      """

    MicromodemCommsInterval = 3 hour
      """
      How often to trigger Umodem communications
      """

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

    WaitOnDockTimeout = 5 minute
      """
      Time duration to wait on the dock after a successful line capture.
      """

    StayOnDock = false
      """
      If true, mission terminates after WaitOnDockTimeout following a successful
      capture, without executing the undock sequence.
      """

    TrySlide = false
      """
      If true, once docked, try to slide down the docking rod until charging and
      comms are acheived
      """

    RetryIncompleteDock = false
      """
      If true, restart docking sequence in event of a successful capture but
      unsuccessful slide
      """

    SlideRetries = 4 count
      """
      If using slide mode, max number of times to try the slide sequence before
      giving up
      """

    SlideSinkDuration = 1.5 minute
      """
      Time duration to slide down by sinking during each slide mode iteration
      """

    SlideCloseDuration = 1.5 minute
      """
      Time duration to close arm to check for power/comms during each slide mode
      iteration
      """

    TransponderCode = Dock:Dock.transponderCode
      """
      Transponder Address.
      """

    TrackingUpdatePeriodMidcourse = 60 second
      """
      How long to wait between acoustic queries.
      """

    TrackingUpdatePeriodTerminal = 2 second
      """
      How long to wait between acoustic queries.
      """

    TrackingUpdatePeriodDocked = 2 minute
      """
      How long to wait between acoustic queries.
      """

    TrackingNumFixesLowPassFilter = 5 count
      """
      Median filter bin size. Filters the contact estimated lat/lon position.
      Prefer odd number, set to 1 to disable filter.
      """

    NumberOfPings = 1 count
      """
      Number of pings requested each time.
      """

    NumPingsUSBL = 120 count
      """
      Number of pings requested while in USBL mode range.
      """

    RangeUSBL = 40 meter
      """
      USBL mode range.
      """

    TrackingNumFixesLowPassFilterUSBL = 5 count
      """
      Median filter bin size. Filters the contact estimated lat/lon position.
      Prefer odd number, set to 1 to disable filter.
      """

    DockingAltitude = NaN meter
      """
      Docking altitude. Ignored when NaN and used over depth when a valid
      altitude is set.
      """

    InvalidAltitudeTimeout = 10 minute
      """
      The mission will use the last good depth command if no valid altitude
      readings are received within this specified time duration.
      """

    AltitudeDepthLimit = NaN meter
      """
      Vehicle will not be commanded deeper than this regardless of altitude
      command.
      """

    MinAltitude = 4 meter
      """
      Minimum height above the sea floor for the entire mission.
      """

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

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

    ApproachDepthTimeout = 20 minute
      """
      Maximum wait time for the vehicle to reach the target depth on initial
      dive.
      """

    ApproachDepthRate = 0.05 meter_per_second
      """
      Descent depth rate (positive depth is down). Used only as a smoothing
      parameter.
      """

    Lat1 = NaN degree
      """
      Latitude of rollout waypoint. If nan, waypoint is skipped.
      """

    Lon1 = NaN degree
      """
      Longitude of rollout waypoint. If nan, waypoint is skipped.
      """

    CaptureRadius = NaN meter
      """
      How close to call the waypiont behavior satisfied. Nan uses default
      value.
      """

    CorrectForSoundSpeed = false
      """
      Whether or not to apply sound speed correction to acoustic ranges
      """

    # Mission Variables (don't change)

    MidcourseDepth = Dock:LineCapture.midcourseDepth
      """
      Desired vehicle depth when navigating to dock WP (during midcourse
      phase).
      """

    MidcourseSpeed = Dock:LineCapture.midcourseSpeed
      """
      Speed during initial dive and waypoint.
      """

    TrackingPeriod = 60 second
      """
      Mission variable (don't change). The mission sets this variable to
      update the how long to wait between acoustic queries.
      """
  }

  output {
    Mode = -1 count
      """
      Mission variable (don't change). The mission sets this variable to
      reflect the termination status of the LineCapture insert.
      """

    NumPings = 1 count
      """
      Mission variable (don't change). The mission sets this variable to
      update the requested ping number and enter usbl mode.
      """

    LowPassFilterWinSize = 1 count
      """
      Mission variable (don't change). The mission sets this variable to
      update the requested ping number and enter usbl mode.
      """

    LowPassFilterWinOverlap = true
      """
      Mission variable (don't change). The mission sets this variable to
      update the requested ping number and enter usbl mode.
      """

    EndDockingSequence = StayOnDock
      """
      Mission variable (don't change). The mission sets this variable to
      determine whether or not to restart the docking sequence upon
      completion of the Docked behavior.
      """

    LastDockSuccessful = false
      """
      Mission variable (don't change). The mission sets this variable based
      on the last run of the Docked behavior
      """

    DockSuccessfulCount = 0 count
      """
      Mission variable (don't change). The mission sets this variable to
      track the number of complete docking attempts
      """

    RepeatArg = Repeat
      """
      Mission variable (don't change). Actual number of Lap repetitions
      """
  }

  # Mission timeout

  timeout duration=MissionTimeout

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

  # Safety nets and surfacing behaviors

  insert Insert/StandardEnvelopes.tl

  assign in sequence StandardEnvelopes:MinAltitude = MinAltitude
  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth
  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore
  insert id="NeedComms" Insert/NeedComms.tl

  assign in sequence NeedComms:DiveInterval = NeedCommsTime
  assign in sequence NeedComms:WaitForPitchUp = 0 minute

  # Micromodem comms

  insert id="MicromodemComms" Insert/MicromodemComms.tl {
    redefineArg CommsInterval = MicromodemCommsInterval
  }

  readData {
    while (
      Mode >= 0 count
      and Sensor:DataOverHttps.connectionStatus == true
    )

    Universal:platform_communications
  }

  # Add LineCapture directives.

  insert Insert/LineCapture.tl

  assign in sequence LineCapture:MaxDepth = MaxDepth
  assign in sequence LineCapture:MinOffshore = MinOffshore
  assign in sequence LineCapture:MinAltitude = MinAltitude
  assign in sequence LineCapture:DockingAltitude = DockingAltitude
  assign in sequence LineCapture:InvalidAltitudeTimeout = InvalidAltitudeTimeout
  assign in sequence LineCapture:AltitudeDepthLimit = AltitudeDepthLimit

  # Add track acoustic contact directive.

  assign in sequence NumPings = NumberOfPings

  behavior Estimation:TrackAcousticContact id="TrackAC" {
    run in parallel

    set contactLabelSetting = TransponderCode

    set numberOfSamplesSetting = NumPings

    set updatePeriodSetting = TrackingPeriod

    set numFixesLowPassSetting = LowPassFilterWinSize

    set lowPassOverlapSetting = LowPassFilterWinOverlap

    set useSoundSpeedCorrectionSetting = CorrectForSoundSpeed
  }

  # Add USBL mode directives.

  aggregate UpdateNumPings_NotTerminal {
    run while (
      not ( LineCapture:GuidanceMode == LineCapture:Terminal )
      and not ( NumPings == NumberOfPings )
    )

    syslog info "No longer in Terminal. Resuming normal ranging with " + NumberOfPings~count
         + "pings."
    assign in sequence NumPings = NumberOfPings
    assign in sequence LowPassFilterWinSize = TrackingNumFixesLowPassFilter
    assign in sequence LowPassFilterWinOverlap = true
  }

  aggregate UpdateNumPings_Terminal {
    run while (
      LineCapture:GuidanceMode == LineCapture:Terminal
    )

    aggregate UpdateNumPingsUSBL {
      run when (
        not ( NumPings == NumPingsUSBL )
        and (
          ( LineCapture:Range < RangeUSBL ) # don't enter USBL mode during rollout
          and not ( Dock:LineCapture.guidanceMode == 5 count )
        )
      )

      syslog info "Entering USBL mode with " + NumPingsUSBL~count + "pings at "
           + LineCapture:Range~meter + "(mode " + Dock:LineCapture.guidanceMode~count + ")."
      assign in sequence NumPings = NumPingsUSBL
      assign in sequence LowPassFilterWinSize = TrackingNumFixesLowPassFilterUSBL
      assign in sequence LowPassFilterWinOverlap = true
    }

    aggregate UpdateNumPingsATR {
      run when (
        not ( NumPings == NumberOfPings )
        and (
          ( LineCapture:Range >= RangeUSBL ) # do ATR mode during rollout
          or Dock:LineCapture.guidanceMode == 5 count
        )
      )

      syslog info "Resuming normal ranging with " + NumberOfPings~count + "pings "
           + LineCapture:Range~meter + "(mode " + Dock:LineCapture.guidanceMode~count + ")."
      assign in sequence NumPings = NumberOfPings
      assign in sequence LowPassFilterWinSize = TrackingNumFixesLowPassFilter
      assign in sequence LowPassFilterWinOverlap = true
    }
  }

  aggregate UpdatePingUpdateRate_Midcourse {
    run when (
      not ( TrackingPeriod == TrackingUpdatePeriodMidcourse )
      and (
        ( LineCapture:Range > LineCapture:TerminalRange ) # do slow ping mode during rollout
        or Dock:LineCapture.guidanceMode == 5 count
      )
    )

    syslog info "Entering Midcourse tracking update period " + TrackingUpdatePeriodMidcourse~second
         + "sec at" + LineCapture:Range~meter + "(mode " + Dock:LineCapture.guidanceMode~count + ")."
    assign in sequence TrackingPeriod = TrackingUpdatePeriodMidcourse
    assign in sequence LowPassFilterWinSize = TrackingNumFixesLowPassFilter
    assign in sequence LowPassFilterWinOverlap = true
  }

  aggregate UpdatePingUpdateRate_Terminal {
    run when (
      not ( TrackingPeriod == TrackingUpdatePeriodTerminal )
      and (
        ( LineCapture:Range <= LineCapture:TerminalRange )
        and not ( Dock:LineCapture.guidanceMode == 5 count )
        and not ( LineCapture:GuidanceMode == 0 count )
      ) # don't enter fast ping mode during rollout or on dock
    )

    syslog info "Entering Terminal tracking update period " + TrackingUpdatePeriodTerminal~second
         + "sec at" + LineCapture:Range~meter + "(mode " + Dock:LineCapture.guidanceMode~count + ")."
    assign in sequence TrackingPeriod = TrackingUpdatePeriodTerminal
    assign in sequence LowPassFilterWinSize = TrackingNumFixesLowPassFilter
    assign in sequence LowPassFilterWinOverlap = true
  }

  aggregate restartDHCP {
    run when ( called )

    syslog info "Restarting DHCP..."

    behavior Guidance:Execute {
      run in sequence

      set command = "! /mnt/mmc/LRAUV/Tools/dhcp.sh"
    }
  }

  # Start mission sequence.

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

  syslog important "Restarting logs"

  behavior Guidance:Execute {
    run in sequence

    set command = "restart logs"
  }

  aggregate InitialDive {
    run in sequence

    behavior Guidance:SetSpeed {
      run in parallel

      set speed = MidcourseSpeed
    }

    behavior Guidance:Mass {
      run in parallel

      set position = Control:VerticalControl.massDefault
    }

    behavior Guidance:Pitch {
      run in sequence

      timeout duration=ApproachDepthTimeout {
        syslog important "Timed out trying to reach the target depth. Stopping mission at current depth of "
             + Universal:depth~meter

        behavior Guidance:Execute {
          run in sequence

          set command = "stop"
        }
      }

      set depth = MidcourseDepth
      set depthRate = ApproachDepthRate
    }
  }

  # I'd like to avoid a recursive call of Lap, so "retry" is implemented by incrementing the
  # required repetition count (which has just been decremented by the lap attempt).
  # But that repeat check is evaluated at the beginning of the aggregate, not the end.
  # In order to be able to retry an incomplete docking attempt on the last lap
  # we need to make it back up to the top of the Lap aggregate somehow.
  # Solve this by quietly setting the repeat count to one more than actually desired.
  # The DockSuccessfulCount check will break the Lap aggregate before it runs the extra
  # lap, but starting the Lap aggregate will allow us to check the repeat on each run.
  aggregate RepeatHack {
    run in sequence

    break if ( not RetryIncompleteDock )

    assign in sequence RepeatArg = Repeat + 1 count
  }

  aggregate Lap {
    run in sequence repeat=RepeatArg

    break if (
      ( StayOnDock
        and LastDockSuccessful
      )
      or (
        RetryIncompleteDock
        # Can't trust RepeatArg with retry, it's been incremented to allow re-evaluation of the count
        and ( DockSuccessfulCount == Repeat )
      )
    )

    assign in sequence Mode = -99 count

    # Execute the LineCapture sequence.

    call priorityHere=false refId="LineCapture"
    assign in sequence Mode = LineCapture:GuidanceMode
    syslog info "Mode" + Mode~count

    call priorityHere=false refId="restartDHCP"

    aggregate Docked {
      run in sequence

      break if ( Mode < 0 count )

      syslog info "Waiting on dock for " + WaitOnDockTimeout~minute

      # Add SetNav directives.

      insert Insert/SetNavAcoustic.tl

      assign in sequence TrackingPeriod = TrackingUpdatePeriodDocked

      assign in sequence EndDockingSequence = StayOnDock

      behavior Dock:Docked id="Docked" {
        run in sequence

        timeout duration=WaitOnDockTimeout

        set slideSinkTime = SlideSinkDuration
        set slideCloseTime = SlideCloseDuration
        set slideRetries = SlideRetries
        set slideAllowed = TrySlide
        outputArg LastDockSuccessful = dockSuccessful
      }

      # If retrying incomplete attempts require total success to skip rollout, not just StayOnDock
      aggregate setCompletion {
        run in sequence

        break if ( not RetryIncompleteDock )

        assign in sequence EndDockingSequence = ( LastDockSuccessful
          and StayOnDock
        )
        assign in sequence DockSuccessfulCount = DockSuccessfulCount + LastDockSuccessful

        aggregate setRetry {
          run in sequence

          break if ( LastDockSuccessful )

          syslog important "Retrying incomplete docking attempt"

          # This lap failed and doesn't "count", so repeat one additional time
          assign in sequence RepeatArg = RepeatArg + 1 count
        }
      }

      aggregate Detach {
        run in sequence

        break if ( EndDockingSequence )

        syslog important "Breaking off. Range: " + Universal:acoustic_contact_range~meter + "."

        behavior Dock:Undock id="Undock" {
          run in sequence
        }

        call priorityHere=false refId="restartDHCP"
      }

      aggregate Wpt1 {
        run in sequence

        break if (
          isNaN ( Lat1 )
          or isNaN ( Lon1 )
          or ( EndDockingSequence )
        )

        syslog important "Driving to post-undock waypoint " + Lat1~degree + "," + Lon1~degree

        behavior Guidance:Pitch {
          run in parallel

          set depth = MidcourseDepth
        }

        behavior Guidance:SetSpeed {
          run in parallel

          set speed = MidcourseSpeed
        }

        behavior Guidance:Waypoint {
          run in sequence

          set latitude = Lat1

          set longitude = Lon1

          set captureRadius = CaptureRadius
        }
      }

      aggregate Drift {
        """
        Drift before next docking attempt
        """

        run in sequence

        break if (
          not isNaN ( Lat1 )
          and not isNaN ( Lon1 )
          or ( EndDockingSequence )
        )

        syslog important "No post-undock waypoint, drifting for "
             + Dock:LineCapture.rolloutTimeout~minute + " minutes"

        behavior Guidance:Buoyancy {
          run in parallel

          set position = Control:VerticalControl.buoyancyNeutral
        }

        behavior Guidance:Pitch {
          run in parallel

          set massPosition = Control:VerticalControl.massDefault

          set elevatorAngle = 0 degree
        }

        behavior Guidance:Point {
          run in parallel

          set rudderAngle = 0 degree
        }

        behavior Guidance:SetSpeed {
          run in parallel

          set speed = 0 meter_per_second
        }

        behavior Guidance:Wait {
          run in sequence

          set duration = Dock:LineCapture.rolloutTimeout
        }
      }
    }
  }
}


2025-06-13T19:53:30.271Z,1749844410.271 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureHoming.tl id=lineCaptureHoming
2025-06-13T19:53:31.975Z,1749844411.975 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2025-06-13T19:53:32.049Z,1749844412.049 [NAL9602](ERROR): received: 
+SBDI: 2, 48320, 2, 0, 0, 0

OK
2025-06-13T19:53:56.137Z,1749844436.137 [CommandExec](IMPORTANT): got command set lineCaptureHoming.StayOnDock 1 bool
2025-06-13T19:53:56.138Z,1749844436.138 [CommandExec](IMPORTANT): got command set lineCaptureHoming.DockingAltitude 7.75 meter
2025-06-13T19:53:56.138Z,1749844436.138 [CommandExec](IMPORTANT): got command set lineCaptureHoming.AltitudeDepthLimit 68 meter
2025-06-13T19:53:56.139Z,1749844436.139 [CommandExec](IMPORTANT): got command set lineCaptureHoming.MaxDepth 70 meter
2025-06-13T19:53:58.090Z,1749844438.090 [NAL9602](INFO): SBD MO Status=2, MOMSN=48320, MT Status=2, MTMSN=0
2025-06-13T19:53:58.090Z,1749844438.090 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-06-13T19:54:03.394Z,1749844443.394 [DataOverHttps](IMPORTANT): SBD MTMSN=20250613T195404
2025-06-13T19:54:08.278Z,1749844448.278 [CommandExec](IMPORTANT): got command set lineCaptureHoming.CorrectForSoundSpeed 1 bool
2025-06-13T19:54:08.279Z,1749844448.279 [CommandExec](IMPORTANT): got command run
2025-06-13T19:54:08.367Z,1749844448.367 [CommandExec](IMPORTANT): Running 
2025-06-13T19:54:08.371Z,1749844448.371 [DefaultWithUndock] Stopped
2025-06-13T19:54:08.371Z,1749844448.371 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2025-06-13T19:54:08.371Z,1749844448.371 [DefaultWithUndock:SurfaceDefault] Stopped
2025-06-13T19:54:08.371Z,1749844448.371 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault
2025-06-13T19:54:08.371Z,1749844448.371 [DefaultWithUndock:SurfaceDefault:A.GoToSurface] Stopped
2025-06-13T19:54:08.371Z,1749844448.371 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-06-13T19:54:08.385Z,1749844448.385 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2025-06-13T19:54:08.385Z,1749844448.385 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2025-06-13T19:54:08.385Z,1749844448.385 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2025-06-13T19:54:08.386Z,1749844448.386 [MissionManager](IMPORTANT): Started mission lineCaptureHoming
2025-06-13T19:54:08.386Z,1749844448.386 [lineCaptureHoming] Running Loop=1
2025-06-13T19:54:08.386Z,1749844448.386 [lineCaptureHoming](DEBUG): Aggregate::initialize lineCaptureHoming
2025-06-13T19:54:08.386Z,1749844448.386 [lineCaptureHoming:Science] Running Loop=1
2025-06-13T19:54:08.386Z,1749844448.386 [lineCaptureHoming:Science](DEBUG): Aggregate::initialize lineCaptureHoming:Science
2025-06-13T19:54:08.386Z,1749844448.386 [lineCaptureHoming:Science:A] Running Loop=1
2025-06-13T19:54:08.386Z,1749844448.386 [lineCaptureHoming:Science:B] Running Loop=1
2025-06-13T19:54:08.386Z,1749844448.386 [lineCaptureHoming:Science:C] Running Loop=1
2025-06-13T19:54:08.386Z,1749844448.386 [lineCaptureHoming:Science:D] Running Loop=1
2025-06-13T19:54:08.386Z,1749844448.386 [lineCaptureHoming:Science:E] Running Loop=1
2025-06-13T19:54:08.386Z,1749844448.386 [lineCaptureHoming:Science:F] Running Loop=1
2025-06-13T19:54:08.387Z,1749844448.387 [lineCaptureHoming:Science:Read_Oil] Running Loop=1
2025-06-13T19:54:08.387Z,1749844448.387 [lineCaptureHoming:Science:PeakDetectChl] Running Loop=1
2025-06-13T19:54:08.387Z,1749844448.387 [lineCaptureHoming:Science:PeakDetectChl](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectChl
2025-06-13T19:54:08.387Z,1749844448.387 [lineCaptureHoming:Science:PeakDetectChl:A] Running Loop=1
2025-06-13T19:54:08.387Z,1749844448.387 [lineCaptureHoming:Science:EdgeDetectChl] Running Loop=1
2025-06-13T19:54:08.387Z,1749844448.387 [lineCaptureHoming:Science:EdgeDetectChl](DEBUG): Aggregate::initialize lineCaptureHoming:Science:EdgeDetectChl
2025-06-13T19:54:08.387Z,1749844448.387 [lineCaptureHoming:Science:EdgeDetectChl:A] Running Loop=1
2025-06-13T19:54:08.387Z,1749844448.387 [lineCaptureHoming:Science:HighestChlPeakReport] Running Loop=1
2025-06-13T19:54:08.387Z,1749844448.387 [lineCaptureHoming:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize lineCaptureHoming:Science:HighestChlPeakReport
2025-06-13T19:54:08.387Z,1749844448.387 [lineCaptureHoming:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-06-13T19:54:08.392Z,1749844448.392 [lineCaptureHoming:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-06-13T19:54:08.392Z,1749844448.392 [lineCaptureHoming:Science:PeakDetectNO3] Running Loop=1
2025-06-13T19:54:08.392Z,1749844448.392 [lineCaptureHoming:Science:PeakDetectNO3](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectNO3
2025-06-13T19:54:08.393Z,1749844448.393 [lineCaptureHoming:Science:PeakDetectNO3:A] Running Loop=1
2025-06-13T19:54:08.393Z,1749844448.393 [lineCaptureHoming:Science:PeakDetectOil] Running Loop=1
2025-06-13T19:54:08.393Z,1749844448.393 [lineCaptureHoming:Science:PeakDetectOil](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectOil
2025-06-13T19:54:08.393Z,1749844448.393 [lineCaptureHoming:Science:PeakDetectOil:A] Running Loop=1
2025-06-13T19:54:08.393Z,1749844448.393 [lineCaptureHoming:Science:HighestOilPeakReport] Running Loop=1
2025-06-13T19:54:08.393Z,1749844448.393 [lineCaptureHoming:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize lineCaptureHoming:Science:HighestOilPeakReport
2025-06-13T19:54:08.393Z,1749844448.393 [lineCaptureHoming:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-06-13T19:54:08.393Z,1749844448.393 [lineCaptureHoming:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-06-13T19:54:08.394Z,1749844448.394 [lineCaptureHoming:Science:PeakDetectFDOM] Running Loop=1
2025-06-13T19:54:08.394Z,1749844448.394 [lineCaptureHoming:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectFDOM
2025-06-13T19:54:08.394Z,1749844448.394 [lineCaptureHoming:Science:PeakDetectFDOM:A] Running Loop=1
2025-06-13T19:54:08.394Z,1749844448.394 [lineCaptureHoming:Science:PeakDetectSalinity] Running Loop=1
2025-06-13T19:54:08.394Z,1749844448.394 [lineCaptureHoming:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectSalinity
2025-06-13T19:54:08.394Z,1749844448.394 [lineCaptureHoming:Science:PeakDetectSalinity:A] Running Loop=1
2025-06-13T19:54:08.394Z,1749844448.394 [lineCaptureHoming:Science:HighestSaltPeakReport] Running Loop=1
2025-06-13T19:54:08.394Z,1749844448.394 [lineCaptureHoming:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize lineCaptureHoming:Science:HighestSaltPeakReport
2025-06-13T19:54:08.395Z,1749844448.395 [lineCaptureHoming:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-06-13T19:54:08.395Z,1749844448.395 [lineCaptureHoming:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-06-13T19:54:08.395Z,1749844448.395 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-06-13T19:54:08.395Z,1749844448.395 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI
2025-06-13T19:54:08.395Z,1749844448.395 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-06-13T19:54:08.395Z,1749844448.395 [lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2025-06-13T19:54:08.395Z,1749844448.395 [lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI
2025-06-13T19:54:08.436Z,1749844448.436 [lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-06-13T19:54:08.436Z,1749844448.436 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-06-13T19:54:08.436Z,1749844448.436 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI
2025-06-13T19:54:08.436Z,1749844448.436 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-06-13T19:54:08.436Z,1749844448.436 [lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI] Running Loop=1
2025-06-13T19:54:08.437Z,1749844448.437 [lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI
2025-06-13T19:54:08.437Z,1749844448.437 [lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-06-13T19:54:08.437Z,1749844448.437 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-06-13T19:54:08.437Z,1749844448.437 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms
2025-06-13T19:54:08.437Z,1749844448.437 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2025-06-13T19:54:08.437Z,1749844448.437 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms] Running Loop=1
2025-06-13T19:54:08.437Z,1749844448.437 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms
2025-06-13T19:54:08.437Z,1749844448.437 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms:A] Running Loop=1
2025-06-13T19:54:08.437Z,1749844448.437 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-06-13T19:54:08.437Z,1749844448.437 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates
2025-06-13T19:54:08.438Z,1749844448.438 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-06-13T19:54:08.438Z,1749844448.438 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates] Running Loop=1
2025-06-13T19:54:08.438Z,1749844448.438 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates
2025-06-13T19:54:08.438Z,1749844448.438 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-06-13T19:54:08.438Z,1749844448.438 [lineCaptureHoming:Science:ChlThreshTrigger] Running Loop=1
2025-06-13T19:54:08.438Z,1749844448.438 [lineCaptureHoming:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize lineCaptureHoming:Science:ChlThreshTrigger
2025-06-13T19:54:08.439Z,1749844448.439 [lineCaptureHoming:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-06-13T19:54:08.439Z,1749844448.439 [lineCaptureHoming:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-06-13T19:54:08.439Z,1749844448.439 [lineCaptureHoming:Science:OceanCurrent] Running Loop=1
2025-06-13T19:54:08.439Z,1749844448.439 [lineCaptureHoming:Science:OceanCurrent](DEBUG): Aggregate::initialize lineCaptureHoming:Science:OceanCurrent
2025-06-13T19:54:08.439Z,1749844448.439 [lineCaptureHoming:Science:OceanCurrent:A.] Running Loop=1
2025-06-13T19:54:08.439Z,1749844448.439 [lineCaptureHoming:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-06-13T19:54:08.456Z,1749844448.456 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2025-06-13T19:54:08.457Z,1749844448.457 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureHoming:StandardEnvelopes
2025-06-13T19:54:08.457Z,1749844448.457 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-06-13T19:54:08.457Z,1749844448.457 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-06-13T19:54:08.457Z,1749844448.457 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-06-13T19:54:08.457Z,1749844448.457 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-06-13T19:54:08.457Z,1749844448.457 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-06-13T19:54:08.457Z,1749844448.457 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-06-13T19:54:08.457Z,1749844448.457 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-06-13T19:54:08.458Z,1749844448.458 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms
2025-06-13T19:54:08.458Z,1749844448.458 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1
2025-06-13T19:54:08.458Z,1749844448.458 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn
2025-06-13T19:54:08.458Z,1749844448.458 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1
2025-06-13T19:54:08.458Z,1749844448.458 [lineCaptureHoming:J] Running Loop=1
2025-06-13T19:54:08.458Z,1749844448.458 [lineCaptureHoming:TrackAC.] Running Loop=1
2025-06-13T19:54:08.458Z,1749844448.458 [lineCaptureHoming:TrackAC.](INFO): Initializing TrackAcousticContact.
2025-06-13T19:54:08.458Z,1749844448.458 [lineCaptureHoming:UpdateNumPings_NotTerminal] Running Loop=1
2025-06-13T19:54:08.458Z,1749844448.458 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_NotTerminal
2025-06-13T19:54:08.459Z,1749844448.459 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Running Loop=1
2025-06-13T19:54:08.459Z,1749844448.459 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1
2025-06-13T19:54:08.459Z,1749844448.459 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal
2025-06-13T19:54:08.459Z,1749844448.459 [lineCaptureHoming:C] Running Loop=1
2025-06-13T19:54:08.469Z,1749844448.469 [lineCaptureHoming:UpdateNumPings_Terminal] Stopped
2025-06-13T19:54:08.469Z,1749844448.469 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal
2025-06-13T19:54:08.469Z,1749844448.469 [lineCaptureHoming:UpdateNumPings_NotTerminal] Stopped
2025-06-13T19:54:08.469Z,1749844448.469 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_NotTerminal
2025-06-13T19:54:08.469Z,1749844448.469 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Stopped
2025-06-13T19:54:08.469Z,1749844448.469 [lineCaptureHoming:TrackAC.] Running Loop=1
2025-06-13T19:54:08.470Z,1749844448.470 [lineCaptureHoming:J] Stopped
2025-06-13T19:54:08.470Z,1749844448.470 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-06-13T19:54:08.485Z,1749844448.485 [lineCaptureHoming:MicromodemComms:CheckIn:A](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-06-13T19:54:08.485Z,1749844448.485 [lineCaptureHoming:C] Stopped
2025-06-13T19:54:08.485Z,1749844448.485 [lineCaptureHoming:D] Running Loop=1
2025-06-13T19:54:08.485Z,1749844448.485 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2025-06-13T19:54:08.485Z,1749844448.485 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-06-13T19:54:08.486Z,1749844448.486 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-06-13T19:54:08.487Z,1749844448.487 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-06-13T19:54:08.487Z,1749844448.487 [lineCaptureHoming:Science] Running Loop=1
2025-06-13T19:54:08.509Z,1749844448.509 [lineCaptureHoming:Science:ChlThreshTrigger] Stopped
2025-06-13T19:54:08.509Z,1749844448.509 [lineCaptureHoming:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:ChlThreshTrigger
2025-06-13T19:54:08.509Z,1749844448.509 [lineCaptureHoming:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-06-13T19:54:08.509Z,1749844448.509 [lineCaptureHoming:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-06-13T19:54:08.509Z,1749844448.509 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates] Stopped
2025-06-13T19:54:08.509Z,1749844448.509 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates
2025-06-13T19:54:08.509Z,1749844448.509 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates:A] Stopped
2025-06-13T19:54:08.509Z,1749844448.509 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-06-13T19:54:08.509Z,1749844448.509 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates
2025-06-13T19:54:08.509Z,1749844448.509 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2025-06-13T19:54:08.510Z,1749844448.510 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms] Stopped
2025-06-13T19:54:08.510Z,1749844448.510 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms
2025-06-13T19:54:08.510Z,1749844448.510 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms:A] Stopped
2025-06-13T19:54:08.510Z,1749844448.510 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-06-13T19:54:08.510Z,1749844448.510 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms
2025-06-13T19:54:08.510Z,1749844448.510 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2025-06-13T19:54:08.510Z,1749844448.510 [lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI] Stopped
2025-06-13T19:54:08.510Z,1749844448.510 [lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI
2025-06-13T19:54:08.510Z,1749844448.510 [lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI:A] Stopped
2025-06-13T19:54:08.510Z,1749844448.510 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-06-13T19:54:08.510Z,1749844448.510 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI
2025-06-13T19:54:08.510Z,1749844448.510 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2025-06-13T19:54:08.510Z,1749844448.510 [lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2025-06-13T19:54:08.511Z,1749844448.511 [lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI
2025-06-13T19:54:08.511Z,1749844448.511 [lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2025-06-13T19:54:08.511Z,1749844448.511 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-06-13T19:54:08.511Z,1749844448.511 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI
2025-06-13T19:54:08.511Z,1749844448.511 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2025-06-13T19:54:08.511Z,1749844448.511 [lineCaptureHoming:Science:HighestSaltPeakReport] Stopped
2025-06-13T19:54:08.511Z,1749844448.511 [lineCaptureHoming:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:HighestSaltPeakReport
2025-06-13T19:54:08.511Z,1749844448.511 [lineCaptureHoming:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-06-13T19:54:08.511Z,1749844448.511 [lineCaptureHoming:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-06-13T19:54:08.511Z,1749844448.511 [lineCaptureHoming:Science:PeakDetectSalinity] Stopped
2025-06-13T19:54:08.511Z,1749844448.511 [lineCaptureHoming:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectSalinity
2025-06-13T19:54:08.511Z,1749844448.511 [lineCaptureHoming:Science:PeakDetectSalinity:A] Stopped
2025-06-13T19:54:08.511Z,1749844448.511 [lineCaptureHoming:Science:PeakDetectFDOM] Stopped
2025-06-13T19:54:08.511Z,1749844448.511 [lineCaptureHoming:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectFDOM
2025-06-13T19:54:08.528Z,1749844448.528 [lineCaptureHoming:Science:PeakDetectFDOM:A] Stopped
2025-06-13T19:54:08.528Z,1749844448.528 [lineCaptureHoming:Science:HighestOilPeakReport] Stopped
2025-06-13T19:54:08.528Z,1749844448.528 [lineCaptureHoming:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:HighestOilPeakReport
2025-06-13T19:54:08.528Z,1749844448.528 [lineCaptureHoming:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-06-13T19:54:08.528Z,1749844448.528 [lineCaptureHoming:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-06-13T19:54:08.528Z,1749844448.528 [lineCaptureHoming:Science:PeakDetectOil] Stopped
2025-06-13T19:54:08.528Z,1749844448.528 [lineCaptureHoming:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectOil
2025-06-13T19:54:08.528Z,1749844448.528 [lineCaptureHoming:Science:PeakDetectOil:A] Stopped
2025-06-13T19:54:08.528Z,1749844448.528 [lineCaptureHoming:Science:PeakDetectNO3] Stopped
2025-06-13T19:54:08.529Z,1749844448.529 [lineCaptureHoming:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectNO3
2025-06-13T19:54:08.529Z,1749844448.529 [lineCaptureHoming:Science:PeakDetectNO3:A] Stopped
2025-06-13T19:54:08.529Z,1749844448.529 [lineCaptureHoming:Science:HighestChlPeakReport] Stopped
2025-06-13T19:54:08.529Z,1749844448.529 [lineCaptureHoming:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:HighestChlPeakReport
2025-06-13T19:54:08.529Z,1749844448.529 [lineCaptureHoming:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-06-13T19:54:08.529Z,1749844448.529 [lineCaptureHoming:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-06-13T19:54:08.529Z,1749844448.529 [lineCaptureHoming:Science:EdgeDetectChl] Stopped
2025-06-13T19:54:08.529Z,1749844448.529 [lineCaptureHoming:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:EdgeDetectChl
2025-06-13T19:54:08.529Z,1749844448.529 [lineCaptureHoming:Science:EdgeDetectChl:A] Stopped
2025-06-13T19:54:08.529Z,1749844448.529 [lineCaptureHoming:Science:PeakDetectChl] Stopped
2025-06-13T19:54:08.529Z,1749844448.529 [lineCaptureHoming:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectChl
2025-06-13T19:54:08.529Z,1749844448.529 [lineCaptureHoming:Science:PeakDetectChl:A] Stopped
2025-06-13T19:54:08.529Z,1749844448.529 [lineCaptureHoming:Science:OceanCurrent:A.] Running Loop=1
2025-06-13T19:54:08.530Z,1749844448.530 [lineCaptureHoming:Science:Read_Oil] Stopped
2025-06-13T19:54:08.530Z,1749844448.530 [lineCaptureHoming:Science:F] Running Loop=1
2025-06-13T19:54:08.531Z,1749844448.531 [lineCaptureHoming:Science:F](DEBUG): Initialize ReadDataComponent to sense WetLabsUBAT.average_bioluminescence
2025-06-13T19:54:08.531Z,1749844448.531 [lineCaptureHoming:Science:E] Running Loop=1
2025-06-13T19:54:08.554Z,1749844448.554 [lineCaptureHoming:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2025-06-13T19:54:08.555Z,1749844448.555 [lineCaptureHoming:Science:D] Stopped
2025-06-13T19:54:08.555Z,1749844448.555 [lineCaptureHoming:Science:C] Running Loop=1
2025-06-13T19:54:08.576Z,1749844448.576 [lineCaptureHoming:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2025-06-13T19:54:08.577Z,1749844448.577 [lineCaptureHoming:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2025-06-13T19:54:08.577Z,1749844448.577 [lineCaptureHoming:Science:B] Running Loop=1
2025-06-13T19:54:08.578Z,1749844448.578 [lineCaptureHoming:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2025-06-13T19:54:08.579Z,1749844448.579 [lineCaptureHoming:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2025-06-13T19:54:08.579Z,1749844448.579 [lineCaptureHoming:Science:A] Stopped
2025-06-13T19:54:09.088Z,1749844449.088 [lineCaptureHoming:MicromodemComms] Stopped
2025-06-13T19:54:09.088Z,1749844449.088 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms
2025-06-13T19:54:09.088Z,1749844449.088 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped
2025-06-13T19:54:09.088Z,1749844449.088 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn
2025-06-13T19:54:09.089Z,1749844449.089 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped
2025-06-13T19:54:09.089Z,1749844449.089 [lineCaptureHoming:D] Stopped
2025-06-13T19:54:09.089Z,1749844449.089 [lineCaptureHoming:E] Running Loop=1
2025-06-13T19:54:09.153Z,1749844449.153 [WetLabsUBAT](INFO): Powering up
2025-06-13T19:54:09.326Z,1749844449.326 [lineCaptureHoming:E] Stopped
2025-06-13T19:54:09.326Z,1749844449.326 [lineCaptureHoming:G] Running Loop=1
2025-06-13T19:54:09.488Z,1749844449.488 [WetLabsBB2FL](INFO): Powering up
2025-06-13T19:54:09.668Z,1749844449.668 [lineCaptureHoming:G] Stopped
2025-06-13T19:54:09.668Z,1749844449.668 [lineCaptureHoming:H] Running Loop=1
2025-06-13T19:54:10.101Z,1749844450.101 [lineCaptureHoming:H] Stopped
2025-06-13T19:54:10.101Z,1749844450.101 [lineCaptureHoming:L] Running Loop=1
2025-06-13T19:54:10.522Z,1749844450.522 [lineCaptureHoming:L] Stopped
2025-06-13T19:54:10.522Z,1749844450.522 [lineCaptureHoming:M] Running Loop=1
2025-06-13T19:54:10.867Z,1749844450.867 [lineCaptureHoming:M] Stopped
2025-06-13T19:54:10.884Z,1749844450.884 [lineCaptureHoming:N] Running Loop=1
2025-06-13T19:54:11.266Z,1749844451.266 [lineCaptureHoming:N] Stopped
2025-06-13T19:54:11.266Z,1749844451.266 [lineCaptureHoming:O] Running Loop=1
2025-06-13T19:54:11.729Z,1749844451.729 [lineCaptureHoming:O] Stopped
2025-06-13T19:54:11.729Z,1749844451.729 [lineCaptureHoming:P] Running Loop=1
2025-06-13T19:54:12.232Z,1749844452.232 [lineCaptureHoming:P] Stopped
2025-06-13T19:54:12.232Z,1749844452.232 [lineCaptureHoming:Q] Running Loop=1
2025-06-13T19:54:12.489Z,1749844452.489 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2025-06-13T19:54:12.495Z,1749844452.495 [lineCaptureHoming:Q] Stopped
2025-06-13T19:54:12.495Z,1749844452.495 [lineCaptureHoming:U] Running Loop=1
2025-06-13T19:54:12.887Z,1749844452.887 [lineCaptureHoming:U] Stopped
2025-06-13T19:54:12.887Z,1749844452.887 [lineCaptureHoming:StartingMission] Running Loop=1
2025-06-13T19:54:12.887Z,1749844452.887 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::initialize lineCaptureHoming:StartingMission
2025-06-13T19:54:13.287Z,1749844453.287 [lineCaptureHoming:NeedComms] Running Loop=1
2025-06-13T19:54:13.287Z,1749844453.287 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::initialize lineCaptureHoming:NeedComms
2025-06-13T19:54:13.287Z,1749844453.287 [lineCaptureHoming:NeedComms:B.GoToSurface] Running Loop=1
2025-06-13T19:54:13.287Z,1749844453.287 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-06-13T19:54:13.287Z,1749844453.287 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-06-13T19:54:13.328Z,1749844453.328 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-06-13T19:54:13.329Z,1749844453.329 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-06-13T19:54:13.329Z,1749844453.329 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-06-13T19:54:13.329Z,1749844453.329 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-06-13T19:54:13.330Z,1749844453.330 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-06-13T19:54:13.330Z,1749844453.330 [lineCaptureHoming:NeedComms:A] Running Loop=1
2025-06-13T19:54:13.331Z,1749844453.331 [lineCaptureHoming:NeedComms:A](INFO): last time_fix was:  1749844383.000000 second since 1970/01/01T00:00:00Z 
2025-06-13T19:54:13.331Z,1749844453.331 [lineCaptureHoming:NeedComms:A] Stopped
2025-06-13T19:54:13.743Z,1749844453.743 [lineCaptureHoming:NeedComms:C] Running Loop=1
2025-06-13T19:54:14.243Z,1749844454.243 [lineCaptureHoming:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-06-13T19:54:17.891Z,1749844457.891 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250613T193503/Courier0016.lzma
2025-06-13T19:54:17.894Z,1749844457.894 [DataOverHttps](INFO): Received command: load Engineering/OnDock.tl;set OnDock.DockedTime 10 h;run
2025-06-13T19:54:18.065Z,1749844458.065 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/OnDock.tl
2025-06-13T19:54:18.066Z,1749844458.066 [MissionManager](INFO): Uninitializing Mission lineCaptureHoming
2025-06-13T19:54:18.066Z,1749844458.066 [lineCaptureHoming] Stopped
2025-06-13T19:54:18.066Z,1749844458.066 [lineCaptureHoming](DEBUG): Aggregate::uninitialize lineCaptureHoming
2025-06-13T19:54:18.066Z,1749844458.066 [lineCaptureHoming:Science] Stopped
2025-06-13T19:54:18.066Z,1749844458.066 [lineCaptureHoming:Science](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science
2025-06-13T19:54:18.066Z,1749844458.066 [lineCaptureHoming:Science:B] Stopped
2025-06-13T19:54:18.066Z,1749844458.066 [lineCaptureHoming:Science:C] Stopped
2025-06-13T19:54:18.066Z,1749844458.066 [lineCaptureHoming:Science:E] Stopped
2025-06-13T19:54:18.066Z,1749844458.066 [lineCaptureHoming:Science:F] Stopped
2025-06-13T19:54:18.066Z,1749844458.066 [lineCaptureHoming:Science:OceanCurrent] Stopped
2025-06-13T19:54:18.066Z,1749844458.066 [lineCaptureHoming:Science:OceanCurrent](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:OceanCurrent
2025-06-13T19:54:18.066Z,1749844458.066 [lineCaptureHoming:Science:OceanCurrent:A.] Stopped
2025-06-13T19:54:18.067Z,1749844458.067 [lineCaptureHoming:StandardEnvelopes] Stopped
2025-06-13T19:54:18.067Z,1749844458.067 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:StandardEnvelopes
2025-06-13T19:54:18.067Z,1749844458.067 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-06-13T19:54:18.067Z,1749844458.067 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-06-13T19:54:18.067Z,1749844458.067 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-06-13T19:54:18.067Z,1749844458.067 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-06-13T19:54:18.067Z,1749844458.067 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-06-13T19:54:18.067Z,1749844458.067 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-06-13T19:54:18.067Z,1749844458.067 [lineCaptureHoming:NeedComms] Stopped
2025-06-13T19:54:18.067Z,1749844458.067 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:NeedComms
2025-06-13T19:54:18.067Z,1749844458.067 [lineCaptureHoming:NeedComms:B.GoToSurface] Stopped
2025-06-13T19:54:18.067Z,1749844458.067 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-06-13T19:54:18.067Z,1749844458.067 [lineCaptureHoming:NeedComms:C] Stopped
2025-06-13T19:54:18.068Z,1749844458.068 [lineCaptureHoming:TrackAC.] Stopped
2025-06-13T19:54:18.068Z,1749844458.068 [lineCaptureHoming:TrackAC.](DEBUG): Uninitializing TrackAcousticContact.
2025-06-13T19:54:18.068Z,1749844458.068 [lineCaptureHoming:StartingMission] Stopped
2025-06-13T19:54:18.068Z,1749844458.068 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::uninitialize lineCaptureHoming:StartingMission
2025-06-13T19:54:18.404Z,1749844458.404 [WetLabsUBAT](INFO): Powering down
2025-06-13T19:54:18.675Z,1749844458.675 [WetLabsBB2FL](INFO): Powering down
2025-06-13T19:54:18.688Z,1749844458.688 [MissionManager](INFO): Loading Mission from file: ./Missions/Engineering/OnDock.tl
2025-06-13T19:54:18.688Z,1749844458.688 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Engineering/OnDock.tl
2025-06-13T19:54:18.719Z,1749844458.719 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Engineering/OnDock.tl
2025-06-13T19:54:18.902Z,1749844458.902 [DataOverHttps](INFO): Moved sent file to Logs/20250613T193503/Courier0016.lzma.bak
2025-06-13T19:54:18.902Z,1749844458.902 [DataOverHttps](IMPORTANT): SBD MOMSN=25209241, MTMSN=20250613T195420
2025-06-13T19:54:27.978Z,1749844467.978 [MissionManager](DEBUG): TethyslAPI: ./Missions/Engineering/OnDock.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="OnDock">
    <DefineArg Name="DockedTime">
        <Units:hour />
        <Value>8</Value>
    </DefineArg>
    <DefineArg Name="DetachedTimeout">
        <Dock:Docked.detachTimeout />
    </DefineArg>
    <DefineArg Name="RangeTimeout">
        <Dock:Docked.rangeTimeout />
    </DefineArg>
    <DefineArg Name="TrackingUpdatePeriod">
        <Units:minute />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="NumberOfPings">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="TransponderCode">
        <Dock:Dock.transponderCode />
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <BIT:CBIT.stopDepth />
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="StayOnDock">
        <False />
    </DefineArg>
    <DefineArg Name="IfconfigInterval">
        <Units:hour />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="RunScience">
        <False />
    </DefineArg>
    <DefineArg Name="MissionTimeout">
        <Arg Name="DockedTime" />
    </DefineArg>
    <Timeout Duration="MissionTimeout" />
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="MissionTimeout" />
        <Arg Name="DockedTime" />
        <Add>
            <Units:minute />
            <Value>5</Value>
        </Add>
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Aggregate Id="dataRead">
        <While>
            <True />
        </While>
        <ReadDatum>
            <Universal:platform_communications />
        </ReadDatum>
        <Guidance:Wait>
            <Sequence />
            <Setting>
                <Guidance:Wait.duration />
                <Units:minute />
                <Value>5</Value>
            </Setting>
        </Guidance:Wait>
    </Aggregate>
    <Aggregate Id="science">
        <Parallel />
        <Break>
            <Not>
                <Arg Name="RunScience" />
            </Not>
        </Break>
        <Insert Filename="Insert/Science.tl" />
    </Aggregate>
    <Estimation:TrackAcousticContact>
        <Parallel />
        <Setting>
            <Estimation:TrackAcousticContact.contactLabelSetting />
            <Arg Name="TransponderCode" />
        </Setting>
        <Setting>
            <Estimation:TrackAcousticContact.numberOfSamplesSetting />
            <Arg Name="NumberOfPings" />
        </Setting>
        <Setting>
            <Estimation:TrackAcousticContact.updatePeriodSetting />
            <Arg Name="TrackingUpdatePeriod" />
        </Setting>
    </Estimation:TrackAcousticContact>
    <Syslog Severity="Important">Restarting logs</Syslog>
    <Guidance:Execute>
        <Sequence />
        <Setting>
            <Guidance:Execute.command />
            <String>restart logs</String>
        </Setting>
    </Guidance:Execute>
    <Aggregate Id="PeriodicCheck">
        <Parallel />
        <Aggregate Id="CheckIP">
            <Sequence />
            <Guidance:Execute>
                <Sequence />
                <Setting>
                    <Guidance:Execute.command />
                    <String>! ifconfig</String>
                </Setting>
            </Guidance:Execute>
            <Guidance:Wait>
                <Sequence />
                <Setting>
                    <Guidance:Wait.duration />
                    <Arg Name="IfconfigInterval" />
                </Setting>
            </Guidance:Wait>
        </Aggregate>
    </Aggregate>
    <Dock:Docked>
        <Sequence />
        <Timeout Duration="DockedTime" />
        <Setting>
            <Dock:Docked.detachTimeout />
            <Arg Name="DetachedTimeout" />
        </Setting>
        <Setting>
            <Dock:Docked.rangeTimeout />
            <Arg Name="RangeTimeout" />
        </Setting>
    </Dock:Docked>
    <Aggregate Id="Detach">
        <Sequence />
        <Break>
            <Arg Name="StayOnDock" />
            <Eq>
                <True />
            </Eq>
        </Break>
        <Syslog Severity="Important">
            Mission ending, breaking off. Range: 
            <Estimation:TrackAcousticContact.range_to_contact />
            <Units:meter />
            .
        </Syslog>
        <Dock:Undock>
            <Sequence />
        </Dock:Undock>
    </Aggregate>
</Mission>

2025-06-13T19:54:28.019Z,1749844468.019 [MissionManager](INFO): DefineArg OnDock.DockedTime = 8.000000 h
2025-06-13T19:54:28.081Z,1749844468.081 [MissionManager](INFO): DefineArg OnDock.DetachedTimeout = 30.000000 s
2025-06-13T19:54:28.094Z,1749844468.094 [MissionManager](INFO): DefineArg OnDock.RangeTimeout = 600.000000 s
2025-06-13T19:54:28.130Z,1749844468.130 [MissionManager](INFO): DefineArg OnDock.TrackingUpdatePeriod = 2.000000 min
2025-06-13T19:54:28.142Z,1749844468.142 [MissionManager](INFO): DefineArg OnDock.NumberOfPings = 1.000000 count
2025-06-13T19:54:28.178Z,1749844468.178 [MissionManager](INFO): DefineArg OnDock.TransponderCode = 50 count
2025-06-13T19:54:28.191Z,1749844468.191 [MissionManager](INFO): DefineArg OnDock.MaxDepth = 215.000000 m
2025-06-13T19:54:28.207Z,1749844468.207 [MissionManager](INFO): DefineArg OnDock.MinAltitude = 5.000000 m
2025-06-13T19:54:28.241Z,1749844468.241 [MissionManager](INFO): DefineArg OnDock.MinOffshore = 2.000000 km
2025-06-13T19:54:28.265Z,1749844468.265 [MissionManager](INFO): DefineArg OnDock.StayOnDock = 0 bool
2025-06-13T19:54:28.277Z,1749844468.277 [MissionManager](INFO): DefineArg OnDock.IfconfigInterval = 2.000000 h
2025-06-13T19:54:28.309Z,1749844468.309 [MissionManager](INFO): DefineArg OnDock.RunScience = 0 bool
2025-06-13T19:54:28.317Z,1749844468.317 [MissionManager](INFO): DefineArg OnDock.MissionTimeout = 8.000000 h
2025-06-13T19:54:28.318Z,1749844468.318 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-06-13T19:54:28.318Z,1749844468.318 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-06-13T19:54:28.319Z,1749844468.319 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-06-13T19:54:28.634Z,1749844468.634 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>1.5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-06-13T19:54:28.657Z,1749844468.657 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MinAltitude = 5.000000 m
2025-06-13T19:54:28.674Z,1749844468.674 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2025-06-13T19:54:28.691Z,1749844468.691 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MaxDepth = 200.000000 m
2025-06-13T19:54:28.736Z,1749844468.736 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-06-13T19:54:28.737Z,1749844468.737 [OnDock:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-06-13T19:54:28.764Z,1749844468.764 [OnDock:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-06-13T19:54:28.786Z,1749844468.786 [OnDock:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-06-13T19:54:28.866Z,1749844468.866 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-06-13T19:54:28.866Z,1749844468.866 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-06-13T19:54:28.867Z,1749844468.867 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-06-13T19:54:28.978Z,1749844468.978 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="BackseatDriver">
    <DefineArg Name="EnableBackseat">
        <False />
    </DefineArg>
    <Parallel />
    <Guidance:BackseatDriver>
        <Sequence />
        <Setting>
            <Guidance:BackseatDriver.powerBackseat />
            <Arg Name="EnableBackseat" />
        </Setting>
    </Guidance:BackseatDriver>
</Aggregate>

2025-06-13T19:54:29.011Z,1749844469.011 [MissionManager](INFO): DefineArg OnDock:BackseatDriver.EnableBackseat = 0 bool
2025-06-13T19:54:29.037Z,1749844469.037 [OnDock:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-06-13T19:54:29.048Z,1749844469.048 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-06-13T19:54:29.048Z,1749844469.048 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-06-13T19:54:29.050Z,1749844469.050 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-06-13T19:54:29.427Z,1749844469.427 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="PowerOnly">
    <DefineArg Name="SampleAll">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad1">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad2">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad3">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledPowerOnly">
        <Sensor:PowerOnly.loadAtStartup />
    </DefineArg>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleAll" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.samplePowerOnly />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad1" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad1 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad2" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad2 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad3" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad3 />
    </ReadData>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:hour />
            <Value>99999</Value>
        </Setting>
    </Guidance:Wait>
</Aggregate>

2025-06-13T19:54:29.445Z,1749844469.445 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleAll = 0 bool
2025-06-13T19:54:29.462Z,1749844469.462 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad1 = 0 bool
2025-06-13T19:54:29.478Z,1749844469.478 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad2 = 0 bool
2025-06-13T19:54:29.497Z,1749844469.497 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad3 = 0 bool
2025-06-13T19:54:29.507Z,1749844469.507 [MissionManager](INFO): DefineArg OnDock:PowerOnly.EnabledPowerOnly = 0 bool
2025-06-13T19:54:29.535Z,1749844469.535 [OnDock:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-06-13T19:54:29.560Z,1749844469.560 [OnDock:dataRead:B.Wait](DEBUG): Construct Wait.
2025-06-13T19:54:29.563Z,1749844469.563 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-06-13T19:54:29.563Z,1749844469.563 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-06-13T19:54:29.584Z,1749844469.584 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-06-13T19:54:30.527Z,1749844470.527 [DataOverHttps](INFO): Received command: schedule list
2025-06-13T19:54:32.452Z,1749844472.452 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T19:54:33.902Z,1749844473.902 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/Science.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="Science">
    <DefineArg Name="PeakDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="TimeWindowPeakReport">
        <Units:minute />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="HighestChlPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestSaltPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestOilPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="PatchTracking">
        <False />
    </DefineArg>
    <DefineArg Name="FilterWidthHorizontal">
        <Units:count />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesSlidingwindow">
        <Units:count />
        <Value>100</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionHorizontal">
        <Units:percent />
        <Value>80</Value>
    </DefineArg>
    <DefineArg Name="PeakDetectNO3Active">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectOilActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectFDOMActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectSalinityActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDinoflagellatesActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreDinoflagellatesActive">
        <False />
    </DefineArg>
    <DefineArg Name="UpwardDerivativeOfTemperatureActive">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledAanderaaO2">
        <Science:Aanderaa_O2.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledNeilBrown">
        <Science:CTD_NeilBrown.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledRBRTridente">
        <Science:RBRTridente.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledSeabird">
        <Science:CTD_Seabird.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsBB2FL">
        <Science:WetLabsBB2FL.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsSeaOWL_UV_A">
        <Science:WetLabsSeaOWL_UV_A.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsUBAT">
        <Science:WetLabsUBAT.loadAtStartup />
    </DefineArg>
    <DefineArg Name="LowPassWindowLength">
        <Units:count />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="MedianFilterLen">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="ShallowBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DeepBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DepChangeThreshForAttitudeFlip">
        <Units:meter />
        <Value>2.0</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionVerticalAscent">
        <Units:percent />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionVerticalDescent">
        <Units:percent />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlPeakThresh">
        <Units:microgram_per_liter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="ChlThreshTriggerActive">
        <False />
    </DefineArg>
    <DefineArg Name="ChlLowerThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlUpperThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesThresh">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreLMavgROIPeakThresh">
        <Units:count_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreHMavgROIPeakThresh">
        <Units:count_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreDiatomsPeakThresh">
        <Units:count_per_milliliter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreDinoflagellatesPeakThresh">
        <Units:count_per_milliliter />
        <Value>0</Value>
    </DefineArg>
    <DefineOutput Name="GoDown">
        <True />
    </DefineOutput>
    <DefineOutput Name="PeakChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3">
        <Units:micromole_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Depth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOil">
        <Units:kilogram_per_cubic_meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOM">
        <Units:part_per_billion />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatoms">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatoms">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOil">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="TriggeredOnChl">
        <False />
    </DefineOutput>
    <DefineOutput Name="ChlTriggering">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledAanderaaO2" />
        </While>
        <Universal:mass_concentration_of_oxygen_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
        </While>
        <Universal:sea_water_temperature />
        <Universal:sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledSeabird" />
        </While>
        <Science:CTD_Seabird.sea_water_temperature />
        <Science:CTD_Seabird.sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
            <And>
                <Arg Name="UpwardDerivativeOfTemperatureActive" />
            </And>
        </While>
        <Universal:upward_derivative_of_sea_water_temperature />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsBB2FL" />
            <Or>
                <Arg Name="EnabledRBRTridente" />
            </Or>
            <Or>
                <Arg Name="PeakDetectChlActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_chlorophyll_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsUBAT" />
        </While>
        <Science:WetLabsUBAT.average_bioluminescence />
    </ReadData>
    <ReadData Id="Read_Oil" Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsSeaOWL_UV_A" />
            <Or>
                <Arg Name="PeakDetectOilActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
    </ReadData>
    <Aggregate Id="OceanCurrent">
        <Sequence />
        <Estimation:CurrentEstimator>
            <Parallel />
        </Estimation:CurrentEstimator>
    </Aggregate>
    <Aggregate Id="PeakDetectChl">
        <While>
            <Arg Name="PeakDetectChlActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakChl">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectChl">
        <While>
            <Arg Name="EdgeDetectChlActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="ChlPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakChl">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgeChl">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgeChlDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgeChlTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgeChlLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgeChlLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, ChlPeakThresh, PeakChl, PeakChlDepth, EdgeChl, EdgeChlDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="ChlPeakThresh" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChlDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgeChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="EdgeChlDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
            <Arg Name="EdgeChl" />
            <Arg Name="EdgeChlDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestChlPeakReport">
        <While>
            <Arg Name="HighestChlPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakChlDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakChlLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakChlLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchChl">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchChlDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchChlLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchChlLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchChlDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectNO3">
        <While>
            <Arg Name="PeakDetectNO3Active" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mole_concentration_of_nitrate_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakNO3">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakNO3Depth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakNO3Latitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakNO3Longitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakNO3" />
            <Arg Name="PeakNO3Depth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectOil">
        <While>
            <Arg Name="PeakDetectOilActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakOil">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakOilDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakOilLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakOilLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakOil" />
            <Arg Name="PeakOilDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestOilPeakReport">
        <While>
            <Arg Name="HighestOilPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakOil" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakOilDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakOilLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakOilLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchOil">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchOilDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchOilLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchOilLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchOilDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectFDOM">
        <While>
            <Arg Name="PeakDetectFDOMActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:concentration_of_colored_dissolved_organic_matter_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakFDOM">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakFDOMDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakFDOMTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakFDOMLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakFDOMLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakFDOM" />
            <Arg Name="PeakFDOMDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectSalinity">
        <While>
            <Arg Name="PeakDetectSalinityActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:sea_water_salinity />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakSalt">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakSaltDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakSaltTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakSaltLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakSaltLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakSalt" />
            <Arg Name="PeakSaltDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestSaltPeakReport">
        <While>
            <Arg Name="HighestSaltPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakSalt" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakSaltDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakSaltLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakSaltLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchSalt">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchSaltDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchSaltLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchSaltLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchSaltDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="EdgeDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreLMavgROIPeakThresh, PeakPlanktivoreLMavgROI, PeakPlanktivoreLMavgROIDepth, EdgePlanktivoreLMavgROI, EdgePlanktivoreLMavgROIDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreHMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_HM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="EdgeDetectPlanktivoreHMavgROIActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_HM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreHMavgROIPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROI">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreHMavgROIPeakThresh, PeakPlanktivoreHMavgROI, PeakPlanktivoreHMavgROIDepth, EdgePlanktivoreHMavgROI, EdgePlanktivoreHMavgROIDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreHMavgROIPeakThresh" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreHMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="EdgePlanktivoreHMavgROIDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
            <Arg Name="EdgePlanktivoreHMavgROI" />
            <Arg Name="EdgePlanktivoreHMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="PeakDetectPlanktivoreDiatomsActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_diatoms</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="EdgeDetectPlanktivoreDiatomsActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_diatoms</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreDiatomsPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatoms">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreDiatomsPeakThresh, PeakPlanktivoreDiatoms, PeakPlanktivoreDiatomsDepth, EdgePlanktivoreDiatoms, EdgePlanktivoreDiatomsDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreDiatomsPeakThresh" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreDiatoms" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="EdgePlanktivoreDiatomsDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
            <Arg Name="EdgePlanktivoreDiatoms" />
            <Arg Name="EdgePlanktivoreDiatomsDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="PeakDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDinoflagellates">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="EdgeDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreDinoflagellatesPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellates">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellates">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreDinoflagellatesPeakThresh, PeakPlanktivoreDinoflagellates, PeakPlanktivoreDinoflagellatesDepth, EdgePlanktivoreDinoflagellates, EdgePlanktivoreDinoflagellatesDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreDinoflagellatesPeakThresh" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreDinoflagellates" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="EdgePlanktivoreDinoflagellatesDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
            <Arg Name="EdgePlanktivoreDinoflagellates" />
            <Arg Name="EdgePlanktivoreDinoflagellatesDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="ChlThreshTrigger">
        <While>
            <Arg Name="ChlThreshTriggerActive" />
        </While>
        <Trigger:ValueDetect>
            <Sequence />
            <Setting>
                <Trigger:ValueDetect.detect />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.lowerThreshold />
                <Arg Name="ChlLowerThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.upperThreshold />
                <Arg Name="ChlUpperThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.numProfilesThreshold />
                <Arg Name="NumProfilesThresh" />
            </Setting>
            <OutputArg Name="ChlTriggering">
                <Trigger:ValueDetect.outputValue />
            </OutputArg>
        </Trigger:ValueDetect>
        <Assign>
            <Sequence />
            <Arg Name="TriggeredOnChl" />
            <True />
        </Assign>
        <Syslog Severity="Important">
            Triggered. PeakChl values on 
            <Arg Name="NumProfilesThresh" />
            <Units:count />
             consecutive yo-yo profiles fall in [
            <Arg Name="ChlLowerThresh" />
            <Units:microgram_per_liter />
            <Arg Name="ChlUpperThresh" />
            <Units:microgram_per_liter />
            ] (NaN bound is ignored).
        </Syslog>
    </Aggregate>
</Aggregate>

2025-06-13T19:54:33.999Z,1749844473.999 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectChlActive = 0 bool
2025-06-13T19:54:34.075Z,1749844474.075 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectChlActive = 0 bool
2025-06-13T19:54:34.081Z,1749844474.081 [MissionManager](INFO): DefineArg OnDock:science:Science.TimeWindowPeakReport = nan min
2025-06-13T19:54:34.122Z,1749844474.122 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestChlPeakReportActive = 0 bool
2025-06-13T19:54:34.135Z,1749844474.135 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestSaltPeakReportActive = 0 bool
2025-06-13T19:54:34.151Z,1749844474.151 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestOilPeakReportActive = 0 bool
2025-06-13T19:54:34.186Z,1749844474.186 [MissionManager](INFO): DefineArg OnDock:science:Science.PatchTracking = 0 bool
2025-06-13T19:54:34.190Z,1749844474.190 [MissionManager](INFO): DefineArg OnDock:science:Science.FilterWidthHorizontal = 3.000000 count
2025-06-13T19:54:34.210Z,1749844474.210 [MissionManager](INFO): DefineArg OnDock:science:Science.NumProfilesSlidingwindow = 100.000000 count
2025-06-13T19:54:34.218Z,1749844474.218 [MissionManager](INFO): DefineArg OnDock:science:Science.OffPeakFractionHorizontal = 80.000000 %
2025-06-13T19:54:34.234Z,1749844474.234 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectNO3Active = 0 bool
2025-06-13T19:54:34.254Z,1749844474.254 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectOilActive = 0 bool
2025-06-13T19:54:34.262Z,1749844474.262 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectFDOMActive = 0 bool
2025-06-13T19:54:34.281Z,1749844474.281 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectSalinityActive = 0 bool
2025-06-13T19:54:34.285Z,1749844474.285 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-06-13T19:54:34.289Z,1749844474.289 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-06-13T19:54:34.309Z,1749844474.309 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-06-13T19:54:34.316Z,1749844474.316 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreHMavgROIActive = 0 bool
2025-06-13T19:54:34.324Z,1749844474.324 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-06-13T19:54:34.332Z,1749844474.332 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreDiatomsActive = 0 bool
2025-06-13T19:54:34.337Z,1749844474.337 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-06-13T19:54:34.349Z,1749844474.349 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-06-13T19:54:34.364Z,1749844474.364 [MissionManager](INFO): DefineArg OnDock:science:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-06-13T19:54:34.371Z,1749844474.371 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledAanderaaO2 = 0 bool
2025-06-13T19:54:34.396Z,1749844474.396 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledNeilBrown = 0 bool
2025-06-13T19:54:34.401Z,1749844474.401 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledRBRTridente = 0 bool
2025-06-13T19:54:34.422Z,1749844474.422 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledSeabird = 1 bool
2025-06-13T19:54:34.427Z,1749844474.427 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsBB2FL = 1 bool
2025-06-13T19:54:34.439Z,1749844474.439 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-06-13T19:54:34.477Z,1749844474.477 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsUBAT = 1 bool
2025-06-13T19:54:34.485Z,1749844474.485 [MissionManager](INFO): DefineArg OnDock:science:Science.LowPassWindowLength = 20.000000 count
2025-06-13T19:54:34.529Z,1749844474.529 [MissionManager](INFO): DefineArg OnDock:science:Science.MedianFilterLen = 5.000000 count
2025-06-13T19:54:34.562Z,1749844474.562 [MissionManager](INFO): DefineArg OnDock:science:Science.ShallowBound = nan m
2025-06-13T19:54:34.629Z,1749844474.629 [MissionManager](INFO): DefineArg OnDock:science:Science.DeepBound = nan m
2025-06-13T19:54:34.633Z,1749844474.633 [MissionManager](INFO): DefineArg OnDock:science:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-06-13T19:54:34.642Z,1749844474.642 [MissionManager](INFO): DefineArg OnDock:science:Science.OffPeakFractionVerticalAscent = nan %
2025-06-13T19:54:34.666Z,1749844474.666 [MissionManager](INFO): DefineArg OnDock:science:Science.OffPeakFractionVerticalDescent = nan %
2025-06-13T19:54:34.674Z,1749844474.674 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlPeakThresh = 0.000000 ug/l
2025-06-13T19:54:34.694Z,1749844474.694 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlThreshTriggerActive = 0 bool
2025-06-13T19:54:34.702Z,1749844474.702 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlLowerThresh = nan ug/l
2025-06-13T19:54:34.719Z,1749844474.719 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlUpperThresh = nan ug/l
2025-06-13T19:54:34.751Z,1749844474.751 [MissionManager](INFO): DefineArg OnDock:science:Science.NumProfilesThresh = 5.000000 count
2025-06-13T19:54:34.775Z,1749844474.775 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-06-13T19:54:34.787Z,1749844474.787 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreHMavgROIPeakThresh = 0.000000 count/s
2025-06-13T19:54:34.799Z,1749844474.799 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreDiatomsPeakThresh = 0.000000 count/ml
2025-06-13T19:54:34.828Z,1749844474.828 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreDinoflagellatesPeakThresh = 0.000000 count/ml
2025-06-13T19:54:34.840Z,1749844474.840 [MissionManager](INFO): DefineOutput OnDock:science:Science.GoDown = 1 bool
2025-06-13T19:54:34.860Z,1749844474.860 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChl = nan ug/l
2025-06-13T19:54:34.870Z,1749844474.870 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlDepth = nan m
2025-06-13T19:54:34.894Z,1749844474.894 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlTemperature = nan degC
2025-06-13T19:54:34.923Z,1749844474.923 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlLatitude = nan arcdeg
2025-06-13T19:54:34.966Z,1749844474.966 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlLongitude = nan arcdeg
2025-06-13T19:54:34.979Z,1749844474.979 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChl = nan ug/l
2025-06-13T19:54:35.024Z,1749844475.024 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlDepth = nan m
2025-06-13T19:54:35.041Z,1749844475.041 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlTemperature = nan degC
2025-06-13T19:54:35.049Z,1749844475.049 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlLatitude = nan arcdeg
2025-06-13T19:54:35.062Z,1749844475.062 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlLongitude = nan arcdeg
2025-06-13T19:54:35.082Z,1749844475.082 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3 = nan umol/l
2025-06-13T19:54:35.090Z,1749844475.090 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Depth = nan m
2025-06-13T19:54:35.106Z,1749844475.106 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Latitude = nan arcdeg
2025-06-13T19:54:35.126Z,1749844475.126 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Longitude = nan arcdeg
2025-06-13T19:54:35.135Z,1749844475.135 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOil = nan kg/m3
2025-06-13T19:54:35.151Z,1749844475.151 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilDepth = nan m
2025-06-13T19:54:35.167Z,1749844475.167 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilLatitude = nan arcdeg
2025-06-13T19:54:35.192Z,1749844475.192 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilLongitude = nan arcdeg
2025-06-13T19:54:35.204Z,1749844475.204 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOM = nan ppb
2025-06-13T19:54:35.215Z,1749844475.215 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMDepth = nan m
2025-06-13T19:54:35.241Z,1749844475.241 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMTemperature = nan degC
2025-06-13T19:54:35.261Z,1749844475.261 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMLatitude = nan arcdeg
2025-06-13T19:54:35.270Z,1749844475.270 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMLongitude = nan arcdeg
2025-06-13T19:54:35.287Z,1749844475.287 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSalt = nan psu
2025-06-13T19:54:35.300Z,1749844475.300 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltDepth = nan m
2025-06-13T19:54:35.344Z,1749844475.344 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltTemperature = nan degC
2025-06-13T19:54:35.364Z,1749844475.364 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltLatitude = nan arcdeg
2025-06-13T19:54:35.385Z,1749844475.385 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltLongitude = nan arcdeg
2025-06-13T19:54:35.406Z,1749844475.406 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-06-13T19:54:35.418Z,1749844475.418 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-06-13T19:54:35.430Z,1749844475.430 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-06-13T19:54:35.447Z,1749844475.447 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-06-13T19:54:35.463Z,1749844475.463 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-06-13T19:54:35.492Z,1749844475.492 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-06-13T19:54:35.504Z,1749844475.504 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-06-13T19:54:35.525Z,1749844475.525 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-06-13T19:54:35.540Z,1749844475.540 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-06-13T19:54:35.549Z,1749844475.549 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-06-13T19:54:35.573Z,1749844475.573 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-06-13T19:54:35.581Z,1749844475.581 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-06-13T19:54:35.602Z,1749844475.602 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-06-13T19:54:35.610Z,1749844475.610 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-06-13T19:54:35.618Z,1749844475.618 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-06-13T19:54:35.638Z,1749844475.638 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROI = nan count/s
2025-06-13T19:54:35.647Z,1749844475.647 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROIDepth = nan m
2025-06-13T19:54:35.659Z,1749844475.659 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROITemperature = nan degC
2025-06-13T19:54:35.679Z,1749844475.679 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROILatitude = nan arcdeg
2025-06-13T19:54:35.700Z,1749844475.700 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROILongitude = nan arcdeg
2025-06-13T19:54:35.752Z,1749844475.752 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-06-13T19:54:35.768Z,1749844475.768 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-06-13T19:54:35.792Z,1749844475.792 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-06-13T19:54:35.805Z,1749844475.805 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-06-13T19:54:35.825Z,1749844475.825 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-06-13T19:54:35.837Z,1749844475.837 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatoms = nan count/ml
2025-06-13T19:54:35.874Z,1749844475.874 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsDepth = nan m
2025-06-13T19:54:35.886Z,1749844475.886 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsTemperature = nan degC
2025-06-13T19:54:35.918Z,1749844475.918 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsLatitude = nan arcdeg
2025-06-13T19:54:35.931Z,1749844475.931 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsLongitude = nan arcdeg
2025-06-13T19:54:35.972Z,1749844475.972 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-06-13T19:54:36.051Z,1749844476.051 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-06-13T19:54:36.084Z,1749844476.084 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-06-13T19:54:36.113Z,1749844476.113 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-06-13T19:54:36.148Z,1749844476.148 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-06-13T19:54:36.172Z,1749844476.172 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellates = nan count/ml
2025-06-13T19:54:36.186Z,1749844476.186 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesDepth = nan m
2025-06-13T19:54:36.218Z,1749844476.218 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesTemperature = nan degC
2025-06-13T19:54:36.256Z,1749844476.256 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-06-13T19:54:36.272Z,1749844476.272 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-06-13T19:54:36.285Z,1749844476.285 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChl = nan ug/l
2025-06-13T19:54:36.318Z,1749844476.318 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlDepth = nan m
2025-06-13T19:54:36.330Z,1749844476.330 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlLatitude = nan arcdeg
2025-06-13T19:54:36.358Z,1749844476.358 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlLongitude = nan arcdeg
2025-06-13T19:54:36.371Z,1749844476.371 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlDistance = nan m
2025-06-13T19:54:36.407Z,1749844476.407 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSalt = nan psu
2025-06-13T19:54:36.430Z,1749844476.430 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltDepth = nan m
2025-06-13T19:54:36.447Z,1749844476.447 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltLatitude = nan arcdeg
2025-06-13T19:54:36.480Z,1749844476.480 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltLongitude = nan arcdeg
2025-06-13T19:54:36.492Z,1749844476.492 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltDistance = nan m
2025-06-13T19:54:36.509Z,1749844476.509 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOil = nan psu
2025-06-13T19:54:36.517Z,1749844476.517 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilDepth = nan m
2025-06-13T19:54:36.550Z,1749844476.550 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilLatitude = nan arcdeg
2025-06-13T19:54:36.589Z,1749844476.589 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilLongitude = nan arcdeg
2025-06-13T19:54:36.597Z,1749844476.597 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilDistance = nan m
2025-06-13T19:54:36.610Z,1749844476.610 [MissionManager](INFO): DefineOutput OnDock:science:Science.TriggeredOnChl = 0 bool
2025-06-13T19:54:36.627Z,1749844476.627 [MissionManager](INFO): DefineOutput OnDock:science:Science.ChlTriggering = nan ug/l
2025-06-13T19:54:36.741Z,1749844476.741 [OnDock:science:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-13T19:54:36.796Z,1749844476.796 [OnDock:science:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-06-13T19:54:36.870Z,1749844476.870 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-06-13T19:54:36.954Z,1749844476.954 [OnDock:science:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-13T19:54:37.011Z,1749844477.011 [OnDock:science:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-13T19:54:37.081Z,1749844477.081 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-06-13T19:54:37.145Z,1749844477.145 [OnDock:science:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-13T19:54:37.199Z,1749844477.199 [OnDock:science:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-13T19:54:37.253Z,1749844477.253 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-06-13T19:54:37.318Z,1749844477.318 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-13T19:54:37.396Z,1749844477.396 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-06-13T19:54:37.523Z,1749844477.523 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-13T19:54:37.578Z,1749844477.578 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-06-13T19:54:37.675Z,1749844477.675 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-13T19:54:37.723Z,1749844477.723 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-06-13T19:54:37.864Z,1749844477.864 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-13T19:54:37.927Z,1749844477.927 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-06-13T19:54:38.067Z,1749844478.067 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-06-13T19:54:38.242Z,1749844478.242 [OnDock:L.Execute](DEBUG): Construct Execute.
2025-06-13T19:54:38.266Z,1749844478.266 [OnDock:PeriodicCheck:CheckIP:A.Execute](DEBUG): Construct Execute.
2025-06-13T19:54:38.280Z,1749844478.280 [OnDock:PeriodicCheck:CheckIP:B.Wait](DEBUG): Construct Wait.
2025-06-13T19:54:38.282Z,1749844478.282 [OnDock:N.Docked](DEBUG): Construct.
2025-06-13T19:54:38.282Z,1749844478.282 [OnDock:N.Docked](DEBUG): Initializing internal variables to default values.
2025-06-13T19:54:38.385Z,1749844478.385 [OnDock:Detach:B.Undock](DEBUG): Construct.
2025-06-13T19:54:38.386Z,1749844478.386 [OnDock:Detach:B.Undock](DEBUG): Initializing internal variables to default values.
2025-06-13T19:54:38.709Z,1749844478.709 [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 {
  """
  Wait on dock, communicating when possible
  """

  arguments {
    DockedTime = 8 hour
      """
      Time to stay on dock. Mission timeout will be five minutes longer.
      """

    DetachedTimeout = Dock:Docked.detachTimeout
      """
      Time duration limit for determining if the vehicle is detached from the
      dock.
      """

    RangeTimeout = Dock:Docked.rangeTimeout
      """
      Maximum allowed time without acoustic range.
      """

    TrackingUpdatePeriod = 2 minute
      """
      How long to wait between acoustic queries.
      """

    NumberOfPings = 1 count
      """
      Number of pings requested each time.
      """

    TransponderCode = Dock:Dock.transponderCode
      """
      Transponder Address.
      """

    MaxDepth = BIT:CBIT.stopDepth
      """
      Maximum depth while docked.
      """

    MinAltitude = 5 meter
      """
      Minimum altitude
      """

    MinOffshore = 2 km
      """
      Minimum offshore
      """

    StayOnDock = false
      """
      If true, don't detach from dock at end of mission
      """

    IfconfigInterval = 2 hour
      """
      How long to wait between ifconfig runs
      """

    RunScience = false
      """
      If true, run Science while on the dock.
      """

    # Mission variables (do not change)
    MissionTimeout = DockedTime
      """
      Mission timeout (local variable, do not change)
      """
  }

  timeout duration=MissionTimeout

  insert Insert/StandardEnvelopes.tl
  assign in sequence StandardEnvelopes:MinAltitude = MinAltitude
  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth
  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore
  # End docking 5 minutes before end of mission to allow clean undock
  assign in sequence MissionTimeout = DockedTime + 5 minute

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

  # Send data when connection exists
  aggregate dataRead {
    run while ( true )

    readDatum {
      Universal:platform_communications
    }

    behavior Guidance:Wait {
      run in sequence

      set duration = 5 minute
    }
  }

  aggregate science {
    run in parallel

    break if ( not RunScience )

    insert Insert/Science.tl
  }

  behavior Estimation:TrackAcousticContact {
    run in parallel

    set contactLabelSetting = TransponderCode
    set numberOfSamplesSetting = NumberOfPings
    set updatePeriodSetting = TrackingUpdatePeriod
  }

  syslog important "Restarting logs"

  behavior Guidance:Execute {
    run in sequence

    set command = "restart logs"
  }

  aggregate PeriodicCheck {
    run in parallel

    aggregate CheckIP {
      run in sequence

      behavior Guidance:Execute {
        run in sequence

        set command = "! ifconfig"
      }

      behavior Guidance:Wait {
        run in sequence

        set duration = IfconfigInterval
      }
    }
  }

  behavior Dock:Docked {
    run in sequence

    timeout duration=DockedTime

    set detachTimeout = DetachedTimeout
    set rangeTimeout = RangeTimeout
  }

  # Undock cleanly, instead of relying on DefaultWithUndock to come next
  aggregate Detach {
    run in sequence

    break if ( StayOnDock == true )

    syslog important "Mission ending, breaking off. Range: "
         + Estimation:TrackAcousticContact.range_to_contact~meter + "."

    behavior Dock:Undock {
      run in sequence
    }
  }
}


2025-06-13T19:54:38.710Z,1749844478.710 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/OnDock.tl id=OnDock
2025-06-13T19:54:39.013Z,1749844479.013 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2025-06-13T19:54:39.013Z,1749844479.013 [DefaultWithUndock] Running Loop=1
2025-06-13T19:54:39.013Z,1749844479.013 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2025-06-13T19:54:39.013Z,1749844479.013 [DefaultWithUndock:A.Wait] Running Loop=1
2025-06-13T19:54:39.013Z,1749844479.013 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2025-06-13T19:54:46.209Z,1749844486.209 [CommandExec](IMPORTANT): got command set OnDock.DockedTime 10 hour
2025-06-13T19:54:46.209Z,1749844486.209 [CommandExec](IMPORTANT): got command run
2025-06-13T19:54:46.214Z,1749844486.214 [CommandExec](IMPORTANT): Running 
2025-06-13T19:54:46.218Z,1749844486.218 [CommandExec](IMPORTANT): got command schedule list
2025-06-13T19:54:46.218Z,1749844486.218 [CommandExec](IMPORTANT): Nothing is scheduled
2025-06-13T19:54:46.218Z,1749844486.218 [CommandExec](FAULT): Scheduling was paused by a command at 2025-06-13T19:52:34Z
2025-06-13T19:54:46.219Z,1749844486.219 [CommandExec](IMPORTANT): got command stop
2025-06-13T19:54:46.219Z,1749844486.219 [Supervisor](INFO): Stop Mission called by CommandExec::commandStop
2025-06-13T19:54:46.372Z,1749844486.372 [DefaultWithUndock] Stopped
2025-06-13T19:54:46.372Z,1749844486.372 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2025-06-13T19:54:46.372Z,1749844486.372 [DefaultWithUndock:A.Wait] Stopped
2025-06-13T19:54:46.372Z,1749844486.372 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2025-06-13T19:54:46.372Z,1749844486.372 [MissionManager](IMPORTANT): Started mission OnDock
2025-06-13T19:54:46.373Z,1749844486.373 [OnDock] Running Loop=1
2025-06-13T19:54:46.373Z,1749844486.373 [OnDock](DEBUG): Aggregate::initialize OnDock
2025-06-13T19:54:46.373Z,1749844486.373 [OnDock:StandardEnvelopes] Running Loop=1
2025-06-13T19:54:46.373Z,1749844486.373 [OnDock:StandardEnvelopes](DEBUG): Aggregate::initialize OnDock:StandardEnvelopes
2025-06-13T19:54:46.373Z,1749844486.373 [OnDock:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-06-13T19:54:46.373Z,1749844486.373 [OnDock:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-06-13T19:54:46.373Z,1749844486.373 [OnDock:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-06-13T19:54:46.373Z,1749844486.373 [OnDock:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-06-13T19:54:46.374Z,1749844486.374 [OnDock:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-06-13T19:54:46.374Z,1749844486.374 [OnDock:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-06-13T19:54:46.374Z,1749844486.374 [OnDock:BackseatDriver] Running Loop=1
2025-06-13T19:54:46.374Z,1749844486.374 [OnDock:BackseatDriver](DEBUG): Aggregate::initialize OnDock:BackseatDriver
2025-06-13T19:54:46.374Z,1749844486.374 [OnDock:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-06-13T19:54:46.374Z,1749844486.374 [OnDock:PowerOnly] Running Loop=1
2025-06-13T19:54:46.374Z,1749844486.374 [OnDock:PowerOnly](DEBUG): Aggregate::initialize OnDock:PowerOnly
2025-06-13T19:54:46.374Z,1749844486.374 [OnDock:PowerOnly:A] Running Loop=1
2025-06-13T19:54:46.374Z,1749844486.374 [OnDock:PowerOnly:B] Running Loop=1
2025-06-13T19:54:46.374Z,1749844486.374 [OnDock:PowerOnly:C] Running Loop=1
2025-06-13T19:54:46.374Z,1749844486.374 [OnDock:PowerOnly:D] Running Loop=1
2025-06-13T19:54:46.375Z,1749844486.375 [OnDock:PowerOnly:E.Wait] Running Loop=1
2025-06-13T19:54:46.375Z,1749844486.375 [OnDock:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-06-13T19:54:46.375Z,1749844486.375 [OnDock:dataRead] Running Loop=1
2025-06-13T19:54:46.375Z,1749844486.375 [OnDock:dataRead](DEBUG): Aggregate::initialize OnDock:dataRead
2025-06-13T19:54:46.375Z,1749844486.375 [OnDock:dataRead:A] Running Loop=1
2025-06-13T19:54:46.375Z,1749844486.375 [OnDock:science] Running Loop=1
2025-06-13T19:54:46.375Z,1749844486.375 [OnDock:science](DEBUG): Aggregate::initialize OnDock:science
2025-06-13T19:54:46.375Z,1749844486.375 [OnDock:science:Science] Running Loop=1
2025-06-13T19:54:46.375Z,1749844486.375 [OnDock:science:Science](DEBUG): Aggregate::initialize OnDock:science:Science
2025-06-13T19:54:46.375Z,1749844486.375 [OnDock:science:Science:A] Running Loop=1
2025-06-13T19:54:46.375Z,1749844486.375 [OnDock:science:Science:B] Running Loop=1
2025-06-13T19:54:46.375Z,1749844486.375 [OnDock:science:Science:C] Running Loop=1
2025-06-13T19:54:46.377Z,1749844486.377 [OnDock:science:Science:D] Running Loop=1
2025-06-13T19:54:46.377Z,1749844486.377 [OnDock:science:Science:E] Running Loop=1
2025-06-13T19:54:46.377Z,1749844486.377 [OnDock:science:Science:F] Running Loop=1
2025-06-13T19:54:46.377Z,1749844486.377 [OnDock:science:Science:Read_Oil] Running Loop=1
2025-06-13T19:54:46.377Z,1749844486.377 [OnDock:science:Science:PeakDetectChl] Running Loop=1
2025-06-13T19:54:46.377Z,1749844486.377 [OnDock:science:Science:PeakDetectChl](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectChl
2025-06-13T19:54:46.377Z,1749844486.377 [OnDock:science:Science:PeakDetectChl:A] Running Loop=1
2025-06-13T19:54:46.377Z,1749844486.377 [OnDock:science:Science:EdgeDetectChl] Running Loop=1
2025-06-13T19:54:46.378Z,1749844486.378 [OnDock:science:Science:EdgeDetectChl](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectChl
2025-06-13T19:54:46.378Z,1749844486.378 [OnDock:science:Science:EdgeDetectChl:A] Running Loop=1
2025-06-13T19:54:46.378Z,1749844486.378 [OnDock:science:Science:HighestChlPeakReport] Running Loop=1
2025-06-13T19:54:46.378Z,1749844486.378 [OnDock:science:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize OnDock:science:Science:HighestChlPeakReport
2025-06-13T19:54:46.379Z,1749844486.379 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-06-13T19:54:46.379Z,1749844486.379 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-06-13T19:54:46.379Z,1749844486.379 [OnDock:science:Science:PeakDetectNO3] Running Loop=1
2025-06-13T19:54:46.379Z,1749844486.379 [OnDock:science:Science:PeakDetectNO3](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectNO3
2025-06-13T19:54:46.379Z,1749844486.379 [OnDock:science:Science:PeakDetectNO3:A] Running Loop=1
2025-06-13T19:54:46.379Z,1749844486.379 [OnDock:science:Science:PeakDetectOil] Running Loop=1
2025-06-13T19:54:46.380Z,1749844486.380 [OnDock:science:Science:PeakDetectOil](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectOil
2025-06-13T19:54:46.380Z,1749844486.380 [OnDock:science:Science:PeakDetectOil:A] Running Loop=1
2025-06-13T19:54:46.380Z,1749844486.380 [OnDock:science:Science:HighestOilPeakReport] Running Loop=1
2025-06-13T19:54:46.380Z,1749844486.380 [OnDock:science:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize OnDock:science:Science:HighestOilPeakReport
2025-06-13T19:54:46.380Z,1749844486.380 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-06-13T19:54:46.380Z,1749844486.380 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-06-13T19:54:46.381Z,1749844486.381 [OnDock:science:Science:PeakDetectFDOM] Running Loop=1
2025-06-13T19:54:46.381Z,1749844486.381 [OnDock:science:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectFDOM
2025-06-13T19:54:46.381Z,1749844486.381 [OnDock:science:Science:PeakDetectFDOM:A] Running Loop=1
2025-06-13T19:54:46.381Z,1749844486.381 [OnDock:science:Science:PeakDetectSalinity] Running Loop=1
2025-06-13T19:54:46.381Z,1749844486.381 [OnDock:science:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectSalinity
2025-06-13T19:54:46.381Z,1749844486.381 [OnDock:science:Science:PeakDetectSalinity:A] Running Loop=1
2025-06-13T19:54:46.381Z,1749844486.381 [OnDock:science:Science:HighestSaltPeakReport] Running Loop=1
2025-06-13T19:54:46.382Z,1749844486.382 [OnDock:science:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize OnDock:science:Science:HighestSaltPeakReport
2025-06-13T19:54:46.382Z,1749844486.382 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-06-13T19:54:46.382Z,1749844486.382 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-06-13T19:54:46.382Z,1749844486.382 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-06-13T19:54:46.382Z,1749844486.382 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreLMavgROI
2025-06-13T19:54:46.382Z,1749844486.382 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-06-13T19:54:46.382Z,1749844486.382 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2025-06-13T19:54:46.383Z,1749844486.383 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI
2025-06-13T19:54:46.383Z,1749844486.383 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-06-13T19:54:46.383Z,1749844486.383 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-06-13T19:54:46.383Z,1749844486.383 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreHMavgROI
2025-06-13T19:54:46.383Z,1749844486.383 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-06-13T19:54:46.383Z,1749844486.383 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI] Running Loop=1
2025-06-13T19:54:46.383Z,1749844486.383 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI
2025-06-13T19:54:46.383Z,1749844486.383 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-06-13T19:54:46.383Z,1749844486.383 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-06-13T19:54:46.384Z,1749844486.384 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreDiatoms
2025-06-13T19:54:46.384Z,1749844486.384 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2025-06-13T19:54:46.384Z,1749844486.384 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms] Running Loop=1
2025-06-13T19:54:46.384Z,1749844486.384 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreDiatoms
2025-06-13T19:54:46.384Z,1749844486.384 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:A] Running Loop=1
2025-06-13T19:54:46.384Z,1749844486.384 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-06-13T19:54:46.384Z,1749844486.384 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates
2025-06-13T19:54:46.385Z,1749844486.385 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-06-13T19:54:46.385Z,1749844486.385 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates] Running Loop=1
2025-06-13T19:54:46.385Z,1749844486.385 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates
2025-06-13T19:54:46.385Z,1749844486.385 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-06-13T19:54:46.385Z,1749844486.385 [OnDock:science:Science:ChlThreshTrigger] Running Loop=1
2025-06-13T19:54:46.385Z,1749844486.385 [OnDock:science:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize OnDock:science:Science:ChlThreshTrigger
2025-06-13T19:54:46.385Z,1749844486.385 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-06-13T19:54:46.385Z,1749844486.385 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-06-13T19:54:46.386Z,1749844486.386 [OnDock:science:Science:OceanCurrent] Running Loop=1
2025-06-13T19:54:46.386Z,1749844486.386 [OnDock:science:Science:OceanCurrent](DEBUG): Aggregate::initialize OnDock:science:Science:OceanCurrent
2025-06-13T19:54:46.386Z,1749844486.386 [OnDock:science:Science:OceanCurrent:A.] Running Loop=1
2025-06-13T19:54:46.386Z,1749844486.386 [OnDock:science:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-06-13T19:54:46.386Z,1749844486.386 [OnDock:J.] Running Loop=1
2025-06-13T19:54:46.386Z,1749844486.386 [OnDock:J.](INFO): Initializing TrackAcousticContact.
2025-06-13T19:54:46.386Z,1749844486.386 [OnDock:PeriodicCheck] Running Loop=1
2025-06-13T19:54:46.386Z,1749844486.386 [OnDock:PeriodicCheck](DEBUG): Aggregate::initialize OnDock:PeriodicCheck
2025-06-13T19:54:46.386Z,1749844486.386 [OnDock:PeriodicCheck:CheckIP] Running Loop=1
2025-06-13T19:54:46.386Z,1749844486.386 [OnDock:PeriodicCheck:CheckIP](DEBUG): Aggregate::initialize OnDock:PeriodicCheck:CheckIP
2025-06-13T19:54:46.387Z,1749844486.387 [OnDock:PeriodicCheck:CheckIP:A.Execute] Running Loop=1
2025-06-13T19:54:46.387Z,1749844486.387 [OnDock:B] Running Loop=1
2025-06-13T19:54:46.388Z,1749844486.388 [OnDock:PeriodicCheck] Running Loop=1
2025-06-13T19:54:46.388Z,1749844486.388 [OnDock:PeriodicCheck:CheckIP:A.Execute](INFO): Executing command ! ifconfig
2025-06-13T19:54:46.389Z,1749844486.389 [OnDock:PeriodicCheck:CheckIP:A.Execute] Stopped
2025-06-13T19:54:46.390Z,1749844486.390 [OnDock:PeriodicCheck:CheckIP:B.Wait] Running Loop=1
2025-06-13T19:54:46.390Z,1749844486.390 [OnDock:PeriodicCheck:CheckIP:B.Wait](DEBUG): Initialize Wait Component.
2025-06-13T19:54:46.390Z,1749844486.390 [OnDock:J.] Running Loop=1
2025-06-13T19:54:46.408Z,1749844486.408 [OnDock:science] Stopped
2025-06-13T19:54:46.408Z,1749844486.408 [OnDock:science](DEBUG): Aggregate::uninitialize OnDock:science
2025-06-13T19:54:46.408Z,1749844486.408 [OnDock:science:Science] Stopped
2025-06-13T19:54:46.408Z,1749844486.408 [OnDock:science:Science](DEBUG): Aggregate::uninitialize OnDock:science:Science
2025-06-13T19:54:46.408Z,1749844486.408 [OnDock:science:Science:A] Stopped
2025-06-13T19:54:46.408Z,1749844486.408 [OnDock:science:Science:B] Stopped
2025-06-13T19:54:46.408Z,1749844486.408 [OnDock:science:Science:C] Stopped
2025-06-13T19:54:46.408Z,1749844486.408 [OnDock:science:Science:D] Stopped
2025-06-13T19:54:46.408Z,1749844486.408 [OnDock:science:Science:E] Stopped
2025-06-13T19:54:46.408Z,1749844486.408 [OnDock:science:Science:F] Stopped
2025-06-13T19:54:46.408Z,1749844486.408 [OnDock:science:Science:Read_Oil] Stopped
2025-06-13T19:54:46.408Z,1749844486.408 [OnDock:science:Science:OceanCurrent] Stopped
2025-06-13T19:54:46.409Z,1749844486.409 [OnDock:science:Science:OceanCurrent](DEBUG): Aggregate::uninitialize OnDock:science:Science:OceanCurrent
2025-06-13T19:54:46.409Z,1749844486.409 [OnDock:science:Science:OceanCurrent:A.] Stopped
2025-06-13T19:54:46.409Z,1749844486.409 [OnDock:science:Science:PeakDetectChl] Stopped
2025-06-13T19:54:46.409Z,1749844486.409 [OnDock:science:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectChl
2025-06-13T19:54:46.409Z,1749844486.409 [OnDock:science:Science:PeakDetectChl:A] Stopped
2025-06-13T19:54:46.409Z,1749844486.409 [OnDock:science:Science:EdgeDetectChl] Stopped
2025-06-13T19:54:46.409Z,1749844486.409 [OnDock:science:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectChl
2025-06-13T19:54:46.409Z,1749844486.409 [OnDock:science:Science:EdgeDetectChl:A] Stopped
2025-06-13T19:54:46.409Z,1749844486.409 [OnDock:science:Science:HighestChlPeakReport] Stopped
2025-06-13T19:54:46.409Z,1749844486.409 [OnDock:science:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize OnDock:science:Science:HighestChlPeakReport
2025-06-13T19:54:46.409Z,1749844486.409 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-06-13T19:54:46.409Z,1749844486.409 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-06-13T19:54:46.409Z,1749844486.409 [OnDock:science:Science:PeakDetectNO3] Stopped
2025-06-13T19:54:46.410Z,1749844486.410 [OnDock:science:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectNO3
2025-06-13T19:54:46.410Z,1749844486.410 [OnDock:science:Science:PeakDetectNO3:A] Stopped
2025-06-13T19:54:46.410Z,1749844486.410 [OnDock:science:Science:PeakDetectOil] Stopped
2025-06-13T19:54:46.410Z,1749844486.410 [OnDock:science:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectOil
2025-06-13T19:54:46.410Z,1749844486.410 [OnDock:science:Science:PeakDetectOil:A] Stopped
2025-06-13T19:54:46.410Z,1749844486.410 [OnDock:science:Science:HighestOilPeakReport] Stopped
2025-06-13T19:54:46.410Z,1749844486.410 [OnDock:science:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize OnDock:science:Science:HighestOilPeakReport
2025-06-13T19:54:46.410Z,1749844486.410 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-06-13T19:54:46.410Z,1749844486.410 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-06-13T19:54:46.410Z,1749844486.410 [OnDock:science:Science:PeakDetectFDOM] Stopped
2025-06-13T19:54:46.410Z,1749844486.410 [OnDock:science:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectFDOM
2025-06-13T19:54:46.410Z,1749844486.410 [OnDock:science:Science:PeakDetectFDOM:A] Stopped
2025-06-13T19:54:46.410Z,1749844486.410 [OnDock:science:Science:PeakDetectSalinity] Stopped
2025-06-13T19:54:46.411Z,1749844486.411 [OnDock:science:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectSalinity
2025-06-13T19:54:46.411Z,1749844486.411 [OnDock:science:Science:PeakDetectSalinity:A] Stopped
2025-06-13T19:54:46.411Z,1749844486.411 [OnDock:science:Science:HighestSaltPeakReport] Stopped
2025-06-13T19:54:46.411Z,1749844486.411 [OnDock:science:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize OnDock:science:Science:HighestSaltPeakReport
2025-06-13T19:54:46.411Z,1749844486.411 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-06-13T19:54:46.411Z,1749844486.411 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-06-13T19:54:46.411Z,1749844486.411 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-06-13T19:54:46.411Z,1749844486.411 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreLMavgROI
2025-06-13T19:54:46.411Z,1749844486.411 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2025-06-13T19:54:46.411Z,1749844486.411 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2025-06-13T19:54:46.411Z,1749844486.411 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI
2025-06-13T19:54:46.411Z,1749844486.411 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2025-06-13T19:54:46.411Z,1749844486.411 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-06-13T19:54:46.411Z,1749844486.411 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreHMavgROI
2025-06-13T19:54:46.412Z,1749844486.412 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2025-06-13T19:54:46.412Z,1749844486.412 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI] Stopped
2025-06-13T19:54:46.412Z,1749844486.412 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI
2025-06-13T19:54:46.412Z,1749844486.412 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:A] Stopped
2025-06-13T19:54:46.412Z,1749844486.412 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-06-13T19:54:46.412Z,1749844486.412 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreDiatoms
2025-06-13T19:54:46.412Z,1749844486.412 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2025-06-13T19:54:46.412Z,1749844486.412 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms] Stopped
2025-06-13T19:54:46.412Z,1749844486.412 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreDiatoms
2025-06-13T19:54:46.412Z,1749844486.412 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:A] Stopped
2025-06-13T19:54:46.412Z,1749844486.412 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-06-13T19:54:46.413Z,1749844486.413 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates
2025-06-13T19:54:46.413Z,1749844486.413 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2025-06-13T19:54:46.413Z,1749844486.413 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates] Stopped
2025-06-13T19:54:46.413Z,1749844486.413 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates
2025-06-13T19:54:46.413Z,1749844486.413 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:A] Stopped
2025-06-13T19:54:46.413Z,1749844486.413 [OnDock:science:Science:ChlThreshTrigger] Stopped
2025-06-13T19:54:46.413Z,1749844486.413 [OnDock:science:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize OnDock:science:Science:ChlThreshTrigger
2025-06-13T19:54:46.413Z,1749844486.413 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-06-13T19:54:46.413Z,1749844486.413 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-06-13T19:54:46.413Z,1749844486.413 [OnDock:dataRead] Running Loop=1
2025-06-13T19:54:46.414Z,1749844486.414 [OnDock:dataRead:A](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-06-13T19:54:46.414Z,1749844486.414 [OnDock:PowerOnly] Running Loop=1
2025-06-13T19:54:46.415Z,1749844486.415 [OnDock:PowerOnly:D] Stopped
2025-06-13T19:54:46.415Z,1749844486.415 [OnDock:PowerOnly:C] Stopped
2025-06-13T19:54:46.415Z,1749844486.415 [OnDock:PowerOnly:B] Stopped
2025-06-13T19:54:46.415Z,1749844486.415 [OnDock:PowerOnly:A] Stopped
2025-06-13T19:54:46.415Z,1749844486.415 [OnDock:BackseatDriver] Running Loop=1
2025-06-13T19:54:46.418Z,1749844486.418 [OnDock:B] Stopped
2025-06-13T19:54:46.418Z,1749844486.418 [OnDock:C] Running Loop=1
2025-06-13T19:54:46.418Z,1749844486.418 [OnDock:StandardEnvelopes] Running Loop=1
2025-06-13T19:54:46.418Z,1749844486.418 [OnDock:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-06-13T19:54:46.418Z,1749844486.418 [OnDock:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-06-13T19:54:46.419Z,1749844486.419 [OnDock:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-06-13T19:54:46.419Z,1749844486.419 [MissionManager](INFO): MissionManager is completed.
2025-06-13T19:54:46.419Z,1749844486.419 [MissionManager](INFO): Uninitializing Mission OnDock
2025-06-13T19:54:46.419Z,1749844486.419 [OnDock] Stopped
2025-06-13T19:54:46.419Z,1749844486.419 [OnDock](DEBUG): Aggregate::uninitialize OnDock
2025-06-13T19:54:46.419Z,1749844486.419 [OnDock:StandardEnvelopes] Stopped
2025-06-13T19:54:46.419Z,1749844486.419 [OnDock:StandardEnvelopes](DEBUG): Aggregate::uninitialize OnDock:StandardEnvelopes
2025-06-13T19:54:46.421Z,1749844486.421 [CommandExec](IMPORTANT): got command ! ifconfig
2025-06-13T19:54:46.444Z,1749844486.444 [OnDock:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-06-13T19:54:46.448Z,1749844486.448 [OnDock:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-06-13T19:54:46.449Z,1749844486.449 [OnDock:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-06-13T19:54:46.449Z,1749844486.449 [OnDock:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-06-13T19:54:46.449Z,1749844486.449 [OnDock:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-06-13T19:54:46.449Z,1749844486.449 [OnDock:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-06-13T19:54:46.450Z,1749844486.450 [OnDock:C] Stopped
2025-06-13T19:54:46.450Z,1749844486.450 [OnDock:BackseatDriver] Stopped
2025-06-13T19:54:46.450Z,1749844486.450 [OnDock:BackseatDriver](DEBUG): Aggregate::uninitialize OnDock:BackseatDriver
2025-06-13T19:54:46.450Z,1749844486.450 [OnDock:BackseatDriver:A.BackseatDriver] Stopped
2025-06-13T19:54:46.451Z,1749844486.451 [OnDock:PowerOnly] Stopped
2025-06-13T19:54:46.451Z,1749844486.451 [OnDock:PowerOnly](DEBUG): Aggregate::uninitialize OnDock:PowerOnly
2025-06-13T19:54:46.451Z,1749844486.451 [OnDock:PowerOnly:E.Wait] Stopped
2025-06-13T19:54:46.451Z,1749844486.451 [OnDock:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-06-13T19:54:46.456Z,1749844486.456 [OnDock:dataRead] Stopped
2025-06-13T19:54:46.456Z,1749844486.456 [OnDock:dataRead](DEBUG): Aggregate::uninitialize OnDock:dataRead
2025-06-13T19:54:46.456Z,1749844486.456 [OnDock:dataRead:A] Stopped
2025-06-13T19:54:46.456Z,1749844486.456 [OnDock:J.] Stopped
2025-06-13T19:54:46.457Z,1749844486.457 [OnDock:J.](DEBUG): Uninitializing TrackAcousticContact.
2025-06-13T19:54:46.457Z,1749844486.457 [OnDock:PeriodicCheck] Stopped
2025-06-13T19:54:46.457Z,1749844486.457 [OnDock:PeriodicCheck](DEBUG): Aggregate::uninitialize OnDock:PeriodicCheck
2025-06-13T19:54:46.457Z,1749844486.457 [OnDock:PeriodicCheck:CheckIP] Stopped
2025-06-13T19:54:46.457Z,1749844486.457 [OnDock:PeriodicCheck:CheckIP](DEBUG): Aggregate::uninitialize OnDock:PeriodicCheck:CheckIP
2025-06-13T19:54:46.457Z,1749844486.457 [OnDock:PeriodicCheck:CheckIP:B.Wait] Stopped
2025-06-13T19:54:46.457Z,1749844486.457 [OnDock:PeriodicCheck:CheckIP:B.Wait](DEBUG): Uninitialize Wait Component.
2025-06-13T19:54:46.615Z,1749844486.615 [CommandExec](IMPORTANT): eth0      Link encap:Ethernet  HWaddr 50:2D:F4:07:45:4B  
            inet addr:10.89.10.2  Bcast:10.89.255.255  Mask:255.255.0.0
            UP BROADCAST RUNNING MULTICAST  MTU:1500  Metric:1
            RX packets:2488 errors:0 dropped:0 overruns:0 frame:0
            TX packets:3004 errors:0 dropped:0 overruns:0 carrier:0
            collisions:33 txqueuelen:1000 
            RX bytes:862150 (841.9 Kb)  TX bytes:600395 (586.3 Kb)
            Interrupt:29 
  
  lo        Link encap:Local Loopback  
            inet addr:127.0.0.1  Mask:255.0.0.0
            UP LOOPBACK RUNNING MULTICAST  MTU:16436  Metric:1
            RX packets:352 errors:0 dropped:0 overruns:0 frame:0
            TX packets:352 errors:0 dropped:0 overruns:0 carrier:0
            collisions:0 txqueuelen:0 
            RX bytes:26048 (25.4 Kb)  TX bytes:26048 (25.4 Kb)
  
  
2025-06-13T19:54:46.908Z,1749844486.908 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2025-06-13T19:54:46.909Z,1749844486.909 [DefaultWithUndock] Running Loop=1
2025-06-13T19:54:46.909Z,1749844486.909 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2025-06-13T19:54:46.909Z,1749844486.909 [DefaultWithUndock:A.Wait] Running Loop=1
2025-06-13T19:54:46.909Z,1749844486.909 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2025-06-13T19:54:48.021Z,1749844488.021 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T19:54:55.333Z,1749844495.333 [NAL9602](INFO): SBD MO Status=2, MOMSN=48320, MT Status=2, MTMSN=0
2025-06-13T19:54:55.333Z,1749844495.333 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-06-13T19:54:56.596Z,1749844496.596 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T19:55:05.684Z,1749844505.684 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T19:55:14.385Z,1749844514.385 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T19:55:17.161Z,1749844517.161 [DefaultWithUndock:A.Wait](INFO): Done Waiting.
2025-06-13T19:55:17.161Z,1749844517.161 [DefaultWithUndock:A.Wait] Stopped
2025-06-13T19:55:17.161Z,1749844517.161 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2025-06-13T19:55:17.162Z,1749844517.162 [DefaultWithUndock:LeaveDock] Running Loop=1
2025-06-13T19:55:17.162Z,1749844517.162 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock
2025-06-13T19:55:17.162Z,1749844517.162 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2025-06-13T19:55:17.162Z,1749844517.162 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact.
2025-06-13T19:55:17.162Z,1749844517.162 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1
2025-06-13T19:55:17.162Z,1749844517.162 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2025-06-13T19:55:17.162Z,1749844517.162 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2025-06-13T19:55:17.584Z,1749844517.584 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2025-06-13T19:55:17.584Z,1749844517.584 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2025-06-13T19:55:17.585Z,1749844517.585 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached from dock at depth -0.048069 m.
2025-06-13T19:55:17.586Z,1749844517.586 [DefaultWithUndock:LeaveDock:A.] Stopped
2025-06-13T19:55:17.586Z,1749844517.586 [DefaultWithUndock:LeaveDock:A.](DEBUG): Uninitializing TrackAcousticContact.
2025-06-13T19:55:17.615Z,1749844517.615 [DockingStepper](INFO): Resume
2025-06-13T19:55:17.990Z,1749844517.990 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer.
2025-06-13T19:55:18.035Z,1749844518.035 [DockingStepper](INFO): Resuming
2025-06-13T19:55:18.423Z,1749844518.423 [DockingStepper](INFO): Start
2025-06-13T19:55:18.423Z,1749844518.423 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-06-13T19:55:18.538Z,1749844518.538 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-06-13T19:55:18.791Z,1749844518.791 [DockingStepper](INFO): Starting
2025-06-13T19:55:19.204Z,1749844519.204 [DockingStepper](INFO): Starting
2025-06-13T19:55:19.773Z,1749844519.773 [DockingStepper](INFO): Starting
2025-06-13T19:55:19.820Z,1749844519.820 [DockingStepper](INFO): Init string: /1z16368aE13561N3m50
2025-06-13T19:55:20.093Z,1749844520.093 [DockingStepper](INFO): Starting
2025-06-13T19:55:20.473Z,1749844520.473 [DockingStepper](INFO): Starting
2025-06-13T19:55:20.837Z,1749844520.837 [DockingStepper](INFO): Starting
2025-06-13T19:55:21.225Z,1749844521.225 [DockingStepper](INFO): Starting
2025-06-13T19:55:21.621Z,1749844521.621 [DockingStepper](INFO): Starting
2025-06-13T19:55:21.648Z,1749844521.648 [DockingStepper](INFO): Sent speed cmd:/1V10000 Response:ÿ/0@
2025-06-13T19:55:22.097Z,1749844522.097 [DockingStepper](INFO): Starting
2025-06-13T19:55:23.444Z,1749844523.444 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T19:55:27.114Z,1749844527.114 [CommandExec](IMPORTANT): got command schedule clear
2025-06-13T19:55:27.114Z,1749844527.114 [CommandExec](IMPORTANT): Cleared 0 scheduled commands.
2025-06-13T19:55:27.646Z,1749844527.646 [NAL9602](INFO): SBD MO Status=0, MOMSN=48320, MT Status=0, MTMSN=0
2025-06-13T19:55:27.646Z,1749844527.646 [NAL9602](INFO): No messages in MT queue
2025-06-13T19:55:29.405Z,1749844529.405 [CommandExec](IMPORTANT): got command show stack
2025-06-13T19:55:29.405Z,1749844529.405 [CommandExec](IMPORTANT): Behavior Stack:

2025-06-13T19:55:29.406Z,1749844529.406 [DefaultWithUndock:LeaveDock](IMPORTANT): Priority 0: DefaultWithUndock:LeaveDock:B.Undock
2025-06-13T19:55:32.640Z,1749844532.640 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T19:55:38.225Z,1749844538.225 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached at range: nan m. Transitioning docking module to standby.
2025-06-13T19:55:38.689Z,1749844538.689 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Docking module at standby.
2025-06-13T19:55:38.973Z,1749844538.973 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete.
2025-06-13T19:55:38.973Z,1749844538.973 [DefaultWithUndock:LeaveDock:B.Undock] Stopped
2025-06-13T19:55:38.973Z,1749844538.973 [DefaultWithUndock:LeaveDock](INFO): Completed DefaultWithUndock:LeaveDock
2025-06-13T19:55:38.973Z,1749844538.973 [DefaultWithUndock:LeaveDock] Stopped
2025-06-13T19:55:38.974Z,1749844538.974 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock
2025-06-13T19:55:38.974Z,1749844538.974 [DefaultWithUndock:SurfaceDefault] Running Loop=1
2025-06-13T19:55:38.974Z,1749844538.974 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault
2025-06-13T19:55:38.974Z,1749844538.974 [DefaultWithUndock:SurfaceDefault:A.GoToSurface] Running Loop=1
2025-06-13T19:55:38.974Z,1749844538.974 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-06-13T19:55:38.974Z,1749844538.974 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-06-13T19:55:38.974Z,1749844538.974 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-06-13T19:55:38.975Z,1749844538.975 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-06-13T19:55:38.975Z,1749844538.975 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-06-13T19:55:38.975Z,1749844538.975 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-06-13T19:55:38.976Z,1749844538.976 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-06-13T19:55:39.388Z,1749844539.388 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=1
2025-06-13T19:55:39.388Z,1749844539.388 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2025-06-13T19:55:39.388Z,1749844539.388 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2025-06-13T19:55:39.525Z,1749844539.525 [DockingStepper](INFO): Pause
2025-06-13T19:55:41.379Z,1749844541.379 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,195543.00,A,3653.66996,N,12206.53494,W,1.205,155.81,130625,,,A*73
2025-06-13T19:55:41.390Z,1749844541.390 [NAL9602](INFO): GPS fix at 20250613T195543: (36.894499, -122.108916)
2025-06-13T19:55:41.402Z,1749844541.402 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2025-06-13T19:55:41.402Z,1749844541.402 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2025-06-13T19:55:41.784Z,1749844541.784 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T19:55:48.851Z,1749844548.851 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250613T193503/Courier0019.lzma
2025-06-13T19:55:49.854Z,1749844549.854 [DataOverHttps](INFO): Moved sent file to Logs/20250613T193503/Courier0019.lzma.bak
2025-06-13T19:55:49.854Z,1749844549.854 [DataOverHttps](INFO): SBD MOMSN=25209264
2025-06-13T19:56:06.648Z,1749844566.648 [DataOverHttps](INFO): Sending 494 bytes from file Logs/20250613T193503/Express0011.lzma
2025-06-13T19:56:07.650Z,1749844567.650 [DataOverHttps](INFO): Moved sent file to Logs/20250613T193503/Express0011.lzma.bak
2025-06-13T19:56:07.650Z,1749844567.650 [DataOverHttps](INFO): SBD MOMSN=25209267
2025-06-13T19:56:14.225Z,1749844574.225 [NAL9602](INFO): Not Powering down - fast GPS
2025-06-13T19:56:28.535Z,1749844588.535 [DataOverHttps](INFO): Sending 61 bytes from file Logs/20250613T193503/Express0014.lzma
2025-06-13T19:56:29.538Z,1749844589.538 [DataOverHttps](INFO): Moved sent file to Logs/20250613T193503/Express0014.lzma.bak
2025-06-13T19:56:29.538Z,1749844589.538 [DataOverHttps](INFO): SBD MOMSN=25209279
2025-06-13T19:56:46.220Z,1749844606.220 [DataOverHttps](INFO): Sending 248 bytes from file Logs/20250613T193503/Express0017.lzma
2025-06-13T19:56:47.222Z,1749844607.222 [DataOverHttps](INFO): Moved sent file to Logs/20250613T193503/Express0017.lzma.bak
2025-06-13T19:56:47.222Z,1749844607.222 [DataOverHttps](INFO): SBD MOMSN=25209281
2025-06-13T19:57:04.446Z,1749844624.446 [DataOverHttps](INFO): Sending 1186 bytes from file Logs/20250613T193503/Express0020.lzma
2025-06-13T19:57:05.446Z,1749844625.446 [DataOverHttps](INFO): Moved sent file to Logs/20250613T193503/Express0020.lzma.bak
2025-06-13T19:57:05.446Z,1749844625.446 [DataOverHttps](INFO): SBD MOMSN=25209287
2025-06-13T19:57:21.859Z,1749844641.859 [DataOverHttps](INFO): Sending 61 bytes from file Logs/20250613T193503/Express0023.lzma
2025-06-13T19:57:22.862Z,1749844642.862 [DataOverHttps](INFO): Moved sent file to Logs/20250613T193503/Express0023.lzma.bak
2025-06-13T19:57:22.862Z,1749844642.862 [DataOverHttps](INFO): SBD MOMSN=25209320
2025-06-13T19:57:25.083Z,1749844645.083 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2025-06-13T19:57:25.105Z,1749844645.105 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2025-06-13T19:57:25.105Z,1749844645.105 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-06-13T19:57:41.592Z,1749844661.592 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T19:57:50.516Z,1749844670.516 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T19:57:55.112Z,1749844675.112 [BPC1](ERROR): BPC1A: No match for serial number 1717 in BPC1A's battery stick inventory (sticks 1-31 in onboard configuration file).
2025-06-13T19:57:59.524Z,1749844679.524 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T19:58:08.292Z,1749844688.292 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T19:58:20.184Z,1749844700.184 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T19:58:31.920Z,1749844711.920 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T19:58:40.864Z,1749844720.864 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T19:58:49.728Z,1749844729.728 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T19:58:58.492Z,1749844738.492 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T19:59:07.540Z,1749844747.540 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T19:59:16.368Z,1749844756.368 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T19:59:24.972Z,1749844764.972 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T19:59:33.808Z,1749844773.808 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T19:59:42.552Z,1749844782.552 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T19:59:51.336Z,1749844791.336 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T20:00:00.252Z,1749844800.252 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T20:00:09.192Z,1749844809.192 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T20:00:21.624Z,1749844821.624 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T20:00:31.304Z,1749844831.304 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T20:00:41.066Z,1749844841.066 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T20:00:50.560Z,1749844850.560 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T20:01:05.316Z,1749844865.316 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T20:01:15.248Z,1749844875.248 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T20:01:26.116Z,1749844886.116 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T20:01:38.112Z,1749844898.112 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T20:01:54.904Z,1749844914.904 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T20:02:06.692Z,1749844926.692 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T20:02:19.588Z,1749844939.588 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T20:02:25.658Z,1749844945.658 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting.
2025-06-13T20:02:25.658Z,1749844945.658 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2025-06-13T20:02:25.658Z,1749844945.658 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-06-13T20:02:25.658Z,1749844945.658 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1
2025-06-13T20:02:26.022Z,1749844946.022 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped
2025-06-13T20:02:26.022Z,1749844946.022 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1
2025-06-13T20:02:26.430Z,1749844946.430 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for  7.651883 min 
2025-06-13T20:02:26.430Z,1749844946.430 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped
2025-06-13T20:02:26.430Z,1749844946.430 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn
2025-06-13T20:02:26.430Z,1749844946.430 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2025-06-13T20:02:26.430Z,1749844946.430 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2025-06-13T20:02:26.430Z,1749844946.430 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #2
2025-06-13T20:02:26.430Z,1749844946.430 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=2
2025-06-13T20:02:26.430Z,1749844946.430 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2025-06-13T20:02:26.431Z,1749844946.431 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2025-06-13T20:02:28.423Z,1749844948.423 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,200230.00,A,3653.61618,N,12206.50248,W,1.263,157.50,130625,,,A*7B
2025-06-13T20:02:28.425Z,1749844948.425 [NAL9602](INFO): GPS fix at 20250613T200230: (36.893603, -122.108375)
2025-06-13T20:02:28.455Z,1749844948.455 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2025-06-13T20:02:28.455Z,1749844948.455 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2025-06-13T20:02:36.967Z,1749844956.967 [DataOverHttps](INFO): Sending 72 bytes from file Logs/20250613T193503/Courier0025.lzma
2025-06-13T20:02:37.971Z,1749844957.971 [DataOverHttps](INFO): Moved sent file to Logs/20250613T193503/Courier0025.lzma.bak
2025-06-13T20:02:37.971Z,1749844957.971 [DataOverHttps](INFO): SBD MOMSN=25209340
2025-06-13T20:02:45.397Z,1749844965.397 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,  -319,  291,A
2025-06-13T20:02:55.773Z,1749844975.773 [DataOverHttps](INFO): Sending 159 bytes from file Logs/20250613T193503/Express0026.lzma
2025-06-13T20:02:57.770Z,1749844977.770 [DataOverHttps](INFO): Moved sent file to Logs/20250613T193503/Express0026.lzma.bak
2025-06-13T20:02:57.770Z,1749844977.770 [DataOverHttps](INFO): SBD MOMSN=25209343
2025-06-13T20:02:59.757Z,1749844979.757 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2025-06-13T20:02:59.758Z,1749844979.758 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2025-06-13T20:02:59.758Z,1749844979.758 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-06-13T20:03:07.468Z,1749844987.468 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T20:03:19.116Z,1749844999.116 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T20:03:28.876Z,1749845008.876 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T20:03:29.231Z,1749845009.231 [NAL9602](INFO): SBD MO Status=0, MOMSN=48321, MT Status=0, MTMSN=0
2025-06-13T20:03:29.231Z,1749845009.231 [NAL9602](INFO): No messages in MT queue
2025-06-13T20:03:38.816Z,1749845018.816 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T20:03:47.494Z,1749845027.494 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T20:03:56.148Z,1749845036.148 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T20:03:59.937Z,1749845039.937 [NAL9602](INFO): Not Powering down - fast GPS
2025-06-13T20:04:04.877Z,1749845044.877 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T20:04:17.061Z,1749845057.061 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T20:04:26.820Z,1749845066.820 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T20:04:35.616Z,1749845075.616 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T20:04:44.412Z,1749845084.412 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T20:04:53.812Z,1749845093.812 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T20:05:02.640Z,1749845102.640 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T20:05:11.516Z,1749845111.516 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T20:05:22.272Z,1749845122.272 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T20:05:31.136Z,1749845131.136 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T20:05:39.773Z,1749845139.773 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T20:05:48.646Z,1749845148.646 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T20:05:57.484Z,1749845157.484 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T20:06:06.436Z,1749845166.436 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T20:06:15.148Z,1749845175.148 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T20:06:20.230Z,1749845180.230 [BPC1](INFO): Calculating totals. Valid battery stick count: 43. Valid reserve battery stick count: 4.
2025-06-13T20:06:20.237Z,1749845180.237 [BPC1](ERROR): Failed to receive data from all sticks prior to timeout. Will not retry this scan cycle.
2025-06-13T20:06:36.917Z,1749845196.917 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T20:06:50.768Z,1749845210.768 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T20:07:06.512Z,1749845226.512 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T20:07:17.180Z,1749845237.180 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T20:07:27.872Z,1749845247.872 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T20:07:36.616Z,1749845256.616 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T20:07:45.248Z,1749845265.248 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T20:07:54.872Z,1749845274.872 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T20:08:00.452Z,1749845280.452 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting.
2025-06-13T20:08:00.452Z,1749845280.452 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2025-06-13T20:08:00.452Z,1749845280.452 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-06-13T20:08:00.453Z,1749845280.453 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1
2025-06-13T20:08:00.858Z,1749845280.858 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped
2025-06-13T20:08:00.858Z,1749845280.858 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1
2025-06-13T20:08:01.288Z,1749845281.288 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for  13.232482 min 
2025-06-13T20:08:01.288Z,1749845281.288 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped
2025-06-13T20:08:01.288Z,1749845281.288 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn
2025-06-13T20:08:01.288Z,1749845281.288 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2025-06-13T20:08:01.288Z,1749845281.288 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2025-06-13T20:08:01.288Z,1749845281.288 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #3
2025-06-13T20:08:01.288Z,1749845281.288 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=3
2025-06-13T20:08:01.289Z,1749845281.289 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2025-06-13T20:08:01.289Z,1749845281.289 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2025-06-13T20:08:03.275Z,1749845283.275 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,200805.00,A,3653.57459,N,12206.48257,W,0.272,157.76,130625,,,A*77
2025-06-13T20:08:03.277Z,1749845283.277 [NAL9602](INFO): GPS fix at 20250613T200805: (36.892910, -122.108043)
2025-06-13T20:08:03.371Z,1749845283.371 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2025-06-13T20:08:03.371Z,1749845283.371 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2025-06-13T20:08:07.340Z,1749845287.340 [DataOverHttps](INFO): Sending 202 bytes from file Logs/20250613T193503/Courier0028.lzma
2025-06-13T20:08:07.946Z,1749845287.946 [DataOverHttps](INFO): Moved sent file to Logs/20250613T193503/Courier0028.lzma.bak
2025-06-13T20:08:07.946Z,1749845287.946 [DataOverHttps](INFO): SBD MOMSN=25209363
2025-06-13T20:08:31.313Z,1749845311.313 [DataOverHttps](INFO): Sending 156 bytes from file Logs/20250613T193503/Express0029.lzma
2025-06-13T20:08:33.318Z,1749845313.318 [DataOverHttps](INFO): Moved sent file to Logs/20250613T193503/Express0029.lzma.bak
2025-06-13T20:08:33.318Z,1749845313.318 [DataOverHttps](INFO): SBD MOMSN=25209372
2025-06-13T20:08:35.444Z,1749845315.444 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2025-06-13T20:08:35.444Z,1749845315.444 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2025-06-13T20:08:35.444Z,1749845315.444 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-06-13T20:08:44.962Z,1749845324.962 [DataOverHttps](IMPORTANT): SBD MTMSN=20250613T200846
2025-06-13T20:08:52.670Z,1749845332.670 [DataOverHttps](INFO): Received command: sched "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.StayOnDock 1 bool;set lineCaptureHoming.DockingAltitude 7.75 m;set lineCaptureHoming.AltitudeDepthLimit 68 m;set lineCaptureHoming.MaxDepth 70 m" 2puma 1 2
2025-06-13T20:08:52.711Z,1749845332.711 [CommandExec](IMPORTANT): got command schedule "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.StayOnDock 1 bool;set lineCaptureHoming.DockingAltitude 7.75 m;set lineCaptureHoming.AltitudeDepthLimit 68 m;set lineCaptureHoming.MaxDepth 70 m" 2puma 1 2.000000
2025-06-13T20:08:52.711Z,1749845332.711 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=2puma
2025-06-13T20:08:52.726Z,1749845332.726 [CommandExec](IMPORTANT): Scheduled #3 (#1 of 2 with id='2puma'): "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.StayOnDock 1 bool;set lineCaptureHoming.DockingAltitude 7.75 m;set lineCaptureHoming.AltitudeDepthLimit 68 m;set lineCaptureHoming.MaxDepth 70 m", AFTER MISSION
2025-06-13T20:08:52.726Z,1749845332.726 [CommandExec](FAULT): Scheduling was paused by a command at 2025-06-13T19:54:46Z
2025-06-13T20:08:53.665Z,1749845333.665 [DataOverHttps](IMPORTANT): SBD MTMSN=20250613T200855
2025-06-13T20:09:01.492Z,1749845341.492 [DataOverHttps](INFO): Received command: sched "set lineCaptureHoming.CorrectForSoundSpeed 1 bool;run" 2puma 2 2
2025-06-13T20:09:01.520Z,1749845341.520 [CommandExec](IMPORTANT): got command schedule "set lineCaptureHoming.CorrectForSoundSpeed 1 bool;run" 2puma 2 2.000000
2025-06-13T20:09:01.520Z,1749845341.520 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=2puma
2025-06-13T20:09:01.521Z,1749845341.521 [CommandExec](IMPORTANT): Scheduled #4 (#2 of 2 with id='2puma'): "set lineCaptureHoming.CorrectForSoundSpeed 1 bool;run", AFTER MISSION
2025-06-13T20:09:01.522Z,1749845341.522 [CommandExec](FAULT): Scheduling was paused by a command at 2025-06-13T19:54:46Z
2025-06-13T20:09:02.494Z,1749845342.494 [DataOverHttps](IMPORTANT): SBD MTMSN=20250613T200903
2025-06-13T20:09:10.220Z,1749845350.220 [DataOverHttps](INFO): Received command: sched "load Engineering/OnDock.tl;set OnDock.DockedTime 10 h;run"
2025-06-13T20:09:10.225Z,1749845350.225 [CommandExec](IMPORTANT): got command schedule "load Engineering/OnDock.tl;set OnDock.DockedTime 10 h;run"
2025-06-13T20:09:10.226Z,1749845350.226 [CommandExec](IMPORTANT): Scheduled #5: "load Engineering/OnDock.tl;set OnDock.DockedTime 10 h;run", AFTER MISSION
2025-06-13T20:09:10.226Z,1749845350.226 [CommandExec](FAULT): Scheduling was paused by a command at 2025-06-13T19:54:46Z
2025-06-13T20:09:13.228Z,1749845353.228 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T20:09:22.176Z,1749845362.176 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T20:09:30.920Z,1749845370.920 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T20:09:41.760Z,1749845381.760 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T20:09:49.526Z,1749845389.526 [DataOverHttps](IMPORTANT): SBD MTMSN=20250613T200950
2025-06-13T20:10:00.236Z,1749845400.236 [DataOverHttps](INFO): Received command: sched 20250614T0415 "load Engineering/undock.tl;set undock.TransitLat 36.91 degree;set undock.TransitLon -122.11 degree;run"
2025-06-13T20:10:00.332Z,1749845400.332 [CommandExec](IMPORTANT): got command schedule 20250614T041500 "load Engineering/undock.tl;set undock.TransitLat 36.91 degree;set undock.TransitLon -122.11 degree;run"
2025-06-13T20:10:00.333Z,1749845400.333 [CommandExec](IMPORTANT): Scheduled #6: "load Engineering/undock.tl;set undock.TransitLat 36.91 degree;set undock.TransitLon -122.11 degree;run", AT TIME: 2025-06-14T04:15:00Z
2025-06-13T20:10:00.333Z,1749845400.333 [CommandExec](FAULT): Scheduling was paused by a command at 2025-06-13T19:54:46Z
2025-06-13T20:10:04.264Z,1749845404.264 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T20:10:17.955Z,1749845417.955 [NAL9602](INFO): SBD MO Status=2, MOMSN=48322, MT Status=2, MTMSN=0
2025-06-13T20:10:17.955Z,1749845417.955 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-06-13T20:10:20.040Z,1749845420.040 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T20:10:33.750Z,1749845433.750 [DataOverHttps](IMPORTANT): SBD MTMSN=20250613T201032
2025-06-13T20:10:42.660Z,1749845442.660 [NAL9602](INFO): SBD MO Status=2, MOMSN=48322, MT Status=2, MTMSN=0
2025-06-13T20:10:42.660Z,1749845442.660 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-06-13T20:10:47.494Z,1749845447.494 [DataOverHttps](INFO): Received command: sched "load Science/profile_station.tl;set profile_station.MissionTimeout 12 h;set profile_station.NeedCommsTime 90 min;set profile_station.Lat 36.91 degree;set profile_station.Lon -121.9 degree;set profile_station.YoYoMaxDepth 50 m" 2pupg 1 2
2025-06-13T20:10:47.511Z,1749845447.511 [CommandExec](IMPORTANT): got command schedule "load Science/profile_station.tl;set profile_station.MissionTimeout 12 h;set profile_station.NeedCommsTime 90 min;set profile_station.Lat 36.91 degree;set profile_station.Lon -121.9 degree;set profile_station.YoYoMaxDepth 50 m" 2pupg 1 2.000000
2025-06-13T20:10:47.511Z,1749845447.511 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=2pupg
2025-06-13T20:10:47.521Z,1749845447.521 [CommandExec](IMPORTANT): Scheduled #7 (#1 of 2 with id='2pupg'): "load Science/profile_station.tl;set profile_station.MissionTimeout 12 h;set profile_station.NeedCommsTime 90 min;set profile_station.Lat 36.91 degree;set profile_station.Lon -121.9 degree;set profile_station.YoYoMaxDepth 50 m", AFTER MISSION
2025-06-13T20:10:47.521Z,1749845447.521 [CommandExec](FAULT): Scheduling was paused by a command at 2025-06-13T19:54:46Z
2025-06-13T20:10:48.489Z,1749845448.489 [DataOverHttps](IMPORTANT): SBD MTMSN=20250613T201049
2025-06-13T20:11:01.120Z,1749845461.120 [DataOverHttps](INFO): Received command: sched "set profile_station.Speed 1.1 m/s;run" 2pupg 2 2
2025-06-13T20:11:01.160Z,1749845461.160 [CommandExec](IMPORTANT): got command schedule "set profile_station.Speed 1.1 m/s;run" 2pupg 2 2.000000
2025-06-13T20:11:01.161Z,1749845461.161 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=2pupg
2025-06-13T20:11:01.162Z,1749845461.162 [CommandExec](IMPORTANT): Scheduled #8 (#2 of 2 with id='2pupg'): "set profile_station.Speed 1.1 m/s;run", AFTER MISSION
2025-06-13T20:11:01.162Z,1749845461.162 [CommandExec](FAULT): Scheduling was paused by a command at 2025-06-13T19:54:46Z
2025-06-13T20:11:02.121Z,1749845462.121 [DataOverHttps](IMPORTANT): SBD MTMSN=20250613T201103
2025-06-13T20:11:04.078Z,1749845464.078 [NAL9602](INFO): SBD MO Status=0, MOMSN=48322, MT Status=0, MTMSN=0
2025-06-13T20:11:04.078Z,1749845464.078 [NAL9602](INFO): No messages in MT queue
2025-06-13T20:11:10.852Z,1749845470.852 [DataOverHttps](INFO): Received command: sched 20250614T0430 "ubat on; restart logs"
2025-06-13T20:11:10.943Z,1749845470.943 [CommandExec](IMPORTANT): got command schedule 20250614T043000 "ubat on; restart logs"
2025-06-13T20:11:10.944Z,1749845470.944 [CommandExec](IMPORTANT): Scheduled #9: "ubat on; restart logs", AT TIME: 2025-06-14T04:30:00Z
2025-06-13T20:11:10.944Z,1749845470.944 [CommandExec](FAULT): Scheduling was paused by a command at 2025-06-13T19:54:46Z
2025-06-13T20:11:12.856Z,1749845472.856 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T20:11:21.568Z,1749845481.568 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T20:11:34.777Z,1749845494.777 [NAL9602](INFO): Not Powering down - fast GPS
2025-06-13T20:11:36.318Z,1749845496.318 [DataOverHttps](IMPORTANT): SBD MTMSN=20250613T201137
2025-06-13T20:11:44.983Z,1749845504.983 [DataOverHttps](INFO): Received command: schedule resume
2025-06-13T20:11:45.038Z,1749845505.038 [CommandExec](IMPORTANT): got command schedule resume
2025-06-13T20:11:45.039Z,1749845505.039 [CommandExec](IMPORTANT): Scheduling is resumed
2025-06-13T20:11:45.186Z,1749845505.186 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/lineCaptureHoming.tl
2025-06-13T20:11:45.187Z,1749845505.187 [MissionManager](INFO): Loading Mission from file: ./Missions/Engineering/lineCaptureHoming.tl
2025-06-13T20:11:45.187Z,1749845505.187 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Engineering/lineCaptureHoming.tl
2025-06-13T20:11:45.192Z,1749845505.192 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Engineering/lineCaptureHoming.tl
2025-06-13T20:11:46.988Z,1749845506.988 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T20:11:52.645Z,1749845512.645 [MissionManager](DEBUG): TethyslAPI: ./Missions/Engineering/lineCaptureHoming.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="lineCaptureHoming">
    <DefineArg Name="MissionTimeout">
        <Units:hour />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>180</Value>
    </DefineArg>
    <DefineArg Name="MicromodemCommsInterval">
        <Units:hour />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="Repeat">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="WaitOnDockTimeout">
        <Units:minute />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="StayOnDock">
        <False />
    </DefineArg>
    <DefineArg Name="TrySlide">
        <False />
    </DefineArg>
    <DefineArg Name="RetryIncompleteDock">
        <False />
    </DefineArg>
    <DefineArg Name="SlideRetries">
        <Units:count />
        <Value>4</Value>
    </DefineArg>
    <DefineArg Name="SlideSinkDuration">
        <Units:minute />
        <Value>1.5</Value>
    </DefineArg>
    <DefineArg Name="SlideCloseDuration">
        <Units:minute />
        <Value>1.5</Value>
    </DefineArg>
    <DefineArg Name="TransponderCode">
        <Dock:Dock.transponderCode />
    </DefineArg>
    <DefineArg Name="TrackingUpdatePeriodMidcourse">
        <Units:second />
        <Value>60</Value>
    </DefineArg>
    <DefineArg Name="TrackingUpdatePeriodTerminal">
        <Units:second />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="TrackingUpdatePeriodDocked">
        <Units:minute />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="TrackingNumFixesLowPassFilter">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="NumberOfPings">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="NumPingsUSBL">
        <Units:count />
        <Value>120</Value>
    </DefineArg>
    <DefineArg Name="RangeUSBL">
        <Units:meter />
        <Value>40</Value>
    </DefineArg>
    <DefineArg Name="TrackingNumFixesLowPassFilterUSBL">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="DockingAltitude">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="InvalidAltitudeTimeout">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="AltitudeDepthLimit">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>4</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>205</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepthTimeout">
        <Units:minute />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepthRate">
        <Units:meter_per_second />
        <Value>0.05</Value>
    </DefineArg>
    <DefineArg Name="Lat1">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon1">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="CaptureRadius">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="CorrectForSoundSpeed">
        <False />
    </DefineArg>
    <DefineArg Name="MidcourseDepth">
        <Dock:LineCapture.midcourseDepth />
    </DefineArg>
    <DefineArg Name="MidcourseSpeed">
        <Dock:LineCapture.midcourseSpeed />
    </DefineArg>
    <DefineArg Name="TrackingPeriod">
        <Units:second />
        <Value>60</Value>
    </DefineArg>
    <DefineOutput Name="Mode">
        <Units:count />
        <Value>-1</Value>
    </DefineOutput>
    <DefineOutput Name="NumPings">
        <Units:count />
        <Value>1</Value>
    </DefineOutput>
    <DefineOutput Name="LowPassFilterWinSize">
        <Units:count />
        <Value>1</Value>
    </DefineOutput>
    <DefineOutput Name="LowPassFilterWinOverlap">
        <True />
    </DefineOutput>
    <DefineOutput Name="EndDockingSequence">
        <Arg Name="StayOnDock" />
    </DefineOutput>
    <DefineOutput Name="LastDockSuccessful">
        <False />
    </DefineOutput>
    <DefineOutput Name="DockSuccessfulCount">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="RepeatArg">
        <Arg Name="Repeat" />
    </DefineOutput>
    <Timeout Duration="MissionTimeout" />
    <Insert Filename="Insert/Science.tl" />
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="NeedCommsTime" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:WaitForPitchUp" />
        <Units:minute />
        <Value>0</Value>
    </Assign>
    <Insert Id="MicromodemComms" Filename="Insert/MicromodemComms.tl">
        <RedefineArg Name="CommsInterval">
            <Arg Name="MicromodemCommsInterval" />
        </RedefineArg>
    </Insert>
    <ReadData>
        <While>
            <Arg Name="Mode" />
            <Ge>
                <Units:count />
                <Value>0</Value>
            </Ge>
            <And>
                <Sensor:DataOverHttps.connectionStatus />
                <Eq>
                    <True />
                </Eq>
            </And>
        </While>
        <Universal:platform_communications />
    </ReadData>
    <Insert Filename="Insert/LineCapture.tl" />
    <Assign>
        <Sequence />
        <Arg Name="LineCapture:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="LineCapture:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="LineCapture:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="LineCapture:DockingAltitude" />
        <Arg Name="DockingAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="LineCapture:InvalidAltitudeTimeout" />
        <Arg Name="InvalidAltitudeTimeout" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="LineCapture:AltitudeDepthLimit" />
        <Arg Name="AltitudeDepthLimit" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="NumPings" />
        <Arg Name="NumberOfPings" />
    </Assign>
    <Estimation:TrackAcousticContact Id="TrackAC">
        <Parallel />
        <Setting>
            <Estimation:TrackAcousticContact.contactLabelSetting />
            <Arg Name="TransponderCode" />
        </Setting>
        <Setting>
            <Estimation:TrackAcousticContact.numberOfSamplesSetting />
            <Arg Name="NumPings" />
        </Setting>
        <Setting>
            <Estimation:TrackAcousticContact.updatePeriodSetting />
            <Arg Name="TrackingPeriod" />
        </Setting>
        <Setting>
            <Estimation:TrackAcousticContact.numFixesLowPassSetting />
            <Arg Name="LowPassFilterWinSize" />
        </Setting>
        <Setting>
            <Estimation:TrackAcousticContact.lowPassOverlapSetting />
            <Arg Name="LowPassFilterWinOverlap" />
        </Setting>
        <Setting>
            <Estimation:TrackAcousticContact.useSoundSpeedCorrectionSetting />
            <Arg Name="CorrectForSoundSpeed" />
        </Setting>
    </Estimation:TrackAcousticContact>
    <Aggregate Id="UpdateNumPings_NotTerminal">
        <While>
            <Not>
                <Arg Name="LineCapture:GuidanceMode" />
                <Eq>
                    <Arg Name="LineCapture:Terminal" />
                </Eq>
            </Not>
            <And>
                <Not>
                    <Arg Name="NumPings" />
                    <Eq>
                        <Arg Name="NumberOfPings" />
                    </Eq>
                </Not>
            </And>
        </While>
        <Syslog Severity="Info">
            No longer in Terminal. Resuming normal ranging with 
            <Arg Name="NumberOfPings" />
            <Units:count />
            pings.
        </Syslog>
        <Assign>
            <Sequence />
            <Arg Name="NumPings" />
            <Arg Name="NumberOfPings" />
        </Assign>
        <Assign>
            <Sequence />
            <Arg Name="LowPassFilterWinSize" />
            <Arg Name="TrackingNumFixesLowPassFilter" />
        </Assign>
        <Assign>
            <Sequence />
            <Arg Name="LowPassFilterWinOverlap" />
            <True />
        </Assign>
    </Aggregate>
    <Aggregate Id="UpdateNumPings_Terminal">
        <While>
            <Arg Name="LineCapture:GuidanceMode" />
            <Eq>
                <Arg Name="LineCapture:Terminal" />
            </Eq>
        </While>
        <Aggregate Id="UpdateNumPingsUSBL">
            <When>
                <Not>
                    <Arg Name="NumPings" />
                    <Eq>
                        <Arg Name="NumPingsUSBL" />
                    </Eq>
                </Not>
                <And>
                    <Arg Name="LineCapture:Range" />
                    <Lt>
                        <Arg Name="RangeUSBL" />
                    </Lt>
                    <And>
                        <Not>
                            <Dock:LineCapture.guidanceMode />
                            <Eq>
                                <Units:count />
                                <Value>5</Value>
                            </Eq>
                        </Not>
                    </And>
                </And>
            </When>
            <Syslog Severity="Info">
                Entering USBL mode with 
                <Arg Name="NumPingsUSBL" />
                <Units:count />
                pings at 
                <Arg Name="LineCapture:Range" />
                <Units:meter />
                (mode 
                <Dock:LineCapture.guidanceMode />
                <Units:count />
                ).
            </Syslog>
            <Assign>
                <Sequence />
                <Arg Name="NumPings" />
                <Arg Name="NumPingsUSBL" />
            </Assign>
            <Assign>
                <Sequence />
                <Arg Name="LowPassFilterWinSize" />
                <Arg Name="TrackingNumFixesLowPassFilterUSBL" />
            </Assign>
            <Assign>
                <Sequence />
                <Arg Name="LowPassFilterWinOverlap" />
                <True />
            </Assign>
        </Aggregate>
        <Aggregate Id="UpdateNumPingsATR">
            <When>
                <Not>
                    <Arg Name="NumPings" />
                    <Eq>
                        <Arg Name="NumberOfPings" />
                    </Eq>
                </Not>
                <And>
                    <Arg Name="LineCapture:Range" />
                    <Ge>
                        <Arg Name="RangeUSBL" />
                    </Ge>
                    <Or>
                        <Dock:LineCapture.guidanceMode />
                        <Eq>
                            <Units:count />
                            <Value>5</Value>
                        </Eq>
                    </Or>
                </And>
            </When>
            <Syslog Severity="Info">
                Resuming normal ranging with 
                <Arg Name="NumberOfPings" />
                <Units:count />
                pings 
                <Arg Name="LineCapture:Range" />
                <Units:meter />
                (mode 
                <Dock:LineCapture.guidanceMode />
                <Units:count />
                ).
            </Syslog>
            <Assign>
                <Sequence />
                <Arg Name="NumPings" />
                <Arg Name="NumberOfPings" />
            </Assign>
            <Assign>
                <Sequence />
                <Arg Name="LowPassFilterWinSize" />
                <Arg Name="TrackingNumFixesLowPassFilter" />
            </Assign>
            <Assign>
                <Sequence />
                <Arg Name="LowPassFilterWinOverlap" />
                <True />
            </Assign>
        </Aggregate>
    </Aggregate>
    <Aggregate Id="UpdatePingUpdateRate_Midcourse">
        <When>
            <Not>
                <Arg Name="TrackingPeriod" />
                <Eq>
                    <Arg Name="TrackingUpdatePeriodMidcourse" />
                </Eq>
            </Not>
            <And>
                <Arg Name="LineCapture:Range" />
                <Gt>
                    <Arg Name="LineCapture:TerminalRange" />
                </Gt>
                <Or>
                    <Dock:LineCapture.guidanceMode />
                    <Eq>
                        <Units:count />
                        <Value>5</Value>
                    </Eq>
                </Or>
            </And>
        </When>
        <Syslog Severity="Info">
            Entering Midcourse tracking update period 
            <Arg Name="TrackingUpdatePeriodMidcourse" />
            <Units:second />
            sec at
            <Arg Name="LineCapture:Range" />
            <Units:meter />
            (mode 
            <Dock:LineCapture.guidanceMode />
            <Units:count />
            ).
        </Syslog>
        <Assign>
            <Sequence />
            <Arg Name="TrackingPeriod" />
            <Arg Name="TrackingUpdatePeriodMidcourse" />
        </Assign>
        <Assign>
            <Sequence />
            <Arg Name="LowPassFilterWinSize" />
            <Arg Name="TrackingNumFixesLowPassFilter" />
        </Assign>
        <Assign>
            <Sequence />
            <Arg Name="LowPassFilterWinOverlap" />
            <True />
        </Assign>
    </Aggregate>
    <Aggregate Id="UpdatePingUpdateRate_Terminal">
        <When>
            <Not>
                <Arg Name="TrackingPeriod" />
                <Eq>
                    <Arg Name="TrackingUpdatePeriodTerminal" />
                </Eq>
            </Not>
            <And>
                <Arg Name="LineCapture:Range" />
                <Le>
                    <Arg Name="LineCapture:TerminalRange" />
                </Le>
                <And>
                    <Not>
                        <Dock:LineCapture.guidanceMode />
                        <Eq>
                            <Units:count />
                            <Value>5</Value>
                        </Eq>
                    </Not>
                </And>
                <And>
                    <Not>
                        <Arg Name="LineCapture:GuidanceMode" />
                        <Eq>
                            <Units:count />
                            <Value>0</Value>
                        </Eq>
                    </Not>
                </And>
            </And>
        </When>
        <Syslog Severity="Info">
            Entering Terminal tracking update period 
            <Arg Name="TrackingUpdatePeriodTerminal" />
            <Units:second />
            sec at
            <Arg Name="LineCapture:Range" />
            <Units:meter />
            (mode 
            <Dock:LineCapture.guidanceMode />
            <Units:count />
            ).
        </Syslog>
        <Assign>
            <Sequence />
            <Arg Name="TrackingPeriod" />
            <Arg Name="TrackingUpdatePeriodTerminal" />
        </Assign>
        <Assign>
            <Sequence />
            <Arg Name="LowPassFilterWinSize" />
            <Arg Name="TrackingNumFixesLowPassFilter" />
        </Assign>
        <Assign>
            <Sequence />
            <Arg Name="LowPassFilterWinOverlap" />
            <True />
        </Assign>
    </Aggregate>
    <Aggregate Id="restartDHCP">
        <When>
            <Called />
        </When>
        <Syslog Severity="Info">Restarting DHCP...</Syslog>
        <Guidance:Execute>
            <Sequence />
            <Setting>
                <Guidance:Execute.command />
                <String>! /mnt/mmc/LRAUV/Tools/dhcp.sh</String>
            </Setting>
        </Guidance:Execute>
    </Aggregate>
    <Call RefId="NeedComms" Id="StartingMission" PriorityHere="false" />
    <Syslog Severity="Important">Restarting logs</Syslog>
    <Guidance:Execute>
        <Sequence />
        <Setting>
            <Guidance:Execute.command />
            <String>restart logs</String>
        </Setting>
    </Guidance:Execute>
    <Aggregate Id="InitialDive">
        <Sequence />
        <Guidance:SetSpeed>
            <Parallel />
            <Setting>
                <Guidance:SetSpeed.speed />
                <Arg Name="MidcourseSpeed" />
            </Setting>
        </Guidance:SetSpeed>
        <Guidance:Mass>
            <Parallel />
            <Setting>
                <Guidance:Mass.position />
                <Control:VerticalControl.massDefault />
            </Setting>
        </Guidance:Mass>
        <Guidance:Pitch>
            <Sequence />
            <Timeout Duration="ApproachDepthTimeout">
                <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="MidcourseDepth" />
            </Setting>
            <Setting>
                <Guidance:Pitch.depthRate />
                <Arg Name="ApproachDepthRate" />
            </Setting>
        </Guidance:Pitch>
    </Aggregate>
    <Aggregate Id="RepeatHack">
        <Sequence />
        <Break>
            <Not>
                <Arg Name="RetryIncompleteDock" />
            </Not>
        </Break>
        <Assign>
            <Sequence />
            <Arg Name="RepeatArg" />
            <Arg Name="Repeat" />
            <Add>
                <Units:count />
                <Value>1</Value>
            </Add>
        </Assign>
    </Aggregate>
    <Aggregate Id="Lap">
        <Sequence Repeat="RepeatArg" />
        <Break>
            <Arg Name="StayOnDock" />
            <And>
                <Arg Name="LastDockSuccessful" />
            </And>
            <Or>
                <Arg Name="RetryIncompleteDock" />
                <And>
                    <Arg Name="DockSuccessfulCount" />
                    <Eq>
                        <Arg Name="Repeat" />
                    </Eq>
                </And>
            </Or>
        </Break>
        <Assign>
            <Sequence />
            <Arg Name="Mode" />
            <Units:count />
            <Value>-99</Value>
        </Assign>
        <Call RefId="LineCapture" PriorityHere="false" />
        <Assign>
            <Sequence />
            <Arg Name="Mode" />
            <Arg Name="LineCapture:GuidanceMode" />
        </Assign>
        <Syslog Severity="Info">
            Mode
            <Arg Name="Mode" />
            <Units:count />
        </Syslog>
        <Call RefId="restartDHCP" PriorityHere="false" />
        <Aggregate Id="Docked">
            <Sequence />
            <Break>
                <Arg Name="Mode" />
                <Lt>
                    <Units:count />
                    <Value>0</Value>
                </Lt>
            </Break>
            <Syslog Severity="Info">
                Waiting on dock for 
                <Arg Name="WaitOnDockTimeout" />
                <Units:minute />
            </Syslog>
            <Insert Filename="Insert/SetNavAcoustic.tl" />
            <Assign>
                <Sequence />
                <Arg Name="TrackingPeriod" />
                <Arg Name="TrackingUpdatePeriodDocked" />
            </Assign>
            <Assign>
                <Sequence />
                <Arg Name="EndDockingSequence" />
                <Arg Name="StayOnDock" />
            </Assign>
            <Dock:Docked Id="Docked">
                <Sequence />
                <Timeout Duration="WaitOnDockTimeout" />
                <Setting>
                    <Dock:Docked.slideSinkTime />
                    <Arg Name="SlideSinkDuration" />
                </Setting>
                <Setting>
                    <Dock:Docked.slideCloseTime />
                    <Arg Name="SlideCloseDuration" />
                </Setting>
                <Setting>
                    <Dock:Docked.slideRetries />
                    <Arg Name="SlideRetries" />
                </Setting>
                <Setting>
                    <Dock:Docked.slideAllowed />
                    <Arg Name="TrySlide" />
                </Setting>
                <OutputArg Name="LastDockSuccessful">
                    <Dock:Docked.dockSuccessful />
                </OutputArg>
            </Dock:Docked>
            <Aggregate Id="setCompletion">
                <Sequence />
                <Break>
                    <Not>
                        <Arg Name="RetryIncompleteDock" />
                    </Not>
                </Break>
                <Assign>
                    <Sequence />
                    <Arg Name="EndDockingSequence" />
                    <Arg Name="LastDockSuccessful" />
                    <And>
                        <Arg Name="StayOnDock" />
                    </And>
                </Assign>
                <Assign>
                    <Sequence />
                    <Arg Name="DockSuccessfulCount" />
                    <Arg Name="DockSuccessfulCount" />
                    <Add>
                        <Arg Name="LastDockSuccessful" />
                    </Add>
                </Assign>
                <Aggregate Id="setRetry">
                    <Sequence />
                    <Break>
                        <Arg Name="LastDockSuccessful" />
                    </Break>
                    <Syslog Severity="Important">Retrying incomplete docking attempt</Syslog>
                    <Assign>
                        <Sequence />
                        <Arg Name="RepeatArg" />
                        <Arg Name="RepeatArg" />
                        <Add>
                            <Units:count />
                            <Value>1</Value>
                        </Add>
                    </Assign>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Detach">
                <Sequence />
                <Break>
                    <Arg Name="EndDockingSequence" />
                </Break>
                <Syslog Severity="Important">
                    Breaking off. Range: 
                    <Universal:acoustic_contact_range />
                    <Units:meter />
                    .
                </Syslog>
                <Dock:Undock Id="Undock">
                    <Sequence />
                </Dock:Undock>
                <Call RefId="restartDHCP" PriorityHere="false" />
            </Aggregate>
            <Aggregate Id="Wpt1">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Lat1" />
                    </IsNaN>
                    <Or>
                        <IsNaN>
                            <Arg Name="Lon1" />
                        </IsNaN>
                    </Or>
                    <Or>
                        <Arg Name="EndDockingSequence" />
                    </Or>
                </Break>
                <Syslog Severity="Important">
                    Driving to post-undock waypoint 
                    <Arg Name="Lat1" />
                    <Units:degree />
                    ,
                    <Arg Name="Lon1" />
                    <Units:degree />
                </Syslog>
                <Guidance:Pitch>
                    <Parallel />
                    <Setting>
                        <Guidance:Pitch.depth />
                        <Arg Name="MidcourseDepth" />
                    </Setting>
                </Guidance:Pitch>
                <Guidance:SetSpeed>
                    <Parallel />
                    <Setting>
                        <Guidance:SetSpeed.speed />
                        <Arg Name="MidcourseSpeed" />
                    </Setting>
                </Guidance:SetSpeed>
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat1" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon1" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.captureRadius />
                        <Arg Name="CaptureRadius" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Drift">
                <Sequence />
                <Break>
                    <Not>
                        <IsNaN>
                            <Arg Name="Lat1" />
                        </IsNaN>
                    </Not>
                    <And>
                        <Not>
                            <IsNaN>
                                <Arg Name="Lon1" />
                            </IsNaN>
                        </Not>
                    </And>
                    <Or>
                        <Arg Name="EndDockingSequence" />
                    </Or>
                </Break>
                <Syslog Severity="Important">
                    No post-undock waypoint, drifting for 
                    <Dock:LineCapture.rolloutTimeout />
                    <Units:minute />
                     minutes
                </Syslog>
                <Guidance:Buoyancy>
                    <Parallel />
                    <Setting>
                        <Guidance:Buoyancy.position />
                        <Control:VerticalControl.buoyancyNeutral />
                    </Setting>
                </Guidance:Buoyancy>
                <Guidance:Pitch>
                    <Parallel />
                    <Setting>
                        <Guidance:Pitch.massPosition />
                        <Control:VerticalControl.massDefault />
                    </Setting>
                    <Setting>
                        <Guidance:Pitch.elevatorAngle />
                        <Units:degree />
                        <Value>0</Value>
                    </Setting>
                </Guidance:Pitch>
                <Guidance:Point>
                    <Parallel />
                    <Setting>
                        <Guidance:Point.rudderAngle />
                        <Units:degree />
                        <Value>0</Value>
                    </Setting>
                </Guidance:Point>
                <Guidance:SetSpeed>
                    <Parallel />
                    <Setting>
                        <Guidance:SetSpeed.speed />
                        <Units:meter_per_second />
                        <Value>0</Value>
                    </Setting>
                </Guidance:SetSpeed>
                <Guidance:Wait>
                    <Sequence />
                    <Setting>
                        <Guidance:Wait.duration />
                        <Dock:LineCapture.rolloutTimeout />
                    </Setting>
                </Guidance:Wait>
            </Aggregate>
        </Aggregate>
    </Aggregate>
</Mission>

2025-06-13T20:11:52.692Z,1749845512.692 [MissionManager](INFO): DefineArg lineCaptureHoming.MissionTimeout = 3.000000 h
2025-06-13T20:11:52.695Z,1749845512.695 [MissionManager](INFO): DefineArg lineCaptureHoming.NeedCommsTime = 180.000000 min
2025-06-13T20:11:52.728Z,1749845512.728 [MissionManager](INFO): DefineArg lineCaptureHoming.MicromodemCommsInterval = 3.000000 h
2025-06-13T20:11:52.731Z,1749845512.731 [MissionManager](INFO): DefineArg lineCaptureHoming.Repeat = 1.000000 count
2025-06-13T20:11:52.737Z,1749845512.737 [MissionManager](INFO): DefineArg lineCaptureHoming.WaitOnDockTimeout = 5.000000 min
2025-06-13T20:11:52.739Z,1749845512.739 [MissionManager](INFO): DefineArg lineCaptureHoming.StayOnDock = 0 bool
2025-06-13T20:11:52.745Z,1749845512.745 [MissionManager](INFO): DefineArg lineCaptureHoming.TrySlide = 0 bool
2025-06-13T20:11:52.747Z,1749845512.747 [MissionManager](INFO): DefineArg lineCaptureHoming.RetryIncompleteDock = 0 bool
2025-06-13T20:11:52.786Z,1749845512.786 [MissionManager](INFO): DefineArg lineCaptureHoming.SlideRetries = 4.000000 count
2025-06-13T20:11:52.803Z,1749845512.803 [MissionManager](INFO): DefineArg lineCaptureHoming.SlideSinkDuration = 1.500000 min
2025-06-13T20:11:52.833Z,1749845512.833 [MissionManager](INFO): DefineArg lineCaptureHoming.SlideCloseDuration = 1.500000 min
2025-06-13T20:11:52.845Z,1749845512.845 [MissionManager](INFO): DefineArg lineCaptureHoming.TransponderCode = 50 count
2025-06-13T20:11:52.847Z,1749845512.847 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingUpdatePeriodMidcourse = 60.000000 s
2025-06-13T20:11:52.854Z,1749845512.854 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingUpdatePeriodTerminal = 2.000000 s
2025-06-13T20:11:52.872Z,1749845512.872 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingUpdatePeriodDocked = 2.000000 min
2025-06-13T20:11:52.874Z,1749845512.874 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingNumFixesLowPassFilter = 5.000000 count
2025-06-13T20:11:52.885Z,1749845512.885 [MissionManager](INFO): DefineArg lineCaptureHoming.NumberOfPings = 1.000000 count
2025-06-13T20:11:52.887Z,1749845512.887 [MissionManager](INFO): DefineArg lineCaptureHoming.NumPingsUSBL = 120.000000 count
2025-06-13T20:11:52.906Z,1749845512.906 [MissionManager](INFO): DefineArg lineCaptureHoming.RangeUSBL = 40.000000 m
2025-06-13T20:11:52.920Z,1749845512.920 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingNumFixesLowPassFilterUSBL = 5.000000 count
2025-06-13T20:11:52.923Z,1749845512.923 [MissionManager](INFO): DefineArg lineCaptureHoming.DockingAltitude = nan m
2025-06-13T20:11:52.933Z,1749845512.933 [MissionManager](INFO): DefineArg lineCaptureHoming.InvalidAltitudeTimeout = 10.000000 min
2025-06-13T20:11:52.935Z,1749845512.935 [MissionManager](INFO): DefineArg lineCaptureHoming.AltitudeDepthLimit = nan m
2025-06-13T20:11:52.978Z,1749845512.978 [MissionManager](INFO): DefineArg lineCaptureHoming.MinAltitude = 4.000000 m
2025-06-13T20:11:52.988Z,1749845512.988 [MissionManager](INFO): DefineArg lineCaptureHoming.MaxDepth = 205.000000 m
2025-06-13T20:11:52.991Z,1749845512.991 [MissionManager](INFO): DefineArg lineCaptureHoming.MinOffshore = 2.000000 km
2025-06-13T20:11:53.027Z,1749845513.027 [MissionManager](INFO): DefineArg lineCaptureHoming.ApproachDepthTimeout = 20.000000 min
2025-06-13T20:11:53.076Z,1749845513.076 [MissionManager](INFO): DefineArg lineCaptureHoming.ApproachDepthRate = 0.050000 m/s
2025-06-13T20:11:53.105Z,1749845513.105 [MissionManager](INFO): DefineArg lineCaptureHoming.Lat1 = nan arcdeg
2025-06-13T20:11:53.107Z,1749845513.107 [MissionManager](INFO): DefineArg lineCaptureHoming.Lon1 = nan arcdeg
2025-06-13T20:11:53.118Z,1749845513.118 [MissionManager](INFO): DefineArg lineCaptureHoming.CaptureRadius = nan m
2025-06-13T20:11:53.124Z,1749845513.124 [MissionManager](INFO): DefineArg lineCaptureHoming.CorrectForSoundSpeed = 0 bool
2025-06-13T20:11:53.146Z,1749845513.146 [MissionManager](INFO): DefineArg lineCaptureHoming.MidcourseDepth = 50.000000 m
2025-06-13T20:11:53.155Z,1749845513.155 [MissionManager](INFO): DefineArg lineCaptureHoming.MidcourseSpeed = 0.800000 m/s
2025-06-13T20:11:53.157Z,1749845513.157 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingPeriod = 60.000000 s
2025-06-13T20:11:53.172Z,1749845513.172 [MissionManager](INFO): DefineOutput lineCaptureHoming.Mode = -1.000000 count
2025-06-13T20:11:53.174Z,1749845513.174 [MissionManager](INFO): DefineOutput lineCaptureHoming.NumPings = 1.000000 count
2025-06-13T20:11:53.177Z,1749845513.177 [MissionManager](INFO): DefineOutput lineCaptureHoming.LowPassFilterWinSize = 1.000000 count
2025-06-13T20:11:53.179Z,1749845513.179 [MissionManager](INFO): DefineOutput lineCaptureHoming.LowPassFilterWinOverlap = 1 bool
2025-06-13T20:11:53.194Z,1749845513.194 [MissionManager](INFO): DefineOutput lineCaptureHoming.EndDockingSequence = 0 bool
2025-06-13T20:11:53.200Z,1749845513.200 [MissionManager](INFO): DefineOutput lineCaptureHoming.LastDockSuccessful = 0 bool
2025-06-13T20:11:53.202Z,1749845513.202 [MissionManager](INFO): DefineOutput lineCaptureHoming.DockSuccessfulCount = 0.000000 count
2025-06-13T20:11:53.214Z,1749845513.214 [MissionManager](INFO): DefineOutput lineCaptureHoming.RepeatArg = 1.000000 count
2025-06-13T20:11:53.214Z,1749845513.214 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-06-13T20:11:53.214Z,1749845513.214 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-06-13T20:11:53.223Z,1749845513.223 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-06-13T20:11:59.322Z,1749845519.322 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/Science.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="Science">
    <DefineArg Name="PeakDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="TimeWindowPeakReport">
        <Units:minute />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="HighestChlPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestSaltPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestOilPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="PatchTracking">
        <False />
    </DefineArg>
    <DefineArg Name="FilterWidthHorizontal">
        <Units:count />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesSlidingwindow">
        <Units:count />
        <Value>100</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionHorizontal">
        <Units:percent />
        <Value>80</Value>
    </DefineArg>
    <DefineArg Name="PeakDetectNO3Active">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectOilActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectFDOMActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectSalinityActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDinoflagellatesActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreDinoflagellatesActive">
        <False />
    </DefineArg>
    <DefineArg Name="UpwardDerivativeOfTemperatureActive">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledAanderaaO2">
        <Science:Aanderaa_O2.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledNeilBrown">
        <Science:CTD_NeilBrown.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledRBRTridente">
        <Science:RBRTridente.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledSeabird">
        <Science:CTD_Seabird.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsBB2FL">
        <Science:WetLabsBB2FL.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsSeaOWL_UV_A">
        <Science:WetLabsSeaOWL_UV_A.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsUBAT">
        <Science:WetLabsUBAT.loadAtStartup />
    </DefineArg>
    <DefineArg Name="LowPassWindowLength">
        <Units:count />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="MedianFilterLen">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="ShallowBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DeepBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DepChangeThreshForAttitudeFlip">
        <Units:meter />
        <Value>2.0</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionVerticalAscent">
        <Units:percent />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionVerticalDescent">
        <Units:percent />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlPeakThresh">
        <Units:microgram_per_liter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="ChlThreshTriggerActive">
        <False />
    </DefineArg>
    <DefineArg Name="ChlLowerThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlUpperThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesThresh">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreLMavgROIPeakThresh">
        <Units:count_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreHMavgROIPeakThresh">
        <Units:count_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreDiatomsPeakThresh">
        <Units:count_per_milliliter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreDinoflagellatesPeakThresh">
        <Units:count_per_milliliter />
        <Value>0</Value>
    </DefineArg>
    <DefineOutput Name="GoDown">
        <True />
    </DefineOutput>
    <DefineOutput Name="PeakChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3">
        <Units:micromole_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Depth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOil">
        <Units:kilogram_per_cubic_meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOM">
        <Units:part_per_billion />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatoms">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatoms">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOil">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="TriggeredOnChl">
        <False />
    </DefineOutput>
    <DefineOutput Name="ChlTriggering">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledAanderaaO2" />
        </While>
        <Universal:mass_concentration_of_oxygen_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
        </While>
        <Universal:sea_water_temperature />
        <Universal:sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledSeabird" />
        </While>
        <Science:CTD_Seabird.sea_water_temperature />
        <Science:CTD_Seabird.sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
            <And>
                <Arg Name="UpwardDerivativeOfTemperatureActive" />
            </And>
        </While>
        <Universal:upward_derivative_of_sea_water_temperature />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsBB2FL" />
            <Or>
                <Arg Name="EnabledRBRTridente" />
            </Or>
            <Or>
                <Arg Name="PeakDetectChlActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_chlorophyll_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsUBAT" />
        </While>
        <Science:WetLabsUBAT.average_bioluminescence />
    </ReadData>
    <ReadData Id="Read_Oil" Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsSeaOWL_UV_A" />
            <Or>
                <Arg Name="PeakDetectOilActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
    </ReadData>
    <Aggregate Id="OceanCurrent">
        <Sequence />
        <Estimation:CurrentEstimator>
            <Parallel />
        </Estimation:CurrentEstimator>
    </Aggregate>
    <Aggregate Id="PeakDetectChl">
        <While>
            <Arg Name="PeakDetectChlActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakChl">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectChl">
        <While>
            <Arg Name="EdgeDetectChlActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="ChlPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakChl">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgeChl">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgeChlDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgeChlTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgeChlLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgeChlLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, ChlPeakThresh, PeakChl, PeakChlDepth, EdgeChl, EdgeChlDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="ChlPeakThresh" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChlDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgeChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="EdgeChlDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
            <Arg Name="EdgeChl" />
            <Arg Name="EdgeChlDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestChlPeakReport">
        <While>
            <Arg Name="HighestChlPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakChlDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakChlLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakChlLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchChl">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchChlDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchChlLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchChlLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchChlDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectNO3">
        <While>
            <Arg Name="PeakDetectNO3Active" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mole_concentration_of_nitrate_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakNO3">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakNO3Depth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakNO3Latitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakNO3Longitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakNO3" />
            <Arg Name="PeakNO3Depth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectOil">
        <While>
            <Arg Name="PeakDetectOilActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakOil">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakOilDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakOilLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakOilLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakOil" />
            <Arg Name="PeakOilDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestOilPeakReport">
        <While>
            <Arg Name="HighestOilPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakOil" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakOilDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakOilLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakOilLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchOil">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchOilDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchOilLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchOilLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchOilDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectFDOM">
        <While>
            <Arg Name="PeakDetectFDOMActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:concentration_of_colored_dissolved_organic_matter_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakFDOM">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakFDOMDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakFDOMTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakFDOMLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakFDOMLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakFDOM" />
            <Arg Name="PeakFDOMDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectSalinity">
        <While>
            <Arg Name="PeakDetectSalinityActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:sea_water_salinity />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakSalt">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakSaltDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakSaltTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakSaltLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakSaltLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakSalt" />
            <Arg Name="PeakSaltDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestSaltPeakReport">
        <While>
            <Arg Name="HighestSaltPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakSalt" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakSaltDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakSaltLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakSaltLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchSalt">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchSaltDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchSaltLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchSaltLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchSaltDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="EdgeDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreLMavgROIPeakThresh, PeakPlanktivoreLMavgROI, PeakPlanktivoreLMavgROIDepth, EdgePlanktivoreLMavgROI, EdgePlanktivoreLMavgROIDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreHMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_HM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="EdgeDetectPlanktivoreHMavgROIActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_HM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreHMavgROIPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROI">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreHMavgROIPeakThresh, PeakPlanktivoreHMavgROI, PeakPlanktivoreHMavgROIDepth, EdgePlanktivoreHMavgROI, EdgePlanktivoreHMavgROIDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreHMavgROIPeakThresh" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreHMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="EdgePlanktivoreHMavgROIDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
            <Arg Name="EdgePlanktivoreHMavgROI" />
            <Arg Name="EdgePlanktivoreHMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="PeakDetectPlanktivoreDiatomsActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_diatoms</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="EdgeDetectPlanktivoreDiatomsActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_diatoms</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreDiatomsPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatoms">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreDiatomsPeakThresh, PeakPlanktivoreDiatoms, PeakPlanktivoreDiatomsDepth, EdgePlanktivoreDiatoms, EdgePlanktivoreDiatomsDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreDiatomsPeakThresh" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreDiatoms" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="EdgePlanktivoreDiatomsDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
            <Arg Name="EdgePlanktivoreDiatoms" />
            <Arg Name="EdgePlanktivoreDiatomsDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="PeakDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDinoflagellates">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="EdgeDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreDinoflagellatesPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellates">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellates">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreDinoflagellatesPeakThresh, PeakPlanktivoreDinoflagellates, PeakPlanktivoreDinoflagellatesDepth, EdgePlanktivoreDinoflagellates, EdgePlanktivoreDinoflagellatesDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreDinoflagellatesPeakThresh" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreDinoflagellates" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="EdgePlanktivoreDinoflagellatesDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
            <Arg Name="EdgePlanktivoreDinoflagellates" />
            <Arg Name="EdgePlanktivoreDinoflagellatesDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="ChlThreshTrigger">
        <While>
            <Arg Name="ChlThreshTriggerActive" />
        </While>
        <Trigger:ValueDetect>
            <Sequence />
            <Setting>
                <Trigger:ValueDetect.detect />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.lowerThreshold />
                <Arg Name="ChlLowerThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.upperThreshold />
                <Arg Name="ChlUpperThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.numProfilesThreshold />
                <Arg Name="NumProfilesThresh" />
            </Setting>
            <OutputArg Name="ChlTriggering">
                <Trigger:ValueDetect.outputValue />
            </OutputArg>
        </Trigger:ValueDetect>
        <Assign>
            <Sequence />
            <Arg Name="TriggeredOnChl" />
            <True />
        </Assign>
        <Syslog Severity="Important">
            Triggered. PeakChl values on 
            <Arg Name="NumProfilesThresh" />
            <Units:count />
             consecutive yo-yo profiles fall in [
            <Arg Name="ChlLowerThresh" />
            <Units:microgram_per_liter />
            <Arg Name="ChlUpperThresh" />
            <Units:microgram_per_liter />
            ] (NaN bound is ignored).
        </Syslog>
    </Aggregate>
</Aggregate>

2025-06-13T20:11:59.398Z,1749845519.398 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectChlActive = 0 bool
2025-06-13T20:11:59.448Z,1749845519.448 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EdgeDetectChlActive = 0 bool
2025-06-13T20:11:59.450Z,1749845519.450 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.TimeWindowPeakReport = nan min
2025-06-13T20:11:59.465Z,1749845519.465 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.HighestChlPeakReportActive = 0 bool
2025-06-13T20:11:59.466Z,1749845519.466 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.HighestSaltPeakReportActive = 0 bool
2025-06-13T20:11:59.485Z,1749845519.485 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.HighestOilPeakReportActive = 0 bool
2025-06-13T20:11:59.487Z,1749845519.487 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PatchTracking = 0 bool
2025-06-13T20:11:59.497Z,1749845519.497 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.FilterWidthHorizontal = 3.000000 count
2025-06-13T20:11:59.499Z,1749845519.499 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.NumProfilesSlidingwindow = 100.000000 count
2025-06-13T20:11:59.550Z,1749845519.550 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.OffPeakFractionHorizontal = 80.000000 %
2025-06-13T20:11:59.565Z,1749845519.565 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectNO3Active = 0 bool
2025-06-13T20:11:59.567Z,1749845519.567 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectOilActive = 0 bool
2025-06-13T20:11:59.589Z,1749845519.589 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectFDOMActive = 0 bool
2025-06-13T20:11:59.591Z,1749845519.591 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectSalinityActive = 0 bool
2025-06-13T20:11:59.605Z,1749845519.605 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-06-13T20:11:59.607Z,1749845519.607 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-06-13T20:11:59.633Z,1749845519.633 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-06-13T20:11:59.635Z,1749845519.635 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EdgeDetectPlanktivoreHMavgROIActive = 0 bool
2025-06-13T20:11:59.657Z,1749845519.657 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-06-13T20:11:59.659Z,1749845519.659 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EdgeDetectPlanktivoreDiatomsActive = 0 bool
2025-06-13T20:11:59.670Z,1749845519.670 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-06-13T20:11:59.684Z,1749845519.684 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EdgeDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-06-13T20:11:59.686Z,1749845519.686 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-06-13T20:11:59.701Z,1749845519.701 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledAanderaaO2 = 0 bool
2025-06-13T20:11:59.703Z,1749845519.703 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledNeilBrown = 0 bool
2025-06-13T20:11:59.722Z,1749845519.722 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledRBRTridente = 0 bool
2025-06-13T20:11:59.741Z,1749845519.741 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledSeabird = 1 bool
2025-06-13T20:11:59.752Z,1749845519.752 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledWetLabsBB2FL = 1 bool
2025-06-13T20:11:59.755Z,1749845519.755 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-06-13T20:11:59.801Z,1749845519.801 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledWetLabsUBAT = 1 bool
2025-06-13T20:11:59.803Z,1749845519.803 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.LowPassWindowLength = 20.000000 count
2025-06-13T20:11:59.834Z,1749845519.834 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.MedianFilterLen = 5.000000 count
2025-06-13T20:11:59.860Z,1749845519.860 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.ShallowBound = nan m
2025-06-13T20:11:59.862Z,1749845519.862 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.DeepBound = nan m
2025-06-13T20:11:59.873Z,1749845519.873 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-06-13T20:11:59.875Z,1749845519.875 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.OffPeakFractionVerticalAscent = nan %
2025-06-13T20:11:59.897Z,1749845519.897 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.OffPeakFractionVerticalDescent = nan %
2025-06-13T20:11:59.912Z,1749845519.912 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.ChlPeakThresh = 0.000000 ug/l
2025-06-13T20:11:59.914Z,1749845519.914 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.ChlThreshTriggerActive = 0 bool
2025-06-13T20:11:59.934Z,1749845519.934 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.ChlLowerThresh = nan ug/l
2025-06-13T20:11:59.953Z,1749845519.953 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.ChlUpperThresh = nan ug/l
2025-06-13T20:11:59.955Z,1749845519.955 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.NumProfilesThresh = 5.000000 count
2025-06-13T20:11:59.978Z,1749845519.978 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-06-13T20:12:00.016Z,1749845520.016 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PlanktivoreHMavgROIPeakThresh = 0.000000 count/s
2025-06-13T20:12:00.018Z,1749845520.018 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PlanktivoreDiatomsPeakThresh = 0.000000 count/ml
2025-06-13T20:12:00.031Z,1749845520.031 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PlanktivoreDinoflagellatesPeakThresh = 0.000000 count/ml
2025-06-13T20:12:00.046Z,1749845520.046 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.GoDown = 1 bool
2025-06-13T20:12:00.060Z,1749845520.060 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakChl = nan ug/l
2025-06-13T20:12:00.063Z,1749845520.063 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakChlDepth = nan m
2025-06-13T20:12:00.086Z,1749845520.086 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakChlTemperature = nan degC
2025-06-13T20:12:00.092Z,1749845520.092 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakChlLatitude = nan arcdeg
2025-06-13T20:12:00.094Z,1749845520.094 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakChlLongitude = nan arcdeg
2025-06-13T20:12:00.105Z,1749845520.105 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgeChl = nan ug/l
2025-06-13T20:12:00.107Z,1749845520.107 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgeChlDepth = nan m
2025-06-13T20:12:00.126Z,1749845520.126 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgeChlTemperature = nan degC
2025-06-13T20:12:00.145Z,1749845520.145 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgeChlLatitude = nan arcdeg
2025-06-13T20:12:00.147Z,1749845520.147 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgeChlLongitude = nan arcdeg
2025-06-13T20:12:00.162Z,1749845520.162 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakNO3 = nan umol/l
2025-06-13T20:12:00.176Z,1749845520.176 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakNO3Depth = nan m
2025-06-13T20:12:00.179Z,1749845520.179 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakNO3Latitude = nan arcdeg
2025-06-13T20:12:00.197Z,1749845520.197 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakNO3Longitude = nan arcdeg
2025-06-13T20:12:00.228Z,1749845520.228 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakOil = nan kg/m3
2025-06-13T20:12:00.230Z,1749845520.230 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakOilDepth = nan m
2025-06-13T20:12:00.241Z,1749845520.241 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakOilLatitude = nan arcdeg
2025-06-13T20:12:00.243Z,1749845520.243 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakOilLongitude = nan arcdeg
2025-06-13T20:12:00.270Z,1749845520.270 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakFDOM = nan ppb
2025-06-13T20:12:00.289Z,1749845520.289 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakFDOMDepth = nan m
2025-06-13T20:12:00.309Z,1749845520.309 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakFDOMTemperature = nan degC
2025-06-13T20:12:00.311Z,1749845520.311 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakFDOMLatitude = nan arcdeg
2025-06-13T20:12:00.330Z,1749845520.330 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakFDOMLongitude = nan arcdeg
2025-06-13T20:12:00.368Z,1749845520.368 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakSalt = nan psu
2025-06-13T20:12:00.371Z,1749845520.371 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakSaltDepth = nan m
2025-06-13T20:12:00.389Z,1749845520.389 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakSaltTemperature = nan degC
2025-06-13T20:12:00.416Z,1749845520.416 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakSaltLatitude = nan arcdeg
2025-06-13T20:12:00.418Z,1749845520.418 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakSaltLongitude = nan arcdeg
2025-06-13T20:12:00.429Z,1749845520.429 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-06-13T20:12:00.431Z,1749845520.431 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-06-13T20:12:00.461Z,1749845520.461 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-06-13T20:12:00.463Z,1749845520.463 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-06-13T20:12:00.482Z,1749845520.482 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-06-13T20:12:00.489Z,1749845520.489 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-06-13T20:12:00.491Z,1749845520.491 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-06-13T20:12:00.522Z,1749845520.522 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-06-13T20:12:00.548Z,1749845520.548 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-06-13T20:12:00.574Z,1749845520.574 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-06-13T20:12:00.588Z,1749845520.588 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-06-13T20:12:00.591Z,1749845520.591 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-06-13T20:12:00.610Z,1749845520.610 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-06-13T20:12:00.643Z,1749845520.643 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-06-13T20:12:00.674Z,1749845520.674 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-06-13T20:12:00.692Z,1749845520.692 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreHMavgROI = nan count/s
2025-06-13T20:12:00.695Z,1749845520.695 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreHMavgROIDepth = nan m
2025-06-13T20:12:00.714Z,1749845520.714 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreHMavgROITemperature = nan degC
2025-06-13T20:12:00.732Z,1749845520.732 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreHMavgROILatitude = nan arcdeg
2025-06-13T20:12:00.757Z,1749845520.757 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreHMavgROILongitude = nan arcdeg
2025-06-13T20:12:00.776Z,1749845520.776 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-06-13T20:12:00.778Z,1749845520.778 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-06-13T20:12:00.793Z,1749845520.793 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-06-13T20:12:00.795Z,1749845520.795 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-06-13T20:12:00.815Z,1749845520.815 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-06-13T20:12:00.840Z,1749845520.840 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDiatoms = nan count/ml
2025-06-13T20:12:00.843Z,1749845520.843 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDiatomsDepth = nan m
2025-06-13T20:12:00.853Z,1749845520.853 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDiatomsTemperature = nan degC
2025-06-13T20:12:00.864Z,1749845520.864 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDiatomsLatitude = nan arcdeg
2025-06-13T20:12:00.867Z,1749845520.867 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDiatomsLongitude = nan arcdeg
2025-06-13T20:12:00.885Z,1749845520.885 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-06-13T20:12:00.887Z,1749845520.887 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-06-13T20:12:00.918Z,1749845520.918 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-06-13T20:12:00.937Z,1749845520.937 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-06-13T20:12:00.939Z,1749845520.939 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-06-13T20:12:00.946Z,1749845520.946 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDinoflagellates = nan count/ml
2025-06-13T20:12:00.959Z,1749845520.959 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDinoflagellatesDepth = nan m
2025-06-13T20:12:00.978Z,1749845520.978 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDinoflagellatesTemperature = nan degC
2025-06-13T20:12:00.985Z,1749845520.985 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-06-13T20:12:00.987Z,1749845520.987 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-06-13T20:12:01.003Z,1749845521.003 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchChl = nan ug/l
2025-06-13T20:12:01.074Z,1749845521.074 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchChlDepth = nan m
2025-06-13T20:12:01.090Z,1749845521.090 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchChlLatitude = nan arcdeg
2025-06-13T20:12:01.103Z,1749845521.103 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchChlLongitude = nan arcdeg
2025-06-13T20:12:01.122Z,1749845521.122 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchChlDistance = nan m
2025-06-13T20:12:01.146Z,1749845521.146 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchSalt = nan psu
2025-06-13T20:12:01.157Z,1749845521.157 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchSaltDepth = nan m
2025-06-13T20:12:01.188Z,1749845521.188 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchSaltLatitude = nan arcdeg
2025-06-13T20:12:01.190Z,1749845521.190 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchSaltLongitude = nan arcdeg
2025-06-13T20:12:01.213Z,1749845521.213 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchSaltDistance = nan m
2025-06-13T20:12:01.215Z,1749845521.215 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchOil = nan psu
2025-06-13T20:12:01.238Z,1749845521.238 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchOilDepth = nan m
2025-06-13T20:12:01.263Z,1749845521.263 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchOilLatitude = nan arcdeg
2025-06-13T20:12:01.294Z,1749845521.294 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchOilLongitude = nan arcdeg
2025-06-13T20:12:01.317Z,1749845521.317 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchOilDistance = nan m
2025-06-13T20:12:01.332Z,1749845521.332 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.TriggeredOnChl = 0 bool
2025-06-13T20:12:01.334Z,1749845521.334 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.ChlTriggering = nan ug/l
2025-06-13T20:12:01.415Z,1749845521.415 [lineCaptureHoming:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-13T20:12:01.519Z,1749845521.519 [lineCaptureHoming:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-06-13T20:12:01.621Z,1749845521.621 [lineCaptureHoming:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-06-13T20:12:01.684Z,1749845521.684 [lineCaptureHoming:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-13T20:12:01.755Z,1749845521.755 [lineCaptureHoming:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-13T20:12:01.807Z,1749845521.807 [lineCaptureHoming:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-06-13T20:12:01.905Z,1749845521.905 [lineCaptureHoming:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-13T20:12:01.943Z,1749845521.943 [lineCaptureHoming:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-13T20:12:02.013Z,1749845522.013 [lineCaptureHoming:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-06-13T20:12:02.059Z,1749845522.059 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-13T20:12:02.124Z,1749845522.124 [lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-06-13T20:12:02.216Z,1749845522.216 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-13T20:12:02.295Z,1749845522.295 [lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-06-13T20:12:02.393Z,1749845522.393 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-13T20:12:02.438Z,1749845522.438 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-06-13T20:12:02.516Z,1749845522.516 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-13T20:12:02.573Z,1749845522.573 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-06-13T20:12:02.662Z,1749845522.662 [lineCaptureHoming:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-06-13T20:12:02.697Z,1749845522.697 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-06-13T20:12:02.697Z,1749845522.697 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-06-13T20:12:02.698Z,1749845522.698 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-06-13T20:12:02.925Z,1749845522.925 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>1.5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-06-13T20:12:02.935Z,1749845522.935 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinAltitude = 5.000000 m
2025-06-13T20:12:02.953Z,1749845522.953 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2025-06-13T20:12:02.955Z,1749845522.955 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MaxDepth = 200.000000 m
2025-06-13T20:12:02.962Z,1749845522.962 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-06-13T20:12:02.963Z,1749845522.963 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-06-13T20:12:02.985Z,1749845522.985 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-06-13T20:12:03.005Z,1749845523.005 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-06-13T20:12:03.104Z,1749845523.104 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-06-13T20:12:03.104Z,1749845523.104 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-06-13T20:12:03.120Z,1749845523.120 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-06-13T20:12:03.912Z,1749845523.912 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/NeedComms.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="NeedComms">
    <DefineArg Name="DiveInterval">
        <Units:hour />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="WaitForPitchUp">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="SurfacePitch">
        <Units:degree />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="SurfaceDepthRate">
        <Units:meter_per_second />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="SurfaceSpeed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="SurfacingTimeout">
        <Units:second />
        <Value>1000</Value>
    </DefineArg>
    <DefineArg Name="GPSTimeout">
        <Units:minute />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="CommsTimeout">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <When>
        <Called />
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
                <Add>
                    <Arg Name="WaitForPitchUp" />
                </Add>
            </Gt>
        </Or>
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
            </Gt>
            <And>
                <Universal:platform_pitch_angle />
                <Gt>
                    <Units:degree />
                    <Value>0</Value>
                </Gt>
            </And>
        </Or>
    </When>
    <Syslog Severity="Info">
        last time_fix was: 
        <Universal:time_fix />
        <Units:epoch_second />
    </Syslog>
    <Guidance:GoToSurface>
        <Progression />
        <Setting>
            <Guidance:GoToSurface.pitch />
            <Arg Name="SurfacePitch" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.depthRate />
            <Arg Name="SurfaceDepthRate" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.speed />
            <Arg Name="SurfaceSpeed" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.surfaceTimeout />
            <Arg Name="SurfacingTimeout" />
        </Setting>
    </Guidance:GoToSurface>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">first GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="CommsTimeout">
            <Syslog Severity="Important">
                Comms timed out after 
                <Arg Name="CommsTimeout" />
                <Units:minute />
                minutes
            </Syslog>
        </Timeout>
        <Universal:platform_communications />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">second GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
</Aggregate>

2025-06-13T20:12:03.925Z,1749845523.925 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.DiveInterval = 1.000000 h
2025-06-13T20:12:03.927Z,1749845523.927 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.WaitForPitchUp = 10.000000 min
2025-06-13T20:12:03.965Z,1749845523.965 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-06-13T20:12:03.967Z,1749845523.967 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceDepthRate = nan m/s
2025-06-13T20:12:04.005Z,1749845524.005 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-06-13T20:12:04.032Z,1749845524.032 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfacingTimeout = 1000.000000 s
2025-06-13T20:12:04.035Z,1749845524.035 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.GPSTimeout = 7.000000 min
2025-06-13T20:12:04.060Z,1749845524.060 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.CommsTimeout = 30.000000 min
2025-06-13T20:12:04.070Z,1749845524.070 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-06-13T20:12:04.124Z,1749845524.124 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/MicromodemComms.tl
2025-06-13T20:12:04.124Z,1749845524.124 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/MicromodemComms.tl
2025-06-13T20:12:04.125Z,1749845524.125 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/MicromodemComms.tl
2025-06-13T20:12:04.212Z,1749845524.212 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/MicromodemComms.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="MicromodemComms">
    <DefineArg Name="Timeout">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="CommsInterval">
        <Units:minute />
        <Value>5</Value>
    </DefineArg>
    <While>
        <Elapsed>
            <Universal:platform_communications />
        </Elapsed>
        <Gt>
            <Arg Name="CommsInterval" />
        </Gt>
    </While>
    <Aggregate Id="CheckIn">
        <Sequence />
        <ReadDatum>
            <Timeout Duration="Timeout" />
            <Universal:platform_communications />
        </ReadDatum>
    </Aggregate>
</Aggregate>

2025-06-13T20:12:04.215Z,1749845524.215 [MissionManager](INFO): DefineArg lineCaptureHoming:MicromodemComms.Timeout = 10.000000 min
2025-06-13T20:12:04.222Z,1749845524.222 [MissionManager](INFO): DefineArg lineCaptureHoming:MicromodemComms.CommsInterval = 5.000000 min
2025-06-13T20:12:04.230Z,1749845524.230 [MissionManager](INFO): RedefineArg lineCaptureHoming:MicromodemComms.CommsInterval = reader:lineCaptureHoming.MicromodemCommsInterval
2025-06-13T20:12:04.238Z,1749845524.238 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/LineCapture.tl
2025-06-13T20:12:04.238Z,1749845524.238 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/LineCapture.tl
2025-06-13T20:12:04.244Z,1749845524.244 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/LineCapture.tl
2025-06-13T20:12:05.601Z,1749845525.601 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/LineCapture.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="LineCapture">
    <DefineArg Name="DockLat">
        <Dock:Dock.lat />
    </DefineArg>
    <DefineArg Name="DockLon">
        <Dock:Dock.lon />
    </DefineArg>
    <DefineArg Name="DetachTimeout">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="MidcourseDepth">
        <Dock:LineCapture.midcourseDepth />
    </DefineArg>
    <DefineArg Name="MidcourseSpeed">
        <Dock:LineCapture.midcourseSpeed />
    </DefineArg>
    <DefineArg Name="MidcourseTimeout">
        <Dock:LineCapture.midcourseTimeout />
    </DefineArg>
    <DefineArg Name="TerminalRange">
        <Dock:LineCapture.terminalRange />
    </DefineArg>
    <DefineArg Name="AcousticTimeout">
        <Dock:LineCapture.acousticTimeout />
    </DefineArg>
    <DefineArg Name="losRateIIRFilterDecay">
        <Units:none />
        <Value>0.0</Value>
    </DefineArg>
    <DefineArg Name="SearchTimeout">
        <Dock:LineCapture.searchTimeout />
    </DefineArg>
    <DefineArg Name="CircleRadius">
        <Dock:LineCapture.searchCircleRadius />
    </DefineArg>
    <DefineArg Name="CircleMaxError">
        <Units:meter />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="CircleTurnToPort">
        <False />
    </DefineArg>
    <DefineArg Name="DepthDeadband">
        <Units:meter />
        <Value>0.01</Value>
    </DefineArg>
    <DefineArg Name="RudderDeadband">
        <Units:degree />
        <Value>0.001</Value>
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>8</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="DockingAltitude">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="InvalidAltitudeTimeout">
        <Units:minute />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="AltitudeDepthLimit">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="AltitudeIIRFilterDecay">
        <Units:none />
        <Value>0.0</Value>
    </DefineArg>
    <DefineArg Name="ElapsedRange">
        <Units:minute />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="Range">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineOutput Name="DoneTimeout">
        <Units:count />
        <Value>-1</Value>
    </DefineOutput>
    <DefineOutput Name="Done">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="DetachFromDock">
        <Units:count />
        <Value>1</Value>
    </DefineOutput>
    <DefineOutput Name="Midcourse">
        <Units:count />
        <Value>2</Value>
    </DefineOutput>
    <DefineOutput Name="Terminal">
        <Units:count />
        <Value>3</Value>
    </DefineOutput>
    <DefineOutput Name="GuidanceMode">
        <Arg Name="DetachFromDock" />
    </DefineOutput>
    <DefineOutput Name="DockingDepth">
        <Units:meter />
        <Value>1</Value>
    </DefineOutput>
    <DefineOutput Name="LineCapRollout">
        <Units:count />
        <Value>5</Value>
    </DefineOutput>
    <When>
        <Called />
    </When>
    <Assign>
        <Sequence />
        <Arg Name="GuidanceMode" />
        <Arg Name="DetachFromDock" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="DockingDepth" />
        <Dock:Dock.depth />
        <Add>
            <Dock:Docked.dockingDepthOffset />
        </Add>
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Assign>
        <Parallel />
        <Arg Name="ElapsedRange" />
        <Elapsed>
            <Universal:acoustic_contact_range />
        </Elapsed>
    </Assign>
    <Assign>
        <Parallel />
        <Arg Name="Range" />
        <Universal:acoustic_contact_range />
    </Assign>
    <Aggregate Id="HoldMass">
        <While>
            <Abs>
                <Control:SpeedControl.speedCmd />
            </Abs>
            <Gt>
                <Units:meter_per_second />
                <Value>0</Value>
            </Gt>
            <Or>
                <Dock:LineCapture.guidanceMode />
                <Eq>
                    <Arg Name="LineCapRollout" />
                </Eq>
            </Or>
        </While>
        <Assign>
            <Parallel />
            <Control:VerticalControl.depthDeadband />
            <Arg Name="DepthDeadband" />
        </Assign>
        <Guidance:Mass>
            <Parallel />
            <Setting>
                <Guidance:Mass.position />
                <Control:VerticalControl.massDefault />
            </Setting>
        </Guidance:Mass>
    </Aggregate>
    <Aggregate Id="HoldBuoyancy">
        <While>
            <Abs>
                <Control:SpeedControl.speedCmd />
            </Abs>
            <Gt>
                <Units:meter_per_second />
                <Value>0</Value>
            </Gt>
        </While>
        <Guidance:Buoyancy>
            <Parallel />
            <Setting>
                <Guidance:Buoyancy.position />
                <Control:VerticalControl.buoyancyNeutral />
            </Setting>
        </Guidance:Buoyancy>
    </Aggregate>
    <Aggregate Id="HomingSequence">
        <Sequence />
        <Break>
            <Arg Name="GuidanceMode" />
            <Le>
                <Arg Name="Done" />
            </Le>
        </Break>
        <Aggregate Id="DetachFromDock">
            <While>
                <Arg Name="GuidanceMode" />
                <Eq>
                    <Arg Name="DetachFromDock" />
                </Eq>
            </While>
            <Aggregate Id="guide">
                <Sequence />
                <Dock:Undock>
                    <Sequence />
                    <Timeout Duration="DetachTimeout">
                        <Syslog Severity="Important">
                            Timed out while trying to detach from dock at current depth of 
                            <Universal:depth />
                            <Units:meter />
                            .
                        </Syslog>
                    </Timeout>
                </Dock:Undock>
                <Syslog Severity="Info">Transitioning to midcourse guidance.</Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="GuidanceMode" />
                    <Arg Name="Midcourse" />
                </Assign>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="MidcourseGuidance">
            <While>
                <Arg Name="GuidanceMode" />
                <Eq>
                    <Arg Name="Midcourse" />
                </Eq>
            </While>
            <Aggregate Id="guide">
                <Sequence />
                <Syslog Severity="Info">
                    Navigating to dock waypoint (
                    <Arg Name="DockLat" />
                    <Units:degree />
                    ,
                    <Arg Name="DockLon" />
                    <Units:degree />
                    )
                </Syslog>
                <Aggregate Id="CheckRange">
                    <When>
                        <Arg Name="Range" />
                        <Lt>
                            <Arg Name="TerminalRange" />
                        </Lt>
                        <And>
                            <Arg Name="ElapsedRange" />
                            <Le>
                                <Arg Name="AcousticTimeout" />
                            </Le>
                        </And>
                    </When>
                    <Syslog Severity="Info">
                        Transitioning to terminal guidance at range
                        <Arg Name="Range" />
                        <Units:meter />
                    </Syslog>
                    <Assign>
                        <Sequence />
                        <Arg Name="GuidanceMode" />
                        <Arg Name="Terminal" />
                    </Assign>
                </Aggregate>
                <Guidance:SetSpeed>
                    <Parallel />
                    <Setting>
                        <Guidance:SetSpeed.speed />
                        <Arg Name="MidcourseSpeed" />
                    </Setting>
                </Guidance:SetSpeed>
                <Guidance:Pitch>
                    <Parallel />
                    <Setting>
                        <Guidance:Pitch.depth />
                        <Arg Name="MidcourseDepth" />
                    </Setting>
                </Guidance:Pitch>
                <Guidance:Waypoint>
                    <Sequence />
                    <Timeout Duration="MidcourseTimeout">
                        <Syslog Severity="Important">Terminating homing sequence: timed out while navigating to the dock waypoint.</Syslog>
                        <Assign>
                            <Sequence />
                            <Arg Name="GuidanceMode" />
                            <Arg Name="DoneTimeout" />
                        </Assign>
                    </Timeout>
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="DockLat" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="DockLon" />
                    </Setting>
                </Guidance:Waypoint>
                <Syslog Severity="Info">Executing search pattern.</Syslog>
                <Aggregate Id="SearchPattern">
                    <Sequence />
                    <Timeout Duration="SearchTimeout">
                        <Syslog Severity="Important">Timed out while executing search pattern around dock waypoint.</Syslog>
                    </Timeout>
                    <Guidance:Circle>
                        <Parallel />
                        <Setting>
                            <Guidance:Circle.latitude />
                            <Arg Name="DockLat" />
                        </Setting>
                        <Setting>
                            <Guidance:Circle.longitude />
                            <Arg Name="DockLon" />
                        </Setting>
                        <Setting>
                            <Guidance:Circle.radius />
                            <Arg Name="CircleRadius" />
                        </Setting>
                        <Setting>
                            <Guidance:Circle.maxError />
                            <Arg Name="CircleMaxError" />
                        </Setting>
                        <Setting>
                            <Guidance:Circle.turnToPort />
                            <Arg Name="CircleTurnToPort" />
                        </Setting>
                    </Guidance:Circle>
                    <Guidance:Wait>
                        <Sequence />
                        <Setting>
                            <Guidance:Wait.duration />
                            <Arg Name="SearchTimeout" />
                        </Setting>
                    </Guidance:Wait>
                </Aggregate>
                <Syslog Severity="Important">Homing sequence timed out prior to docking.</Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="GuidanceMode" />
                    <Arg Name="DoneTimeout" />
                </Assign>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="TerminalGuidance">
            <While>
                <Arg Name="GuidanceMode" />
                <Eq>
                    <Arg Name="Terminal" />
                </Eq>
            </While>
            <Aggregate Id="guide">
                <Sequence />
                <Syslog Severity="Info">Terminal guidance.</Syslog>
                <Aggregate Id="CheckRange">
                    <When>
                        <Arg Name="Range" />
                        <Ge>
                            <Arg Name="TerminalRange" />
                        </Ge>
                        <Or>
                            <Arg Name="ElapsedRange" />
                            <Gt>
                                <Arg Name="AcousticTimeout" />
                            </Gt>
                        </Or>
                    </When>
                    <Syslog Severity="Important">
                        Transitioning to midcourse guidance. Received last range of
                        <Arg Name="Range" />
                        <Units:meter />
                        <Arg Name="ElapsedRange" />
                        <Units:minute />
                        ago.
                    </Syslog>
                    <Assign>
                        <Sequence />
                        <Arg Name="GuidanceMode" />
                        <Arg Name="Midcourse" />
                    </Assign>
                </Aggregate>
                <Aggregate Id="altitudeControl">
                    <While>
                        <Not>
                            <IsNaN>
                                <Arg Name="DockingAltitude" />
                            </IsNaN>
                        </Not>
                    </While>
                    <Guidance:AltitudeServo>
                        <Parallel />
                        <Setting>
                            <Guidance:AltitudeServo.targetAltitude />
                            <Arg Name="DockingAltitude" />
                        </Setting>
                        <Setting>
                            <Guidance:AltitudeServo.initialDepth />
                            <Arg Name="DockingDepth" />
                        </Setting>
                        <Setting>
                            <Guidance:AltitudeServo.invalidAltitudeTimeout />
                            <Arg Name="InvalidAltitudeTimeout" />
                        </Setting>
                        <Setting>
                            <Guidance:AltitudeServo.maxDepthLimit />
                            <Arg Name="AltitudeDepthLimit" />
                        </Setting>
                        <Setting>
                            <Guidance:AltitudeServo.iirFilterDecay />
                            <Arg Name="AltitudeIIRFilterDecay" />
                        </Setting>
                    </Guidance:AltitudeServo>
                </Aggregate>
                <Aggregate Id="depthControl">
                    <While>
                        <IsNaN>
                            <Arg Name="DockingAltitude" />
                        </IsNaN>
                    </While>
                    <Guidance:Pitch>
                        <Parallel />
                        <Setting>
                            <Guidance:Pitch.depth />
                            <Arg Name="DockingDepth" />
                        </Setting>
                    </Guidance:Pitch>
                </Aggregate>
                <Assign>
                    <Parallel />
                    <Servo:RudderServo.deviationAngle />
                    <Arg Name="RudderDeadband" />
                </Assign>
                <Assign>
                    <Parallel />
                    <Control:HorizontalControl.rudDeadband />
                    <Arg Name="RudderDeadband" />
                </Assign>
                <Dock:LineCapture>
                    <Sequence />
                    <Setting>
                        <Dock:LineCapture.iirFilterDecay />
                        <Arg Name="losRateIIRFilterDecay" />
                    </Setting>
                </Dock:LineCapture>
                <Syslog Severity="Info">Docked. Homing sequence complete.</Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="GuidanceMode" />
                    <Arg Name="Done" />
                </Assign>
            </Aggregate>
        </Aggregate>
    </Aggregate>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:second />
            <Value>3</Value>
        </Setting>
    </Guidance:Wait>
    <Syslog Severity="Info">
        GuidanceMode
        <Arg Name="GuidanceMode" />
        <Units:count />
    </Syslog>
</Aggregate>

2025-06-13T20:12:05.611Z,1749845525.611 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.DockLat = 36.905698 arcdeg
2025-06-13T20:12:05.614Z,1749845525.614 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.DockLon = -122.116120 arcdeg
2025-06-13T20:12:05.636Z,1749845525.636 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.DetachTimeout = 30.000000 min
2025-06-13T20:12:05.639Z,1749845525.639 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.MidcourseDepth = 50.000000 m
2025-06-13T20:12:05.654Z,1749845525.654 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.MidcourseSpeed = 0.800000 m/s
2025-06-13T20:12:05.665Z,1749845525.665 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.MidcourseTimeout = 6.000000 h
2025-06-13T20:12:05.667Z,1749845525.667 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.TerminalRange = 650.000000 m
2025-06-13T20:12:05.698Z,1749845525.698 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.AcousticTimeout = 5.000000 min
2025-06-13T20:12:05.712Z,1749845525.712 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.losRateIIRFilterDecay = 0.000000 n/a
2025-06-13T20:12:05.715Z,1749845525.715 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.SearchTimeout = 5.000000 min
2025-06-13T20:12:05.726Z,1749845525.726 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.CircleRadius = 1000.000000 m
2025-06-13T20:12:05.736Z,1749845525.736 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.CircleMaxError = 1.000000 m
2025-06-13T20:12:05.738Z,1749845525.738 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.CircleTurnToPort = 0 bool
2025-06-13T20:12:05.745Z,1749845525.745 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.DepthDeadband = 0.010000 m
2025-06-13T20:12:05.747Z,1749845525.747 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.RudderDeadband = 0.001000 arcdeg
2025-06-13T20:12:05.761Z,1749845525.761 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.MinAltitude = 2.000000 m
2025-06-13T20:12:05.763Z,1749845525.763 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.MaxDepth = 8.000000 m
2025-06-13T20:12:05.774Z,1749845525.774 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.MinOffshore = 1.000000 m
2025-06-13T20:12:05.788Z,1749845525.788 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.DockingAltitude = nan m
2025-06-13T20:12:05.791Z,1749845525.791 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.InvalidAltitudeTimeout = nan min
2025-06-13T20:12:05.801Z,1749845525.801 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.AltitudeDepthLimit = nan m
2025-06-13T20:12:05.803Z,1749845525.803 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.AltitudeIIRFilterDecay = 0.000000 n/a
2025-06-13T20:12:05.818Z,1749845525.818 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.ElapsedRange = 0.000000 min
2025-06-13T20:12:05.828Z,1749845525.828 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.Range = nan m
2025-06-13T20:12:05.831Z,1749845525.831 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.DoneTimeout = -1.000000 count
2025-06-13T20:12:05.841Z,1749845525.841 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.Done = 0.000000 count
2025-06-13T20:12:05.843Z,1749845525.843 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.DetachFromDock = 1.000000 count
2025-06-13T20:12:05.851Z,1749845525.851 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.Midcourse = 2.000000 count
2025-06-13T20:12:05.865Z,1749845525.865 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.Terminal = 3.000000 count
2025-06-13T20:12:05.867Z,1749845525.867 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.GuidanceMode = 1.000000 count
2025-06-13T20:12:05.882Z,1749845525.882 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.DockingDepth = 1.000000 m
2025-06-13T20:12:05.885Z,1749845525.885 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.LineCapRollout = 5.000000 count
2025-06-13T20:12:05.925Z,1749845525.925 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-06-13T20:12:05.926Z,1749845525.926 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-06-13T20:12:05.927Z,1749845525.927 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-06-13T20:12:06.156Z,1749845526.156 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>1.5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-06-13T20:12:06.164Z,1749845526.164 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture:StandardEnvelopes.MinAltitude = 5.000000 m
2025-06-13T20:12:06.166Z,1749845526.166 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2025-06-13T20:12:06.195Z,1749845526.195 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture:StandardEnvelopes.MaxDepth = 200.000000 m
2025-06-13T20:12:06.198Z,1749845526.198 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-06-13T20:12:06.199Z,1749845526.199 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-06-13T20:12:06.205Z,1749845526.205 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-06-13T20:12:06.211Z,1749845526.211 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-06-13T20:12:06.251Z,1749845526.251 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Construct.
2025-06-13T20:12:06.255Z,1749845526.255 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Construct Buoyancy.
2025-06-13T20:12:06.261Z,1749845526.261 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Construct.
2025-06-13T20:12:06.261Z,1749845526.261 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2025-06-13T20:12:06.286Z,1749845526.286 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Construct.
2025-06-13T20:12:06.289Z,1749845526.289 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Construct.
2025-06-13T20:12:06.294Z,1749845526.294 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Construct Waypoint.
2025-06-13T20:12:06.358Z,1749845526.358 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle](DEBUG): Construct.
2025-06-13T20:12:06.385Z,1749845526.385 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:B.Wait](DEBUG): Construct Wait.
2025-06-13T20:12:06.407Z,1749845526.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Construct.
2025-06-13T20:12:06.413Z,1749845526.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Construct.
2025-06-13T20:12:06.425Z,1749845526.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Construct.
2025-06-13T20:12:06.438Z,1749845526.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initializing internal variables to default values.
2025-06-13T20:12:06.438Z,1749845526.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2025-06-13T20:12:06.442Z,1749845526.442 [lineCaptureHoming:LineCapture:L.Wait](DEBUG): Construct Wait.
2025-06-13T20:12:06.548Z,1749845526.548 [lineCaptureHoming:restartDHCP:B.Execute](DEBUG): Construct Execute.
2025-06-13T20:12:06.551Z,1749845526.551 [lineCaptureHoming:BA.Execute](DEBUG): Construct Execute.
2025-06-13T20:12:06.554Z,1749845526.554 [lineCaptureHoming:InitialDive:A.SetSpeed](DEBUG): Construct.
2025-06-13T20:12:06.556Z,1749845526.556 [lineCaptureHoming:InitialDive:B.Mass](DEBUG): Construct.
2025-06-13T20:12:06.559Z,1749845526.559 [lineCaptureHoming:InitialDive:C.Pitch](DEBUG): Construct.
2025-06-13T20:12:06.565Z,1749845526.565 [lineCaptureHoming:InitialDive:C.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2025-06-13T20:12:06.589Z,1749845526.589 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/SetNavAcoustic.tl
2025-06-13T20:12:06.590Z,1749845526.590 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/SetNavAcoustic.tl
2025-06-13T20:12:06.591Z,1749845526.591 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/SetNavAcoustic.tl
2025-06-13T20:12:06.695Z,1749845526.695 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/SetNavAcoustic.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="SetNavAcoustic">
    <DefineArg Name="DockLat">
        <Dock:Dock.lat />
    </DefineArg>
    <DefineArg Name="DockLon">
        <Dock:Dock.lon />
    </DefineArg>
    <DefineArg Name="DockRange">
        <Dock:SetNav.dockRange />
    </DefineArg>
    <DefineArg Name="RangeTimeout">
        <Dock:SetNav.rangeTimeout />
    </DefineArg>
    <When>
        <Called />
        <Or>
            <Elapsed>
                <Dock:SetNav.time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="RangeTimeout" />
            </Gt>
            <And>
                <Estimation:TrackAcousticContact.range_to_contact />
                <Le>
                    <Arg Name="DockRange" />
                </Le>
            </And>
            <And>
                <Elapsed>
                    <Estimation:TrackAcousticContact.range_to_contact />
                </Elapsed>
                <Lt>
                    <Arg Name="RangeTimeout" />
                </Lt>
            </And>
        </Or>
    </When>
    <Aggregate Id="UpdateNav">
        <Sequence />
        <Timeout Duration="P1M" />
        <Syslog Severity="Info">
            Reseting nav to dock location at range
            <Estimation:TrackAcousticContact.range_to_contact />
            <Units:meter />
        </Syslog>
        <Dock:SetNav>
            <Sequence />
            <Setting>
                <Dock:SetNav.latitude />
                <Arg Name="DockLat" />
            </Setting>
            <Setting>
                <Dock:SetNav.longitude />
                <Arg Name="DockLon" />
            </Setting>
        </Dock:SetNav>
    </Aggregate>
</Aggregate>

2025-06-13T20:12:06.728Z,1749845526.728 [MissionManager](INFO): DefineArg lineCaptureHoming:Lap:Docked:SetNavAcoustic.DockLat = 36.905698 arcdeg
2025-06-13T20:12:06.730Z,1749845526.730 [MissionManager](INFO): DefineArg lineCaptureHoming:Lap:Docked:SetNavAcoustic.DockLon = -122.116120 arcdeg
2025-06-13T20:12:06.761Z,1749845526.761 [MissionManager](INFO): DefineArg lineCaptureHoming:Lap:Docked:SetNavAcoustic.DockRange = 0.000000 m
2025-06-13T20:12:06.768Z,1749845526.768 [MissionManager](INFO): DefineArg lineCaptureHoming:Lap:Docked:SetNavAcoustic.RangeTimeout = 5.000000 min
2025-06-13T20:12:06.795Z,1749845526.795 [lineCaptureHoming:Lap:Docked:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Construct SetNav.
2025-06-13T20:12:06.815Z,1749845526.815 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Construct.
2025-06-13T20:12:06.815Z,1749845526.815 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values.
2025-06-13T20:12:06.873Z,1749845526.873 [lineCaptureHoming:Lap:Docked:Detach:Undock.Undock](DEBUG): Construct.
2025-06-13T20:12:06.873Z,1749845526.873 [lineCaptureHoming:Lap:Docked:Detach:Undock.Undock](DEBUG): Initializing internal variables to default values.
2025-06-13T20:12:06.889Z,1749845526.889 [lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch](DEBUG): Construct.
2025-06-13T20:12:06.898Z,1749845526.898 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed](DEBUG): Construct.
2025-06-13T20:12:06.901Z,1749845526.901 [lineCaptureHoming:Lap:Docked:Wpt1:D.Waypoint](DEBUG): Construct Waypoint.
2025-06-13T20:12:06.911Z,1749845526.911 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy](DEBUG): Construct Buoyancy.
2025-06-13T20:12:06.914Z,1749845526.914 [lineCaptureHoming:Lap:Docked:Drift:C.Pitch](DEBUG): Construct.
2025-06-13T20:12:06.919Z,1749845526.919 [lineCaptureHoming:Lap:Docked:Drift:D.Point](DEBUG): Construct.
2025-06-13T20:12:06.925Z,1749845526.925 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed](DEBUG): Construct.
2025-06-13T20:12:06.928Z,1749845526.928 [lineCaptureHoming:Lap:Docked:Drift:F.Wait](DEBUG): Construct Wait.
2025-06-13T20:12:07.065Z,1749845527.065 [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 lineCaptureHoming {
  """
  Home to transponder while maintaining altitude or depth. Altitude gets
  priority if non nan. The mission sequence: (*) Start (1) Midcourse
  guidance: nav to target WP while querying transponder (2) Terminal
  guidance: home to target using USBL tracking data (4) Dock: final
  approach using fixed heading.
  """

  # Define mission arguments

  arguments {
    MissionTimeout = 3 hour
      """
      Maximum length of mission
      """

    NeedCommsTime = 180 minute
      """
      How often to surface for commumications
      """

    MicromodemCommsInterval = 3 hour
      """
      How often to trigger Umodem communications
      """

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

    WaitOnDockTimeout = 5 minute
      """
      Time duration to wait on the dock after a successful line capture.
      """

    StayOnDock = false
      """
      If true, mission terminates after WaitOnDockTimeout following a successful
      capture, without executing the undock sequence.
      """

    TrySlide = false
      """
      If true, once docked, try to slide down the docking rod until charging and
      comms are acheived
      """

    RetryIncompleteDock = false
      """
      If true, restart docking sequence in event of a successful capture but
      unsuccessful slide
      """

    SlideRetries = 4 count
      """
      If using slide mode, max number of times to try the slide sequence before
      giving up
      """

    SlideSinkDuration = 1.5 minute
      """
      Time duration to slide down by sinking during each slide mode iteration
      """

    SlideCloseDuration = 1.5 minute
      """
      Time duration to close arm to check for power/comms during each slide mode
      iteration
      """

    TransponderCode = Dock:Dock.transponderCode
      """
      Transponder Address.
      """

    TrackingUpdatePeriodMidcourse = 60 second
      """
      How long to wait between acoustic queries.
      """

    TrackingUpdatePeriodTerminal = 2 second
      """
      How long to wait between acoustic queries.
      """

    TrackingUpdatePeriodDocked = 2 minute
      """
      How long to wait between acoustic queries.
      """

    TrackingNumFixesLowPassFilter = 5 count
      """
      Median filter bin size. Filters the contact estimated lat/lon position.
      Prefer odd number, set to 1 to disable filter.
      """

    NumberOfPings = 1 count
      """
      Number of pings requested each time.
      """

    NumPingsUSBL = 120 count
      """
      Number of pings requested while in USBL mode range.
      """

    RangeUSBL = 40 meter
      """
      USBL mode range.
      """

    TrackingNumFixesLowPassFilterUSBL = 5 count
      """
      Median filter bin size. Filters the contact estimated lat/lon position.
      Prefer odd number, set to 1 to disable filter.
      """

    DockingAltitude = NaN meter
      """
      Docking altitude. Ignored when NaN and used over depth when a valid
      altitude is set.
      """

    InvalidAltitudeTimeout = 10 minute
      """
      The mission will use the last good depth command if no valid altitude
      readings are received within this specified time duration.
      """

    AltitudeDepthLimit = NaN meter
      """
      Vehicle will not be commanded deeper than this regardless of altitude
      command.
      """

    MinAltitude = 4 meter
      """
      Minimum height above the sea floor for the entire mission.
      """

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

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

    ApproachDepthTimeout = 20 minute
      """
      Maximum wait time for the vehicle to reach the target depth on initial
      dive.
      """

    ApproachDepthRate = 0.05 meter_per_second
      """
      Descent depth rate (positive depth is down). Used only as a smoothing
      parameter.
      """

    Lat1 = NaN degree
      """
      Latitude of rollout waypoint. If nan, waypoint is skipped.
      """

    Lon1 = NaN degree
      """
      Longitude of rollout waypoint. If nan, waypoint is skipped.
      """

    CaptureRadius = NaN meter
      """
      How close to call the waypiont behavior satisfied. Nan uses default
      value.
      """

    CorrectForSoundSpeed = false
      """
      Whether or not to apply sound speed correction to acoustic ranges
      """

    # Mission Variables (don't change)

    MidcourseDepth = Dock:LineCapture.midcourseDepth
      """
      Desired vehicle depth when navigating to dock WP (during midcourse
      phase).
      """

    MidcourseSpeed = Dock:LineCapture.midcourseSpeed
      """
      Speed during initial dive and waypoint.
      """

    TrackingPeriod = 60 second
      """
      Mission variable (don't change). The mission sets this variable to
      update the how long to wait between acoustic queries.
      """
  }

  output {
    Mode = -1 count
      """
      Mission variable (don't change). The mission sets this variable to
      reflect the termination status of the LineCapture insert.
      """

    NumPings = 1 count
      """
      Mission variable (don't change). The mission sets this variable to
      update the requested ping number and enter usbl mode.
      """

    LowPassFilterWinSize = 1 count
      """
      Mission variable (don't change). The mission sets this variable to
      update the requested ping number and enter usbl mode.
      """

    LowPassFilterWinOverlap = true
      """
      Mission variable (don't change). The mission sets this variable to
      update the requested ping number and enter usbl mode.
      """

    EndDockingSequence = StayOnDock
      """
      Mission variable (don't change). The mission sets this variable to
      determine whether or not to restart the docking sequence upon
      completion of the Docked behavior.
      """

    LastDockSuccessful = false
      """
      Mission variable (don't change). The mission sets this variable based
      on the last run of the Docked behavior
      """

    DockSuccessfulCount = 0 count
      """
      Mission variable (don't change). The mission sets this variable to
      track the number of complete docking attempts
      """

    RepeatArg = Repeat
      """
      Mission variable (don't change). Actual number of Lap repetitions
      """
  }

  # Mission timeout

  timeout duration=MissionTimeout

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

  # Safety nets and surfacing behaviors

  insert Insert/StandardEnvelopes.tl

  assign in sequence StandardEnvelopes:MinAltitude = MinAltitude
  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth
  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore
  insert id="NeedComms" Insert/NeedComms.tl

  assign in sequence NeedComms:DiveInterval = NeedCommsTime
  assign in sequence NeedComms:WaitForPitchUp = 0 minute

  # Micromodem comms

  insert id="MicromodemComms" Insert/MicromodemComms.tl {
    redefineArg CommsInterval = MicromodemCommsInterval
  }

  readData {
    while (
      Mode >= 0 count
      and Sensor:DataOverHttps.connectionStatus == true
    )

    Universal:platform_communications
  }

  # Add LineCapture directives.

  insert Insert/LineCapture.tl

  assign in sequence LineCapture:MaxDepth = MaxDepth
  assign in sequence LineCapture:MinOffshore = MinOffshore
  assign in sequence LineCapture:MinAltitude = MinAltitude
  assign in sequence LineCapture:DockingAltitude = DockingAltitude
  assign in sequence LineCapture:InvalidAltitudeTimeout = InvalidAltitudeTimeout
  assign in sequence LineCapture:AltitudeDepthLimit = AltitudeDepthLimit

  # Add track acoustic contact directive.

  assign in sequence NumPings = NumberOfPings

  behavior Estimation:TrackAcousticContact id="TrackAC" {
    run in parallel

    set contactLabelSetting = TransponderCode

    set numberOfSamplesSetting = NumPings

    set updatePeriodSetting = TrackingPeriod

    set numFixesLowPassSetting = LowPassFilterWinSize

    set lowPassOverlapSetting = LowPassFilterWinOverlap

    set useSoundSpeedCorrectionSetting = CorrectForSoundSpeed
  }

  # Add USBL mode directives.

  aggregate UpdateNumPings_NotTerminal {
    run while (
      not ( LineCapture:GuidanceMode == LineCapture:Terminal )
      and not ( NumPings == NumberOfPings )
    )

    syslog info "No longer in Terminal. Resuming normal ranging with " + NumberOfPings~count
         + "pings."
    assign in sequence NumPings = NumberOfPings
    assign in sequence LowPassFilterWinSize = TrackingNumFixesLowPassFilter
    assign in sequence LowPassFilterWinOverlap = true
  }

  aggregate UpdateNumPings_Terminal {
    run while (
      LineCapture:GuidanceMode == LineCapture:Terminal
    )

    aggregate UpdateNumPingsUSBL {
      run when (
        not ( NumPings == NumPingsUSBL )
        and (
          ( LineCapture:Range < RangeUSBL ) # don't enter USBL mode during rollout
          and not ( Dock:LineCapture.guidanceMode == 5 count )
        )
      )

      syslog info "Entering USBL mode with " + NumPingsUSBL~count + "pings at "
           + LineCapture:Range~meter + "(mode " + Dock:LineCapture.guidanceMode~count + ")."
      assign in sequence NumPings = NumPingsUSBL
      assign in sequence LowPassFilterWinSize = TrackingNumFixesLowPassFilterUSBL
      assign in sequence LowPassFilterWinOverlap = true
    }

    aggregate UpdateNumPingsATR {
      run when (
        not ( NumPings == NumberOfPings )
        and (
          ( LineCapture:Range >= RangeUSBL ) # do ATR mode during rollout
          or Dock:LineCapture.guidanceMode == 5 count
        )
      )

      syslog info "Resuming normal ranging with " + NumberOfPings~count + "pings "
           + LineCapture:Range~meter + "(mode " + Dock:LineCapture.guidanceMode~count + ")."
      assign in sequence NumPings = NumberOfPings
      assign in sequence LowPassFilterWinSize = TrackingNumFixesLowPassFilter
      assign in sequence LowPassFilterWinOverlap = true
    }
  }

  aggregate UpdatePingUpdateRate_Midcourse {
    run when (
      not ( TrackingPeriod == TrackingUpdatePeriodMidcourse )
      and (
        ( LineCapture:Range > LineCapture:TerminalRange ) # do slow ping mode during rollout
        or Dock:LineCapture.guidanceMode == 5 count
      )
    )

    syslog info "Entering Midcourse tracking update period " + TrackingUpdatePeriodMidcourse~second
         + "sec at" + LineCapture:Range~meter + "(mode " + Dock:LineCapture.guidanceMode~count + ")."
    assign in sequence TrackingPeriod = TrackingUpdatePeriodMidcourse
    assign in sequence LowPassFilterWinSize = TrackingNumFixesLowPassFilter
    assign in sequence LowPassFilterWinOverlap = true
  }

  aggregate UpdatePingUpdateRate_Terminal {
    run when (
      not ( TrackingPeriod == TrackingUpdatePeriodTerminal )
      and (
        ( LineCapture:Range <= LineCapture:TerminalRange )
        and not ( Dock:LineCapture.guidanceMode == 5 count )
        and not ( LineCapture:GuidanceMode == 0 count )
      ) # don't enter fast ping mode during rollout or on dock
    )

    syslog info "Entering Terminal tracking update period " + TrackingUpdatePeriodTerminal~second
         + "sec at" + LineCapture:Range~meter + "(mode " + Dock:LineCapture.guidanceMode~count + ")."
    assign in sequence TrackingPeriod = TrackingUpdatePeriodTerminal
    assign in sequence LowPassFilterWinSize = TrackingNumFixesLowPassFilter
    assign in sequence LowPassFilterWinOverlap = true
  }

  aggregate restartDHCP {
    run when ( called )

    syslog info "Restarting DHCP..."

    behavior Guidance:Execute {
      run in sequence

      set command = "! /mnt/mmc/LRAUV/Tools/dhcp.sh"
    }
  }

  # Start mission sequence.

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

  syslog important "Restarting logs"

  behavior Guidance:Execute {
    run in sequence

    set command = "restart logs"
  }

  aggregate InitialDive {
    run in sequence

    behavior Guidance:SetSpeed {
      run in parallel

      set speed = MidcourseSpeed
    }

    behavior Guidance:Mass {
      run in parallel

      set position = Control:VerticalControl.massDefault
    }

    behavior Guidance:Pitch {
      run in sequence

      timeout duration=ApproachDepthTimeout {
        syslog important "Timed out trying to reach the target depth. Stopping mission at current depth of "
             + Universal:depth~meter

        behavior Guidance:Execute {
          run in sequence

          set command = "stop"
        }
      }

      set depth = MidcourseDepth
      set depthRate = ApproachDepthRate
    }
  }

  # I'd like to avoid a recursive call of Lap, so "retry" is implemented by incrementing the
  # required repetition count (which has just been decremented by the lap attempt).
  # But that repeat check is evaluated at the beginning of the aggregate, not the end.
  # In order to be able to retry an incomplete docking attempt on the last lap
  # we need to make it back up to the top of the Lap aggregate somehow.
  # Solve this by quietly setting the repeat count to one more than actually desired.
  # The DockSuccessfulCount check will break the Lap aggregate before it runs the extra
  # lap, but starting the Lap aggregate will allow us to check the repeat on each run.
  aggregate RepeatHack {
    run in sequence

    break if ( not RetryIncompleteDock )

    assign in sequence RepeatArg = Repeat + 1 count
  }

  aggregate Lap {
    run in sequence repeat=RepeatArg

    break if (
      ( StayOnDock
        and LastDockSuccessful
      )
      or (
        RetryIncompleteDock
        # Can't trust RepeatArg with retry, it's been incremented to allow re-evaluation of the count
        and ( DockSuccessfulCount == Repeat )
      )
    )

    assign in sequence Mode = -99 count

    # Execute the LineCapture sequence.

    call priorityHere=false refId="LineCapture"
    assign in sequence Mode = LineCapture:GuidanceMode
    syslog info "Mode" + Mode~count

    call priorityHere=false refId="restartDHCP"

    aggregate Docked {
      run in sequence

      break if ( Mode < 0 count )

      syslog info "Waiting on dock for " + WaitOnDockTimeout~minute

      # Add SetNav directives.

      insert Insert/SetNavAcoustic.tl

      assign in sequence TrackingPeriod = TrackingUpdatePeriodDocked

      assign in sequence EndDockingSequence = StayOnDock

      behavior Dock:Docked id="Docked" {
        run in sequence

        timeout duration=WaitOnDockTimeout

        set slideSinkTime = SlideSinkDuration
        set slideCloseTime = SlideCloseDuration
        set slideRetries = SlideRetries
        set slideAllowed = TrySlide
        outputArg LastDockSuccessful = dockSuccessful
      }

      # If retrying incomplete attempts require total success to skip rollout, not just StayOnDock
      aggregate setCompletion {
        run in sequence

        break if ( not RetryIncompleteDock )

        assign in sequence EndDockingSequence = ( LastDockSuccessful
          and StayOnDock
        )
        assign in sequence DockSuccessfulCount = DockSuccessfulCount + LastDockSuccessful

        aggregate setRetry {
          run in sequence

          break if ( LastDockSuccessful )

          syslog important "Retrying incomplete docking attempt"

          # This lap failed and doesn't "count", so repeat one additional time
          assign in sequence RepeatArg = RepeatArg + 1 count
        }
      }

      aggregate Detach {
        run in sequence

        break if ( EndDockingSequence )

        syslog important "Breaking off. Range: " + Universal:acoustic_contact_range~meter + "."

        behavior Dock:Undock id="Undock" {
          run in sequence
        }

        call priorityHere=false refId="restartDHCP"
      }

      aggregate Wpt1 {
        run in sequence

        break if (
          isNaN ( Lat1 )
          or isNaN ( Lon1 )
          or ( EndDockingSequence )
        )

        syslog important "Driving to post-undock waypoint " + Lat1~degree + "," + Lon1~degree

        behavior Guidance:Pitch {
          run in parallel

          set depth = MidcourseDepth
        }

        behavior Guidance:SetSpeed {
          run in parallel

          set speed = MidcourseSpeed
        }

        behavior Guidance:Waypoint {
          run in sequence

          set latitude = Lat1

          set longitude = Lon1

          set captureRadius = CaptureRadius
        }
      }

      aggregate Drift {
        """
        Drift before next docking attempt
        """

        run in sequence

        break if (
          not isNaN ( Lat1 )
          and not isNaN ( Lon1 )
          or ( EndDockingSequence )
        )

        syslog important "No post-undock waypoint, drifting for "
             + Dock:LineCapture.rolloutTimeout~minute + " minutes"

        behavior Guidance:Buoyancy {
          run in parallel

          set position = Control:VerticalControl.buoyancyNeutral
        }

        behavior Guidance:Pitch {
          run in parallel

          set massPosition = Control:VerticalControl.massDefault

          set elevatorAngle = 0 degree
        }

        behavior Guidance:Point {
          run in parallel

          set rudderAngle = 0 degree
        }

        behavior Guidance:SetSpeed {
          run in parallel

          set speed = 0 meter_per_second
        }

        behavior Guidance:Wait {
          run in sequence

          set duration = Dock:LineCapture.rolloutTimeout
        }
      }
    }
  }
}


2025-06-13T20:12:07.067Z,1749845527.067 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureHoming.tl id=lineCaptureHoming
2025-06-13T20:12:17.524Z,1749845537.524 [DataOverHttps](INFO): Exceeded connection timeout, disconnecting.
2025-06-13T20:12:18.528Z,1749845538.528 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T20:12:41.378Z,1749845561.378 [CommandExec](IMPORTANT): got command set lineCaptureHoming.StayOnDock 1 bool
2025-06-13T20:12:41.379Z,1749845561.379 [CommandExec](IMPORTANT): got command set lineCaptureHoming.DockingAltitude 7.75 meter
2025-06-13T20:12:41.380Z,1749845561.380 [CommandExec](IMPORTANT): got command set lineCaptureHoming.AltitudeDepthLimit 68 meter
2025-06-13T20:12:41.381Z,1749845561.381 [CommandExec](IMPORTANT): got command set lineCaptureHoming.MaxDepth 70 meter
2025-06-13T20:12:49.982Z,1749845569.982 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=63.996864
2025-06-13T20:12:49.983Z,1749845569.983 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T20:12:52.767Z,1749845572.767 [CommandExec](IMPORTANT): got command set lineCaptureHoming.CorrectForSoundSpeed 1 bool
2025-06-13T20:12:52.768Z,1749845572.768 [CommandExec](IMPORTANT): got command run
2025-06-13T20:12:52.773Z,1749845572.773 [CommandExec](IMPORTANT): Running 
2025-06-13T20:12:52.965Z,1749845572.965 [DefaultWithUndock] Stopped
2025-06-13T20:12:52.965Z,1749845572.965 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2025-06-13T20:12:52.965Z,1749845572.965 [DefaultWithUndock:SurfaceDefault] Stopped
2025-06-13T20:12:52.965Z,1749845572.965 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault
2025-06-13T20:12:52.965Z,1749845572.965 [DefaultWithUndock:SurfaceDefault:A.GoToSurface] Stopped
2025-06-13T20:12:52.965Z,1749845572.965 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-06-13T20:12:52.965Z,1749845572.965 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2025-06-13T20:12:52.966Z,1749845572.966 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2025-06-13T20:12:52.966Z,1749845572.966 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2025-06-13T20:12:52.966Z,1749845572.966 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-06-13T20:12:52.966Z,1749845572.966 [MissionManager](IMPORTANT): Started mission lineCaptureHoming
2025-06-13T20:12:52.966Z,1749845572.966 [lineCaptureHoming] Running Loop=1
2025-06-13T20:12:52.966Z,1749845572.966 [lineCaptureHoming](DEBUG): Aggregate::initialize lineCaptureHoming
2025-06-13T20:12:52.966Z,1749845572.966 [lineCaptureHoming:Science] Running Loop=1
2025-06-13T20:12:52.966Z,1749845572.966 [lineCaptureHoming:Science](DEBUG): Aggregate::initialize lineCaptureHoming:Science
2025-06-13T20:12:52.967Z,1749845572.967 [lineCaptureHoming:Science:A] Running Loop=1
2025-06-13T20:12:52.967Z,1749845572.967 [lineCaptureHoming:Science:B] Running Loop=1
2025-06-13T20:12:52.967Z,1749845572.967 [lineCaptureHoming:Science:C] Running Loop=1
2025-06-13T20:12:52.967Z,1749845572.967 [lineCaptureHoming:Science:D] Running Loop=1
2025-06-13T20:12:52.967Z,1749845572.967 [lineCaptureHoming:Science:E] Running Loop=1
2025-06-13T20:12:52.967Z,1749845572.967 [lineCaptureHoming:Science:F] Running Loop=1
2025-06-13T20:12:52.967Z,1749845572.967 [lineCaptureHoming:Science:Read_Oil] Running Loop=1
2025-06-13T20:12:52.967Z,1749845572.967 [lineCaptureHoming:Science:PeakDetectChl] Running Loop=1
2025-06-13T20:12:52.967Z,1749845572.967 [lineCaptureHoming:Science:PeakDetectChl](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectChl
2025-06-13T20:12:52.967Z,1749845572.967 [lineCaptureHoming:Science:PeakDetectChl:A] Running Loop=1
2025-06-13T20:12:52.967Z,1749845572.967 [lineCaptureHoming:Science:EdgeDetectChl] Running Loop=1
2025-06-13T20:12:52.967Z,1749845572.967 [lineCaptureHoming:Science:EdgeDetectChl](DEBUG): Aggregate::initialize lineCaptureHoming:Science:EdgeDetectChl
2025-06-13T20:12:52.972Z,1749845572.972 [lineCaptureHoming:Science:EdgeDetectChl:A] Running Loop=1
2025-06-13T20:12:52.972Z,1749845572.972 [lineCaptureHoming:Science:HighestChlPeakReport] Running Loop=1
2025-06-13T20:12:52.972Z,1749845572.972 [lineCaptureHoming:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize lineCaptureHoming:Science:HighestChlPeakReport
2025-06-13T20:12:52.972Z,1749845572.972 [lineCaptureHoming:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-06-13T20:12:52.972Z,1749845572.972 [lineCaptureHoming:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-06-13T20:12:52.973Z,1749845572.973 [lineCaptureHoming:Science:PeakDetectNO3] Running Loop=1
2025-06-13T20:12:52.973Z,1749845572.973 [lineCaptureHoming:Science:PeakDetectNO3](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectNO3
2025-06-13T20:12:52.973Z,1749845572.973 [lineCaptureHoming:Science:PeakDetectNO3:A] Running Loop=1
2025-06-13T20:12:52.973Z,1749845572.973 [lineCaptureHoming:Science:PeakDetectOil] Running Loop=1
2025-06-13T20:12:52.973Z,1749845572.973 [lineCaptureHoming:Science:PeakDetectOil](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectOil
2025-06-13T20:12:52.973Z,1749845572.973 [lineCaptureHoming:Science:PeakDetectOil:A] Running Loop=1
2025-06-13T20:12:52.973Z,1749845572.973 [lineCaptureHoming:Science:HighestOilPeakReport] Running Loop=1
2025-06-13T20:12:52.973Z,1749845572.973 [lineCaptureHoming:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize lineCaptureHoming:Science:HighestOilPeakReport
2025-06-13T20:12:52.974Z,1749845572.974 [lineCaptureHoming:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-06-13T20:12:52.974Z,1749845572.974 [lineCaptureHoming:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-06-13T20:12:52.974Z,1749845572.974 [lineCaptureHoming:Science:PeakDetectFDOM] Running Loop=1
2025-06-13T20:12:52.974Z,1749845572.974 [lineCaptureHoming:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectFDOM
2025-06-13T20:12:52.974Z,1749845572.974 [lineCaptureHoming:Science:PeakDetectFDOM:A] Running Loop=1
2025-06-13T20:12:52.974Z,1749845572.974 [lineCaptureHoming:Science:PeakDetectSalinity] Running Loop=1
2025-06-13T20:12:52.974Z,1749845572.974 [lineCaptureHoming:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectSalinity
2025-06-13T20:12:52.975Z,1749845572.975 [lineCaptureHoming:Science:PeakDetectSalinity:A] Running Loop=1
2025-06-13T20:12:52.975Z,1749845572.975 [lineCaptureHoming:Science:HighestSaltPeakReport] Running Loop=1
2025-06-13T20:12:52.975Z,1749845572.975 [lineCaptureHoming:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize lineCaptureHoming:Science:HighestSaltPeakReport
2025-06-13T20:12:52.975Z,1749845572.975 [lineCaptureHoming:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-06-13T20:12:52.975Z,1749845572.975 [lineCaptureHoming:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-06-13T20:12:52.975Z,1749845572.975 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-06-13T20:12:52.975Z,1749845572.975 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI
2025-06-13T20:12:52.981Z,1749845572.981 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-06-13T20:12:52.981Z,1749845572.981 [lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2025-06-13T20:12:52.981Z,1749845572.981 [lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI
2025-06-13T20:12:52.981Z,1749845572.981 [lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-06-13T20:12:52.981Z,1749845572.981 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-06-13T20:12:52.982Z,1749845572.982 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI
2025-06-13T20:12:52.982Z,1749845572.982 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-06-13T20:12:52.982Z,1749845572.982 [lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI] Running Loop=1
2025-06-13T20:12:52.982Z,1749845572.982 [lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI
2025-06-13T20:12:52.982Z,1749845572.982 [lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-06-13T20:12:52.982Z,1749845572.982 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-06-13T20:12:52.982Z,1749845572.982 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms
2025-06-13T20:12:52.982Z,1749845572.982 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2025-06-13T20:12:52.982Z,1749845572.982 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms] Running Loop=1
2025-06-13T20:12:52.982Z,1749845572.982 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms
2025-06-13T20:12:52.983Z,1749845572.983 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms:A] Running Loop=1
2025-06-13T20:12:52.983Z,1749845572.983 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-06-13T20:12:52.983Z,1749845572.983 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates
2025-06-13T20:12:52.983Z,1749845572.983 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-06-13T20:12:52.983Z,1749845572.983 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates] Running Loop=1
2025-06-13T20:12:52.983Z,1749845572.983 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates
2025-06-13T20:12:52.983Z,1749845572.983 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-06-13T20:12:52.983Z,1749845572.983 [lineCaptureHoming:Science:ChlThreshTrigger] Running Loop=1
2025-06-13T20:12:52.983Z,1749845572.983 [lineCaptureHoming:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize lineCaptureHoming:Science:ChlThreshTrigger
2025-06-13T20:12:52.988Z,1749845572.988 [lineCaptureHoming:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-06-13T20:12:52.988Z,1749845572.988 [lineCaptureHoming:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-06-13T20:12:52.988Z,1749845572.988 [lineCaptureHoming:Science:OceanCurrent] Running Loop=1
2025-06-13T20:12:52.988Z,1749845572.988 [lineCaptureHoming:Science:OceanCurrent](DEBUG): Aggregate::initialize lineCaptureHoming:Science:OceanCurrent
2025-06-13T20:12:52.989Z,1749845572.989 [lineCaptureHoming:Science:OceanCurrent:A.] Running Loop=1
2025-06-13T20:12:52.989Z,1749845572.989 [lineCaptureHoming:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-06-13T20:12:52.989Z,1749845572.989 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2025-06-13T20:12:52.989Z,1749845572.989 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureHoming:StandardEnvelopes
2025-06-13T20:12:52.989Z,1749845572.989 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-06-13T20:12:52.989Z,1749845572.989 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-06-13T20:12:52.989Z,1749845572.989 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-06-13T20:12:52.989Z,1749845572.989 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-06-13T20:12:52.989Z,1749845572.989 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-06-13T20:12:52.989Z,1749845572.989 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-06-13T20:12:52.990Z,1749845572.990 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-06-13T20:12:52.990Z,1749845572.990 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms
2025-06-13T20:12:52.990Z,1749845572.990 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1
2025-06-13T20:12:52.990Z,1749845572.990 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn
2025-06-13T20:12:52.990Z,1749845572.990 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1
2025-06-13T20:12:52.990Z,1749845572.990 [lineCaptureHoming:J] Running Loop=1
2025-06-13T20:12:52.990Z,1749845572.990 [lineCaptureHoming:TrackAC.] Running Loop=1
2025-06-13T20:12:52.990Z,1749845572.990 [lineCaptureHoming:TrackAC.](INFO): Initializing TrackAcousticContact.
2025-06-13T20:12:52.990Z,1749845572.990 [lineCaptureHoming:UpdateNumPings_NotTerminal] Running Loop=1
2025-06-13T20:12:52.991Z,1749845572.991 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_NotTerminal
2025-06-13T20:12:52.991Z,1749845572.991 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Running Loop=1
2025-06-13T20:12:52.991Z,1749845572.991 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1
2025-06-13T20:12:52.991Z,1749845572.991 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal
2025-06-13T20:12:52.991Z,1749845572.991 [lineCaptureHoming:C] Running Loop=1
2025-06-13T20:12:52.999Z,1749845572.999 [lineCaptureHoming:UpdateNumPings_Terminal] Stopped
2025-06-13T20:12:52.999Z,1749845572.999 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal
2025-06-13T20:12:52.999Z,1749845572.999 [lineCaptureHoming:UpdateNumPings_NotTerminal] Stopped
2025-06-13T20:12:52.999Z,1749845572.999 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_NotTerminal
2025-06-13T20:12:53.000Z,1749845573.000 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Stopped
2025-06-13T20:12:53.000Z,1749845573.000 [lineCaptureHoming:TrackAC.] Running Loop=1
2025-06-13T20:12:53.001Z,1749845573.001 [lineCaptureHoming:J] Stopped
2025-06-13T20:12:53.001Z,1749845573.001 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-06-13T20:12:53.002Z,1749845573.002 [lineCaptureHoming:MicromodemComms:CheckIn:A](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-06-13T20:12:53.002Z,1749845573.002 [lineCaptureHoming:C] Stopped
2025-06-13T20:12:53.002Z,1749845573.002 [lineCaptureHoming:D] Running Loop=1
2025-06-13T20:12:53.002Z,1749845573.002 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2025-06-13T20:12:53.002Z,1749845573.002 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-06-13T20:12:53.003Z,1749845573.003 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-06-13T20:12:53.003Z,1749845573.003 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-06-13T20:12:53.003Z,1749845573.003 [lineCaptureHoming:Science] Running Loop=1
2025-06-13T20:12:53.045Z,1749845573.045 [lineCaptureHoming:Science:ChlThreshTrigger] Stopped
2025-06-13T20:12:53.046Z,1749845573.046 [lineCaptureHoming:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:ChlThreshTrigger
2025-06-13T20:12:53.046Z,1749845573.046 [lineCaptureHoming:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-06-13T20:12:53.047Z,1749845573.047 [lineCaptureHoming:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-06-13T20:12:53.047Z,1749845573.047 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates] Stopped
2025-06-13T20:12:53.047Z,1749845573.047 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates
2025-06-13T20:12:53.064Z,1749845573.064 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates:A] Stopped
2025-06-13T20:12:53.064Z,1749845573.064 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-06-13T20:12:53.065Z,1749845573.065 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates
2025-06-13T20:12:53.065Z,1749845573.065 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2025-06-13T20:12:53.065Z,1749845573.065 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms] Stopped
2025-06-13T20:12:53.066Z,1749845573.066 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms
2025-06-13T20:12:53.066Z,1749845573.066 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms:A] Stopped
2025-06-13T20:12:53.066Z,1749845573.066 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-06-13T20:12:53.066Z,1749845573.066 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms
2025-06-13T20:12:53.067Z,1749845573.067 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2025-06-13T20:12:53.067Z,1749845573.067 [lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI] Stopped
2025-06-13T20:12:53.067Z,1749845573.067 [lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI
2025-06-13T20:12:53.075Z,1749845573.075 [lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI:A] Stopped
2025-06-13T20:12:53.075Z,1749845573.075 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-06-13T20:12:53.075Z,1749845573.075 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI
2025-06-13T20:12:53.080Z,1749845573.080 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2025-06-13T20:12:53.080Z,1749845573.080 [lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2025-06-13T20:12:53.081Z,1749845573.081 [lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI
2025-06-13T20:12:53.081Z,1749845573.081 [lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2025-06-13T20:12:53.081Z,1749845573.081 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-06-13T20:12:53.081Z,1749845573.081 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI
2025-06-13T20:12:53.081Z,1749845573.081 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2025-06-13T20:12:53.081Z,1749845573.081 [lineCaptureHoming:Science:HighestSaltPeakReport] Stopped
2025-06-13T20:12:53.081Z,1749845573.081 [lineCaptureHoming:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:HighestSaltPeakReport
2025-06-13T20:12:53.081Z,1749845573.081 [lineCaptureHoming:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-06-13T20:12:53.081Z,1749845573.081 [lineCaptureHoming:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-06-13T20:12:53.082Z,1749845573.082 [lineCaptureHoming:Science:PeakDetectSalinity] Stopped
2025-06-13T20:12:53.082Z,1749845573.082 [lineCaptureHoming:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectSalinity
2025-06-13T20:12:53.082Z,1749845573.082 [lineCaptureHoming:Science:PeakDetectSalinity:A] Stopped
2025-06-13T20:12:53.082Z,1749845573.082 [lineCaptureHoming:Science:PeakDetectFDOM] Stopped
2025-06-13T20:12:53.082Z,1749845573.082 [lineCaptureHoming:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectFDOM
2025-06-13T20:12:53.082Z,1749845573.082 [lineCaptureHoming:Science:PeakDetectFDOM:A] Stopped
2025-06-13T20:12:53.082Z,1749845573.082 [lineCaptureHoming:Science:HighestOilPeakReport] Stopped
2025-06-13T20:12:53.082Z,1749845573.082 [lineCaptureHoming:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:HighestOilPeakReport
2025-06-13T20:12:53.083Z,1749845573.083 [lineCaptureHoming:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-06-13T20:12:53.083Z,1749845573.083 [lineCaptureHoming:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-06-13T20:12:53.083Z,1749845573.083 [lineCaptureHoming:Science:PeakDetectOil] Stopped
2025-06-13T20:12:53.083Z,1749845573.083 [lineCaptureHoming:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectOil
2025-06-13T20:12:53.083Z,1749845573.083 [lineCaptureHoming:Science:PeakDetectOil:A] Stopped
2025-06-13T20:12:53.083Z,1749845573.083 [lineCaptureHoming:Science:PeakDetectNO3] Stopped
2025-06-13T20:12:53.083Z,1749845573.083 [lineCaptureHoming:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectNO3
2025-06-13T20:12:53.083Z,1749845573.083 [lineCaptureHoming:Science:PeakDetectNO3:A] Stopped
2025-06-13T20:12:53.083Z,1749845573.083 [lineCaptureHoming:Science:HighestChlPeakReport] Stopped
2025-06-13T20:12:53.083Z,1749845573.083 [lineCaptureHoming:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:HighestChlPeakReport
2025-06-13T20:12:53.083Z,1749845573.083 [lineCaptureHoming:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-06-13T20:12:53.083Z,1749845573.083 [lineCaptureHoming:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-06-13T20:12:53.083Z,1749845573.083 [lineCaptureHoming:Science:EdgeDetectChl] Stopped
2025-06-13T20:12:53.088Z,1749845573.088 [lineCaptureHoming:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:EdgeDetectChl
2025-06-13T20:12:53.088Z,1749845573.088 [lineCaptureHoming:Science:EdgeDetectChl:A] Stopped
2025-06-13T20:12:53.088Z,1749845573.088 [lineCaptureHoming:Science:PeakDetectChl] Stopped
2025-06-13T20:12:53.088Z,1749845573.088 [lineCaptureHoming:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectChl
2025-06-13T20:12:53.088Z,1749845573.088 [lineCaptureHoming:Science:PeakDetectChl:A] Stopped
2025-06-13T20:12:53.088Z,1749845573.088 [lineCaptureHoming:Science:OceanCurrent:A.] Running Loop=1
2025-06-13T20:12:53.107Z,1749845573.107 [lineCaptureHoming:Science:Read_Oil] Stopped
2025-06-13T20:12:53.107Z,1749845573.107 [lineCaptureHoming:Science:F] Running Loop=1
2025-06-13T20:12:53.107Z,1749845573.107 [lineCaptureHoming:Science:F](DEBUG): Initialize ReadDataComponent to sense WetLabsUBAT.average_bioluminescence
2025-06-13T20:12:53.107Z,1749845573.107 [lineCaptureHoming:Science:E] Running Loop=1
2025-06-13T20:12:53.108Z,1749845573.108 [lineCaptureHoming:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2025-06-13T20:12:53.108Z,1749845573.108 [lineCaptureHoming:Science:D] Stopped
2025-06-13T20:12:53.108Z,1749845573.108 [lineCaptureHoming:Science:C] Running Loop=1
2025-06-13T20:12:53.109Z,1749845573.109 [lineCaptureHoming:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2025-06-13T20:12:53.109Z,1749845573.109 [lineCaptureHoming:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2025-06-13T20:12:53.109Z,1749845573.109 [lineCaptureHoming:Science:B] Running Loop=1
2025-06-13T20:12:53.110Z,1749845573.110 [lineCaptureHoming:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2025-06-13T20:12:53.110Z,1749845573.110 [lineCaptureHoming:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2025-06-13T20:12:53.110Z,1749845573.110 [lineCaptureHoming:Science:A] Stopped
2025-06-13T20:12:53.721Z,1749845573.721 [lineCaptureHoming:D] Stopped
2025-06-13T20:12:53.721Z,1749845573.721 [lineCaptureHoming:E] Running Loop=1
2025-06-13T20:12:53.853Z,1749845573.853 [WetLabsUBAT](INFO): Powering up
2025-06-13T20:12:53.949Z,1749845573.949 [WetLabsBB2FL](INFO): Powering up
2025-06-13T20:12:54.060Z,1749845574.060 [lineCaptureHoming:E] Stopped
2025-06-13T20:12:54.060Z,1749845574.060 [lineCaptureHoming:G] Running Loop=1
2025-06-13T20:12:54.499Z,1749845574.499 [lineCaptureHoming:G] Stopped
2025-06-13T20:12:54.500Z,1749845574.500 [lineCaptureHoming:H] Running Loop=1
2025-06-13T20:12:54.865Z,1749845574.865 [lineCaptureHoming:H] Stopped
2025-06-13T20:12:54.865Z,1749845574.865 [lineCaptureHoming:L] Running Loop=1
2025-06-13T20:12:55.336Z,1749845575.336 [lineCaptureHoming:L] Stopped
2025-06-13T20:12:55.336Z,1749845575.336 [lineCaptureHoming:M] Running Loop=1
2025-06-13T20:12:55.696Z,1749845575.696 [lineCaptureHoming:M] Stopped
2025-06-13T20:12:55.696Z,1749845575.696 [lineCaptureHoming:N] Running Loop=1
2025-06-13T20:12:56.124Z,1749845576.124 [lineCaptureHoming:N] Stopped
2025-06-13T20:12:56.125Z,1749845576.125 [lineCaptureHoming:O] Running Loop=1
2025-06-13T20:12:56.453Z,1749845576.453 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2025-06-13T20:12:56.527Z,1749845576.527 [lineCaptureHoming:O] Stopped
2025-06-13T20:12:56.527Z,1749845576.527 [lineCaptureHoming:P] Running Loop=1
2025-06-13T20:12:56.907Z,1749845576.907 [lineCaptureHoming:P] Stopped
2025-06-13T20:12:56.907Z,1749845576.907 [lineCaptureHoming:Q] Running Loop=1
2025-06-13T20:12:57.329Z,1749845577.329 [lineCaptureHoming:Q] Stopped
2025-06-13T20:12:57.329Z,1749845577.329 [lineCaptureHoming:U] Running Loop=1
2025-06-13T20:12:57.702Z,1749845577.702 [lineCaptureHoming:U] Stopped
2025-06-13T20:12:57.702Z,1749845577.702 [lineCaptureHoming:StartingMission] Running Loop=1
2025-06-13T20:12:57.703Z,1749845577.703 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::initialize lineCaptureHoming:StartingMission
2025-06-13T20:12:58.107Z,1749845578.107 [lineCaptureHoming:NeedComms] Running Loop=1
2025-06-13T20:12:58.107Z,1749845578.107 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::initialize lineCaptureHoming:NeedComms
2025-06-13T20:12:58.107Z,1749845578.107 [lineCaptureHoming:NeedComms:B.GoToSurface] Running Loop=1
2025-06-13T20:12:58.107Z,1749845578.107 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-06-13T20:12:58.112Z,1749845578.112 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-06-13T20:12:58.112Z,1749845578.112 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-06-13T20:12:58.113Z,1749845578.113 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-06-13T20:12:58.113Z,1749845578.113 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-06-13T20:12:58.113Z,1749845578.113 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-06-13T20:12:58.113Z,1749845578.113 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-06-13T20:12:58.114Z,1749845578.114 [lineCaptureHoming:NeedComms:A] Running Loop=1
2025-06-13T20:12:58.115Z,1749845578.115 [lineCaptureHoming:NeedComms:A](INFO): last time_fix was:  1749845285.000000 second since 1970/01/01T00:00:00Z 
2025-06-13T20:12:58.115Z,1749845578.115 [lineCaptureHoming:NeedComms:A] Stopped
2025-06-13T20:12:58.544Z,1749845578.544 [lineCaptureHoming:NeedComms:C] Running Loop=1
2025-06-13T20:12:58.915Z,1749845578.915 [lineCaptureHoming:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-06-13T20:13:01.260Z,1749845581.260 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003011
2025-06-13T20:13:01.358Z,1749845581.358 [lineCaptureHoming:MicromodemComms] Stopped
2025-06-13T20:13:01.358Z,1749845581.358 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms
2025-06-13T20:13:01.358Z,1749845581.358 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped
2025-06-13T20:13:01.358Z,1749845581.358 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn
2025-06-13T20:13:01.358Z,1749845581.358 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped
2025-06-13T20:13:02.260Z,1749845582.260 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T20:13:04.022Z,1749845584.022 [WetLabsUBAT](FAULT): UBAT flow rate is below the specified threshold of 0.05 l/s.
2025-06-13T20:13:11.244Z,1749845591.244 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-13T20:13:15.218Z,1749845595.218 [NAL9602](INFO): SBD MO Status=1, MOMSN=48323, MT Status=0, MTMSN=0
2025-06-13T20:13:15.269Z,1749845595.269 [NAL9602](INFO): Sent 39 bytes from file Logs/20250613T193503/Courier0031.lzma
2025-06-13T20:13:15.269Z,1749845595.269 [NAL9602](INFO): Packets left to send: 0
2025-06-13T20:13:16.432Z,1749845596.432 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,201318.00,A,3653.53394,N,12206.45254,W,1.944,127.79,130625,,,A*7A
2025-06-13T20:13:16.434Z,1749845596.434 [NAL9602](INFO): GPS fix at 20250613T201318: (36.892232, -122.107542)
2025-06-13T20:13:16.459Z,1749845596.459 [lineCaptureHoming:NeedComms:C] Stopped
2025-06-13T20:13:16.459Z,1749845596.459 [lineCaptureHoming:NeedComms:D] Running Loop=1
2025-06-13T20:13:16.874Z,1749845596.874 [lineCaptureHoming:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-06-13T20:13:18.766Z,1749845598.766 [DataOverHttps](INFO): Sending 74 bytes from file Logs/20250613T193503/Courier0034.lzma
2025-06-13T20:13:21.078Z,1749845601.078 [DataOverHttps](INFO): Moved sent file to Logs/20250613T193503/Courier0034.lzma.bak
2025-06-13T20:13:21.079Z,1749845601.079 [DataOverHttps](INFO): SBD MOMSN=25209399
2025-06-13T20:13:38.967Z,1749845618.967 [DataOverHttps](INFO): Sending 962 bytes from file Logs/20250613T193503/Express0032.lzma
2025-06-13T20:13:48.934Z,1749845628.934 [NAL9602](INFO): Not Powering down - fast GPS
2025-06-13T20:13:51.277Z,1749845631.277 [CommandExec](IMPORTANT): got command show stack
2025-06-13T20:13:51.277Z,1749845631.277 [CommandExec](IMPORTANT): Behavior Stack:

2025-06-13T20:13:51.281Z,1749845631.281 [lineCaptureHoming:Science](IMPORTANT): Priority 0: lineCaptureHoming:Science:B
2025-06-13T20:13:51.281Z,1749845631.281 [lineCaptureHoming:Science](IMPORTANT): Priority 1: lineCaptureHoming:Science:C
2025-06-13T20:13:51.282Z,1749845631.282 [lineCaptureHoming:Science](IMPORTANT): Priority 2: lineCaptureHoming:Science:E
2025-06-13T20:13:51.282Z,1749845631.282 [lineCaptureHoming:Science](IMPORTANT): Priority 3: lineCaptureHoming:Science:F
2025-06-13T20:13:51.282Z,1749845631.282 [lineCaptureHoming:Science:OceanCurrent](IMPORTANT): Priority 4: lineCaptureHoming:Science:OceanCurrent:A.
2025-06-13T20:13:51.282Z,1749845631.282 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 5: lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope
2025-06-13T20:13:51.283Z,1749845631.283 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 6: lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope
2025-06-13T20:13:51.283Z,1749845631.283 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 7: lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope
2025-06-13T20:13:51.283Z,1749845631.283 [lineCaptureHoming:NeedComms](IMPORTANT): Priority 8: lineCaptureHoming:NeedComms:B.GoToSurface
2025-06-13T20:13:51.283Z,1749845631.283 [lineCaptureHoming:NeedComms](IMPORTANT): Priority 9: lineCaptureHoming:NeedComms:D
2025-06-13T20:13:51.284Z,1749845631.284 [lineCaptureHoming](IMPORTANT): Priority 10: lineCaptureHoming:TrackAC.
2025-06-13T20:13:53.014Z,1749845633.014 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-13T20:13:53.121Z,1749845633.121 [DAT](DEBUG): Acoustic response timeout
2025-06-13T20:13:53.121Z,1749845633.121 [DAT](INFO): setting remote address to 0
2025-06-13T20:13:53.373Z,1749845633.373 [DAT](INFO): DAT read: user:6>

2025-06-13T20:13:53.374Z,1749845633.374 [DAT](INFO): DAT read: RemoteAddr      | 0           

2025-06-13T20:13:53.374Z,1749845633.374 [DAT](INFO): set remote address to 0
2025-06-13T20:13:53.374Z,1749845633.374 [DAT](DEBUG): Acoustic response timeout
2025-06-13T20:13:53.375Z,1749845633.375 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-13T20:13:53.625Z,1749845633.625 [DAT](INFO): DAT read: user:7>

2025-06-13T20:13:53.625Z,1749845633.625 [DAT](INFO): DAT read: Tx time:20:13:52.6074

2025-06-13T20:13:53.626Z,1749845633.626 [DAT](INFO): Ping request sent.
2025-06-13T20:13:53.626Z,1749845633.626 [DAT](INFO): transmitted an acoustic signal
2025-06-13T20:13:53.626Z,1749845633.626 [DAT](INFO): publishing transmit ping time
2025-06-13T20:13:53.627Z,1749845633.627 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000927
2025-06-13T20:13:53.877Z,1749845633.877 [DAT](INFO): DAT read: TxSync time:20:13:52.6066

2025-06-13T20:13:53.878Z,1749845633.878 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251938
2025-06-13T20:13:54.129Z,1749845634.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502912
2025-06-13T20:13:54.381Z,1749845634.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755450
2025-06-13T20:13:54.633Z,1749845634.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006918
2025-06-13T20:13:54.885Z,1749845634.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258975
2025-06-13T20:13:55.137Z,1749845635.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510940
2025-06-13T20:13:55.389Z,1749845635.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763037
2025-06-13T20:13:55.641Z,1749845635.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014858
2025-06-13T20:13:55.893Z,1749845635.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266936
2025-06-13T20:13:56.145Z,1749845636.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518923
2025-06-13T20:13:56.397Z,1749845636.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771420
2025-06-13T20:13:56.649Z,1749845636.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022939
2025-06-13T20:13:56.901Z,1749845636.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275067
2025-06-13T20:13:57.153Z,1749845637.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526796
2025-06-13T20:13:57.405Z,1749845637.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778818
2025-06-13T20:13:57.657Z,1749845637.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030981
2025-06-13T20:13:57.909Z,1749845637.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282921
2025-06-13T20:13:58.161Z,1749845638.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534932
2025-06-13T20:13:58.413Z,1749845638.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786978
2025-06-13T20:13:58.665Z,1749845638.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038964
2025-06-13T20:13:58.917Z,1749845638.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290902
2025-06-13T20:13:59.169Z,1749845639.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543066
2025-06-13T20:13:59.421Z,1749845639.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794905
2025-06-13T20:13:59.673Z,1749845639.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046934
2025-06-13T20:13:59.925Z,1749845639.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298999
2025-06-13T20:14:00.177Z,1749845640.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550897
2025-06-13T20:14:00.429Z,1749845640.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.803328
2025-06-13T20:14:00.682Z,1749845640.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.055872
2025-06-13T20:14:00.933Z,1749845640.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306871
2025-06-13T20:14:01.185Z,1749845641.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558934
2025-06-13T20:14:01.437Z,1749845641.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810926
2025-06-13T20:14:01.689Z,1749845641.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062852
2025-06-13T20:14:01.941Z,1749845641.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314994
2025-06-13T20:14:02.068Z,1749845642.068 [DataOverHttps](INFO): Moved sent file to Logs/20250613T193503/Express0032.lzma.bak
2025-06-13T20:14:02.068Z,1749845642.068 [DataOverHttps](INFO): SBD MOMSN=25209411
2025-06-13T20:14:02.193Z,1749845642.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566971
2025-06-13T20:14:02.445Z,1749845642.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818973
2025-06-13T20:14:02.697Z,1749845642.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.071520
2025-06-13T20:14:02.949Z,1749845642.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.323056
2025-06-13T20:14:03.202Z,1749845643.202 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.575942
2025-06-13T20:14:03.453Z,1749845643.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.827352
2025-06-13T20:14:03.705Z,1749845643.705 [DAT](INFO): Reached modem response timeout
2025-06-13T20:14:04.461Z,1749845644.461 [DAT](INFO): DAT read: Response Not Received

2025-06-13T20:14:04.462Z,1749845644.462 [DAT](INFO): response not received
2025-06-13T20:14:04.462Z,1749845644.462 [DAT](ERROR): No response from remote modem.
2025-06-13T20:14:21.661Z,1749845661.661 [DataOverHttps](INFO): Sending 466 bytes from file Logs/20250613T193503/Express0035.lzma
2025-06-13T20:14:22.658Z,1749845662.658 [DataOverHttps](INFO): Moved sent file to Logs/20250613T193503/Express0035.lzma.bak
2025-06-13T20:14:22.658Z,1749845662.658 [DataOverHttps](INFO): SBD MOMSN=25209458
2025-06-13T20:14:45.975Z,1749845685.975 [DataOverHttps](INFO): Sending 79 bytes from file Logs/20250613T193503/Express0038.lzma
2025-06-13T20:14:46.978Z,1749845686.978 [DataOverHttps](INFO): Moved sent file to Logs/20250613T193503/Express0038.lzma.bak
2025-06-13T20:14:46.978Z,1749845686.978 [DataOverHttps](INFO): SBD MOMSN=25209461
2025-06-13T20:14:48.834Z,1749845688.834 [lineCaptureHoming:NeedComms:D] Stopped
2025-06-13T20:14:48.835Z,1749845688.835 [lineCaptureHoming:NeedComms:E] Running Loop=1
2025-06-13T20:14:49.248Z,1749845689.248 [lineCaptureHoming:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-06-13T20:14:50.830Z,1749845690.830 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,201452.00,A,3653.52305,N,12206.44489,W,0.428,135.83,130625,,,A*7D
2025-06-13T20:14:50.833Z,1749845690.833 [NAL9602](INFO): GPS fix at 20250613T201452: (36.892051, -122.107415)
2025-06-13T20:14:50.895Z,1749845690.895 [lineCaptureHoming:NeedComms:E] Stopped
2025-06-13T20:14:50.900Z,1749845690.900 [lineCaptureHoming:NeedComms](INFO): Completed lineCaptureHoming:NeedComms
2025-06-13T20:14:50.900Z,1749845690.900 [lineCaptureHoming:NeedComms] Stopped
2025-06-13T20:14:50.900Z,1749845690.900 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:NeedComms
2025-06-13T20:14:50.900Z,1749845690.900 [lineCaptureHoming:NeedComms:B.GoToSurface] Stopped
2025-06-13T20:14:50.900Z,1749845690.900 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-06-13T20:14:51.311Z,1749845691.311 [lineCaptureHoming:StartingMission](INFO): Completed lineCaptureHoming:StartingMission
2025-06-13T20:14:51.311Z,1749845691.311 [lineCaptureHoming:StartingMission] Stopped
2025-06-13T20:14:51.311Z,1749845691.311 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::uninitialize lineCaptureHoming:StartingMission
2025-06-13T20:14:51.312Z,1749845691.312 [lineCaptureHoming:Z] Running Loop=1
2025-06-13T20:14:51.669Z,1749845691.669 [lineCaptureHoming:Z](IMPORTANT): Restarting logs
2025-06-13T20:14:51.670Z,1749845691.670 [lineCaptureHoming:Z] Stopped
2025-06-13T20:14:51.670Z,1749845691.670 [lineCaptureHoming:BA.Execute] Running Loop=1