2012-05-23T19:35:37.231Z,1337801737.231 [Supervisor](DEBUG): Initializing supervisor.
2012-05-23T19:35:37.233Z,1337801737.233 [SyncHandler](DEBUG): Created PCaller Thread at 1077138656
2012-05-23T19:35:37.234Z,1337801737.234 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2012-05-23T19:35:37.235Z,1337801737.235 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 1077335264
2012-05-23T19:35:37.236Z,1337801737.236 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2012-05-23T19:35:37.246Z,1337801737.246 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2012-05-23T19:35:37.247Z,1337801737.247 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 1077531872
2012-05-23T19:35:37.248Z,1337801737.248 [ComponentRegistry](DEBUG): SyncComponent "logger" handled in the control thread.
2012-05-23T19:35:37.249Z,1337801737.249 [Supervisor](INFO): Looking for Config files in directory: Config/
2012-05-23T19:35:37.250Z,1337801737.250 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2012-05-23T19:35:37.515Z,1337801737.515 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2012-05-23T19:35:37.516Z,1337801737.516 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2012-05-23T19:35:37.694Z,1337801737.694 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2012-05-23T19:35:37.695Z,1337801737.695 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2012-05-23T19:35:37.779Z,1337801737.779 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2012-05-23T19:35:37.779Z,1337801737.779 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2012-05-23T19:35:37.961Z,1337801737.961 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2012-05-23T19:35:37.962Z,1337801737.962 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2012-05-23T19:35:38.085Z,1337801738.085 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2012-05-23T19:35:38.085Z,1337801738.085 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2012-05-23T19:35:38.297Z,1337801738.297 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2012-05-23T19:35:38.297Z,1337801738.297 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2012-05-23T19:35:38.442Z,1337801738.442 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2012-05-23T19:35:38.443Z,1337801738.443 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2012-05-23T19:35:38.696Z,1337801738.696 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2012-05-23T19:35:38.696Z,1337801738.696 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2012-05-23T19:35:38.792Z,1337801738.792 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2012-05-23T19:35:38.793Z,1337801738.793 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2012-05-23T19:35:39.164Z,1337801739.164 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2012-05-23T19:35:39.165Z,1337801739.165 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2012-05-23T19:35:39.272Z,1337801739.272 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2012-05-23T19:35:39.273Z,1337801739.273 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2012-05-23T19:35:39.356Z,1337801739.356 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2012-05-23T19:35:39.357Z,1337801739.357 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2012-05-23T19:35:39.457Z,1337801739.457 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2012-05-23T19:35:39.587Z,1337801739.587 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2012-05-23T19:35:39.685Z,1337801739.685 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2012-05-23T19:35:39.780Z,1337801739.780 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2012-05-23T19:35:39.887Z,1337801739.887 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2012-05-23T19:35:39.974Z,1337801739.974 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2012-05-23T19:35:40.059Z,1337801740.059 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2012-05-23T19:35:40.170Z,1337801740.170 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2012-05-23T19:35:40.297Z,1337801740.297 [InternalSim] Loaded
2012-05-23T19:35:40.297Z,1337801740.297 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2012-05-23T19:35:40.298Z,1337801740.298 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2012-05-23T19:35:40.299Z,1337801740.299 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2012-05-23T19:35:40.342Z,1337801740.342 [SBIT](DEBUG): Construct Startup Built In Test.
2012-05-23T19:35:40.354Z,1337801740.354 [SBIT] Loaded
2012-05-23T19:35:40.354Z,1337801740.354 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2012-05-23T19:35:40.355Z,1337801740.355 [IBIT](DEBUG): Construct Initiated Built In Test.
2012-05-23T19:35:40.379Z,1337801740.378 [IBIT] Loaded
2012-05-23T19:35:40.379Z,1337801740.379 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2012-05-23T19:35:40.386Z,1337801740.386 [CBIT](DEBUG): Construct CBIT Built In Test.
2012-05-23T19:35:40.493Z,1337801740.493 [CBIT] Loaded
2012-05-23T19:35:40.493Z,1337801740.493 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2012-05-23T19:35:40.494Z,1337801740.494 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2012-05-23T19:35:40.494Z,1337801740.494 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2012-05-23T19:35:40.621Z,1337801740.621 [BuoyancyServo] Loaded
2012-05-23T19:35:40.621Z,1337801740.621 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2012-05-23T19:35:40.628Z,1337801740.628 [ElevatorServo] Loaded
2012-05-23T19:35:40.628Z,1337801740.628 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2012-05-23T19:35:40.635Z,1337801740.635 [MassServo] Loaded
2012-05-23T19:35:40.635Z,1337801740.635 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2012-05-23T19:35:40.642Z,1337801740.642 [RudderServo] Loaded
2012-05-23T19:35:40.642Z,1337801740.642 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2012-05-23T19:35:40.649Z,1337801740.649 [ThrusterServo] Loaded
2012-05-23T19:35:40.649Z,1337801740.649 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2012-05-23T19:35:40.650Z,1337801740.649 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2012-05-23T19:35:40.650Z,1337801740.650 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2012-05-23T19:35:40.665Z,1337801740.665 [DepthRateCalculator] Loaded
2012-05-23T19:35:40.665Z,1337801740.665 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2012-05-23T19:35:40.681Z,1337801740.681 [NavChart] Loaded
2012-05-23T19:35:40.681Z,1337801740.681 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2012-05-23T19:35:40.687Z,1337801740.687 [PitchRateCalculator] Loaded
2012-05-23T19:35:40.687Z,1337801740.687 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2012-05-23T19:35:40.693Z,1337801740.693 [SpeedCalculator] Loaded
2012-05-23T19:35:40.693Z,1337801740.694 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2012-05-23T19:35:40.708Z,1337801740.708 [TempGradientCalculator] Loaded
2012-05-23T19:35:40.708Z,1337801740.708 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2012-05-23T19:35:40.714Z,1337801740.714 [YawRateCalculator] Loaded
2012-05-23T19:35:40.714Z,1337801740.714 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2012-05-23T19:35:40.744Z,1337801740.744 [Navigation] Loaded
2012-05-23T19:35:40.744Z,1337801740.744 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2012-05-23T19:35:40.745Z,1337801740.745 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2012-05-23T19:35:40.745Z,1337801740.745 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2012-05-23T19:35:40.960Z,1337801740.960 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2012-05-23T19:35:40.960Z,1337801740.960 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2012-05-23T19:35:40.981Z,1337801740.981 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2012-05-23T19:35:40.982Z,1337801740.982 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2012-05-23T19:35:41.020Z,1337801741.020 [VerticalControl](DEBUG): Construct VerticalControl.
2012-05-23T19:35:41.063Z,1337801741.063 [VerticalControl] Loaded
2012-05-23T19:35:41.063Z,1337801741.063 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2012-05-23T19:35:41.064Z,1337801741.064 [HorizontalControl](DEBUG): Construct HorizontalControl.
2012-05-23T19:35:41.083Z,1337801741.083 [HorizontalControl] Loaded
2012-05-23T19:35:41.084Z,1337801741.084 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2012-05-23T19:35:41.085Z,1337801741.085 [SpeedControl](DEBUG): Construct SpeedControl.
2012-05-23T19:35:41.086Z,1337801741.086 [SpeedControl] Loaded
2012-05-23T19:35:41.087Z,1337801741.087 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2012-05-23T19:35:41.087Z,1337801741.088 [LoopControl](DEBUG): Construct LoopControl.
2012-05-23T19:35:41.088Z,1337801741.088 [LoopControl] Loaded
2012-05-23T19:35:41.088Z,1337801741.088 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2012-05-23T19:35:41.089Z,1337801741.089 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2012-05-23T19:35:41.089Z,1337801741.089 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2012-05-23T19:35:41.094Z,1337801741.095 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2012-05-23T19:35:41.099Z,1337801741.099 [AsyncPiEstimator] Loaded
2012-05-23T19:35:41.099Z,1337801741.099 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2012-05-23T19:35:41.101Z,1337801741.101 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 1078994144
2012-05-23T19:35:41.101Z,1337801741.101 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2012-05-23T19:35:41.102Z,1337801741.102 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2012-05-23T19:35:41.194Z,1337801741.194 [AHRS_sp3003D] Loaded
2012-05-23T19:35:41.194Z,1337801741.194 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2012-05-23T19:35:41.440Z,1337801741.440 [Batt_Ocean_Server] Loaded
2012-05-23T19:35:41.441Z,1337801741.441 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2012-05-23T19:35:41.453Z,1337801741.453 [Depth_Keller] Loaded
2012-05-23T19:35:41.453Z,1337801741.453 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2012-05-23T19:35:41.458Z,1337801741.458 [DropWeight] Loaded
2012-05-23T19:35:41.459Z,1337801741.459 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2012-05-23T19:35:41.552Z,1337801741.552 [DVL_micro] Loaded
2012-05-23T19:35:41.553Z,1337801741.553 [ComponentRegistry](DEBUG): SyncComponent "DVL_micro" handled in the control thread.
2012-05-23T19:35:41.631Z,1337801741.631 [NAL9601] Loaded
2012-05-23T19:35:41.631Z,1337801741.631 [ComponentRegistry](DEBUG): SyncComponent "NAL9601" handled in the control thread.
2012-05-23T19:35:41.679Z,1337801741.679 [Onboard] Loaded
2012-05-23T19:35:41.679Z,1337801741.680 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2012-05-23T19:35:41.685Z,1337801741.685 [Radio_Freewave] Loaded
2012-05-23T19:35:41.686Z,1337801741.686 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2012-05-23T19:35:41.687Z,1337801741.687 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2012-05-23T19:35:41.687Z,1337801741.687 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2012-05-23T19:35:41.732Z,1337801741.732 [CTD_NeilBrown] Loaded
2012-05-23T19:35:41.733Z,1337801741.733 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2012-05-23T19:35:41.734Z,1337801741.734 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 1079645408
2012-05-23T19:35:41.764Z,1337801741.764 [WetLabsBB2FL] Loaded
2012-05-23T19:35:41.764Z,1337801741.764 [ComponentRegistry](DEBUG): SyncComponent "WetLabsBB2FL" handled in the control thread.
2012-05-23T19:35:41.765Z,1337801741.764 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2012-05-23T19:35:41.767Z,1337801741.767 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2012-05-23T19:35:41.768Z,1337801741.768 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2012-05-23T19:35:41.773Z,1337801741.773 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2012-05-23T19:35:41.774Z,1337801741.774 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 1079842016
2012-05-23T19:35:41.775Z,1337801741.775 [Supervisor](DEBUG): Running supervisor.
2012-05-23T19:35:41.778Z,1337801741.778 [controlThread](DEBUG): Initializing ControlThread
2012-05-23T19:35:41.779Z,1337801741.779 [InternalSim](DEBUG):  InternalSim initializing...
2012-05-23T19:35:41.807Z,1337801741.807 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2012-05-23T19:35:41.822Z,1337801741.822 [SBIT](INFO): Initialize SBIT Component.
2012-05-23T19:35:41.823Z,1337801741.823 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 9636 $
2012-05-23T19:35:41.824Z,1337801741.824 [IBIT](INFO): Initialize IBIT Component.
2012-05-23T19:35:41.827Z,1337801741.828 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2012-05-23T19:35:41.830Z,1337801741.830 [CBIT](DEBUG): Initialize CBIT Component.
2012-05-23T19:35:41.836Z,1337801741.836 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2012-05-23T19:35:41.864Z,1337801741.864 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-05-23T19:35:41.864Z,1337801741.864 [NavChart](DEBUG): Initialize NavChart Derivation.
2012-05-23T19:35:41.864Z,1337801741.865 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2012-05-23T19:35:41.865Z,1337801741.865 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2012-05-23T19:35:41.865Z,1337801741.865 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2012-05-23T19:35:41.867Z,1337801741.867 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2012-05-23T19:35:41.867Z,1337801741.867 [Navigation](DEBUG): Initializing Navigation.
2012-05-23T19:35:41.868Z,1337801741.868 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2012-05-23T19:35:41.870Z,1337801741.870 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2012-05-23T19:35:41.871Z,1337801741.871 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2012-05-23T19:35:41.871Z,1337801741.871 [LoopControl](DEBUG): Initialize LoopControlComponent.
2012-05-23T19:35:41.938Z,1337801741.938 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2012-05-23T19:35:41.943Z,1337801741.943 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2012-05-23T19:35:41.947Z,1337801741.947 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2012-05-23T19:35:41.951Z,1337801741.951 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2012-05-23T19:35:41.955Z,1337801741.955 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2012-05-23T19:35:41.956Z,1337801741.956 [NavChartDb](INFO): Creating index for Soundings
2012-05-23T19:35:41.959Z,1337801741.959 [NavChartDb](INFO): Creating index for Contour 0p0
2012-05-23T19:35:41.961Z,1337801741.961 [NavChartDb](INFO): Creating index for Contour 1p8
2012-05-23T19:35:41.963Z,1337801741.963 [NavChartDb](INFO): Creating index for Contour 3p6
2012-05-23T19:35:41.965Z,1337801741.965 [NavChartDb](INFO): Creating index for Contour 5p4
2012-05-23T19:35:41.967Z,1337801741.967 [NavChartDb](INFO): Creating index for Contour 9p1
2012-05-23T19:35:41.969Z,1337801741.969 [NavChartDb](INFO): Creating index for Contour 10p9
2012-05-23T19:35:41.971Z,1337801741.971 [NavChartDb](INFO): Creating index for Contour 18p2
2012-05-23T19:35:41.973Z,1337801741.973 [NavChartDb](INFO): Creating index for Contour 36p5
2012-05-23T19:35:41.975Z,1337801741.975 [NavChartDb](INFO): Creating index for Contour 54p8
2012-05-23T19:35:41.977Z,1337801741.977 [NavChartDb](INFO): Creating index for Contour 73p1
2012-05-23T19:35:41.979Z,1337801741.979 [NavChartDb](INFO): Creating index for Contour 91p4
2012-05-23T19:35:41.981Z,1337801741.981 [NavChartDb](INFO): Creating index for Contour 182p8
2012-05-23T19:35:41.983Z,1337801741.983 [NavChartDb](INFO): Creating index for Contour 365p7
2012-05-23T19:35:41.985Z,1337801741.985 [NavChartDb](INFO): Creating index for Contour 548p6
2012-05-23T19:35:41.987Z,1337801741.987 [NavChartDb](INFO): Creating index for Contour 731p5
2012-05-23T19:35:41.989Z,1337801741.989 [NavChartDb](INFO): Creating index for Contour 914p4
2012-05-23T19:35:41.991Z,1337801741.991 [NavChartDb](INFO): Creating index for Contour 1097p2
2012-05-23T19:35:41.993Z,1337801741.993 [NavChartDb](INFO): Creating index for Contour 1280p1
2012-05-23T19:35:41.995Z,1337801741.995 [NavChartDb](INFO): Creating index for Contour 1463p0
2012-05-23T19:35:41.997Z,1337801741.997 [NavChartDb](INFO): Creating index for Contour 1645p9
2012-05-23T19:35:41.999Z,1337801741.999 [NavChartDb](INFO): Creating index for Contour 1828p8
2012-05-23T19:35:42.001Z,1337801742.000 [NavChartDb](INFO): Creating index for Contour 2011p6
2012-05-23T19:35:42.002Z,1337801742.003 [NavChartDb](INFO): Creating index for Contour 2194p5
2012-05-23T19:35:42.004Z,1337801742.004 [NavChartDb](INFO): Creating index for Contour 2377p4
2012-05-23T19:35:42.006Z,1337801742.006 [NavChartDb](INFO): Creating index for Contour 2560p3
2012-05-23T19:35:42.008Z,1337801742.008 [NavChartDb](INFO): Creating index for Contour 2743p2
2012-05-23T19:35:42.010Z,1337801742.010 [NavChartDb](INFO): Creating index for Contour 2926p0
2012-05-23T19:35:42.012Z,1337801742.012 [NavChartDb](INFO): Creating index for Contour 3108p9
2012-05-23T19:35:42.014Z,1337801742.014 [NavChartDb](INFO): Creating index for Contour 3291p8
2012-05-23T19:35:42.016Z,1337801742.016 [NavChartDb](INFO): Creating index for Contour 3474p7
2012-05-23T19:35:42.018Z,1337801742.018 [NavChartDb](INFO): Creating index for Contour 3657p6
2012-05-23T19:35:43.679Z,1337801743.679 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2012-05-23T19:35:43.684Z,1337801743.684 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2012-05-23T19:35:43.695Z,1337801743.695 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-05-23T19:35:43.705Z,1337801743.705 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Guidance="Tethys/Guidance" 
       xmlns:Units="Tethys/Units"
       xmlns:Universal="Tethys/Universal"
       xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
       xsi:schemaLocation="Tethys http://aosn.mbari.org/tethys/Xml/Tethys.xsd
                           Tethys/Control http://aosn.mbari.org/tethys/Xml/Control.xsd
                           Tethys/Guidance http://aosn.mbari.org/tethys/Xml/Guidance.xsd
                           Tethys/Units http://aosn.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://aosn.mbari.org/tethys/Xml/Universal.xsd"
       Id="Startup">

    <Guidance:GoToSurface RunIn="Progression"/>

    <Aggregate Id="StartupSatComms" >

        <ReadDatum>
            <Timeout Duration="P1M" /><Universal:latitude_fix/>
        </ReadDatum>

        <ReadDatum>
            <Timeout Duration="P1M" /><Universal:platform_communications/>
        </ReadDatum>

    </Aggregate>

</Mission>


2012-05-23T19:35:43.706Z,1337801743.705 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2012-05-23T19:35:43.732Z,1337801743.732 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2012-05-23T19:35:43.734Z,1337801743.734 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2012-05-23T19:35:43.737Z,1337801743.737 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-05-23T19:35:43.744Z,1337801743.744 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2012-05-23T19:35:43.748Z,1337801743.748 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-05-23T19:35:43.754Z,1337801743.754 [Default:Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2012-05-23T19:35:43.763Z,1337801743.763 [Default:D.SetSpeed](DEBUG): Construct.
2012-05-23T19:35:43.766Z,1337801743.766 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2012-05-23T19:35:43.771Z,1337801743.770 [Default:F.Wait](DEBUG): Construct Wait.
2012-05-23T19:35:43.774Z,1337801743.774 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
xmlns:Control="Tethys/Control"
xmlns:Guidance="Tethys/Guidance" 
xmlns:Units="Tethys/Units"
xmlns:Universal="Tethys/Universal"
xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
xsi:schemaLocation="Tethys http://aosn.mbari.org/tethys/Xml/Tethys.xsd
Tethys/Control http://aosn.mbari.org/tethys/Xml/Control.xsd
Tethys/Guidance http://aosn.mbari.org/tethys/Xml/Guidance.xsd
Tethys/Units http://aosn.mbari.org/tethys/Xml/Units.xsd
Tethys/Universal http://aosn.mbari.org/tethys/Xml/Universal.xsd"
Id="Default">

    <DefineArg Name="NeedGPS"><True/></DefineArg>

    <Aggregate Id="GPS" >

        <When><Arg Name="NeedGPS"/>
        </When>

<!-- Run at high speed -->

        <Guidance:SetSpeed RunIn="Parallel">
            <Setting><Guidance:SetSpeed.period/><Units:millisecond/><Value>400</Value></Setting>
        </Guidance:SetSpeed>

<!-- Get to the surface -->

        <Guidance:GoToSurface RunIn="Sequence"/>

<!-- Get GPS fix -->

        <ReadDatum Id="Read_GPS"><Universal:latitude_fix/>
        </ReadDatum>

        <Assign><Arg Name="NeedGPS"/><False/></Assign>

    </Aggregate>

    <Aggregate Id="Iridium" >

<!-- Run at high speed -->

        <Guidance:SetSpeed RunIn="Parallel">
            <Setting><Guidance:SetSpeed.period/><Units:millisecond/><Value>400</Value></Setting>
        </Guidance:SetSpeed>

<!-- Get to the surface -->

        <Guidance:GoToSurface RunIn="Sequence"/>

<!-- Do data comms -->

        <ReadDatum Id="Read_Iridium">
            <Timeout Duration="P2H">
                <Guidance:Execute RunIn="Sequence">
                    <Setting>
                    <Guidance:Execute.command/><String>Burn 300</String></Setting>
                </Guidance:Execute>
                <Syslog Severity="Critical">Dropped drop weight due to communications timeout</Syslog>
            </Timeout><Universal:platform_communications/>
        </ReadDatum>

    </Aggregate>

    <Aggregate Id="CallIridium" >

        <When>
            <Elapsed><Universal:platform_communications/></Elapsed>
            <Gt><Units:minute/><Value>5.0</Value></Gt>
            <And><Universal:platform_conversation/><Eq><True/></Eq></And>
            <Or>
            <Elapsed><Universal:platform_communications/></Elapsed><Gt><Units:hour/><Value>1.0</Value></Gt></Or>
        </When>

        <Assign><Arg Name="NeedGPS"/><True/></Assign>

        <Call RefId="Iridium"/>

    </Aggregate>

<!-- Wait forever at the surface-->

<!-- Run at low speed -->

    <Guidance:SetSpeed RunIn="Parallel">
        <Setting><Guidance:SetSpeed.period/><Units:second/><Value>5</Value></Setting>
    </Guidance:SetSpeed>

    <Guidance:GoToSurface RunIn="Parallel"/>

    <Guidance:Wait RunIn="Sequence"></Guidance:Wait>

</Mission>


2012-05-23T19:35:43.779Z,1337801743.779 [controlThread](DEBUG): Component order: CycleStarter,InternalSim,AHRS_sp3003D,Batt_Ocean_Server,Depth_Keller,DropWeight,DVL_micro,NAL9601,Onboard,Radio_Freewave,WetLabsBB2FL,Depth_Keller,DepthRateCalculator,NavChart,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,Navigation,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,logger,
2012-05-23T19:35:43.798Z,1337801743.798 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-05-23T19:35:43.909Z,1337801743.909 [DVL_micro](DEBUG): Initializing DVL_micro.
2012-05-23T19:35:43.929Z,1337801743.929 [Radio_Freewave](INFO): Powering up
2012-05-23T19:35:43.936Z,1337801743.936 [WetLabsBB2FL](INFO): Powering down
2012-05-23T19:35:44.005Z,1337801744.005 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2012-05-23T19:35:44.006Z,1337801744.006 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2012-05-23T19:35:44.015Z,1337801744.015 [ElevatorServo](DEBUG): Initializing EZServoServo.
2012-05-23T19:35:44.016Z,1337801744.016 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2012-05-23T19:35:44.024Z,1337801744.024 [MassServo](DEBUG): Initializing EZServoServo.
2012-05-23T19:35:44.025Z,1337801744.025 [MassServo](DEBUG): Initializing MassServo.
2012-05-23T19:35:44.033Z,1337801744.033 [RudderServo](DEBUG): Initializing EZServoServo.
2012-05-23T19:35:44.034Z,1337801744.034 [RudderServo](DEBUG): Initializing RudderServo.
2012-05-23T19:35:44.041Z,1337801744.042 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-05-23T19:35:44.043Z,1337801744.043 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-05-23T19:35:46.761Z,1337801746.761 [NAL9601](INFO): Powering up NAL9601
2012-05-23T19:35:57.541Z,1337801757.541 [SBIT](IMPORTANT): Beginning Startup BIT
2012-05-23T19:35:57.543Z,1337801757.543 [CBIT](IMPORTANT): Beginning GF scan
2012-05-23T19:36:07.938Z,1337801767.938 [SBIT](FAULT): Elevator: EXPECTED:15.000000 ACTUAL:14.938438
2012-05-23T19:36:23.781Z,1337801783.781 [CBIT](IMPORTANT): No ground fault detected
2012-05-23T19:36:39.718Z,1337801799.718 [SBIT](CRITICAL): SBIT FAILED
2012-05-23T19:36:40.142Z,1337801800.142 [MissionManager](IMPORTANT): Started mission Startup
2012-05-23T19:36:40.142Z,1337801800.142 [Startup] Running Loop=1
2012-05-23T19:36:40.142Z,1337801800.142 [Startup](INFO): Aggregate::initialize Startup
2012-05-23T19:36:40.142Z,1337801800.142 [Startup:A.GoToSurface] Running Loop=1
2012-05-23T19:36:40.145Z,1337801800.145 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-05-23T19:36:40.151Z,1337801800.151 [Startup:StartupSatComms] Running Loop=1
2012-05-23T19:36:40.151Z,1337801800.151 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2012-05-23T19:36:40.151Z,1337801800.151 [Startup:StartupSatComms:A] Running Loop=1
2012-05-23T19:36:40.512Z,1337801800.512 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2012-05-23T19:36:52.599Z,1337801812.599 [NAL9601](INFO): NAL9601 initialized
2012-05-23T19:37:22.455Z,1337801842.455 [CommandLine](IMPORTANT): got command report mod platform_buoyancy_position
2012-05-23T19:37:22.523Z,1337801842.523 [Reporter](INFO): platform_buoyancy_position 949.893787 cc
2012-05-23T19:37:40.513Z,1337801860.513 [Startup:StartupSatComms:A](INFO): Timed out from 2012-05-23T19:36:40.2Z
2012-05-23T19:37:40.513Z,1337801860.513 [Startup:StartupSatComms:A_Timeout] Running Loop=1
2012-05-23T19:37:40.513Z,1337801860.513 [Startup:StartupSatComms:A_Timeout](INFO): Aggregate::initialize Startup:StartupSatComms:A_Timeout
2012-05-23T19:37:40.514Z,1337801860.514 [Startup:StartupSatComms:A_Timeout](INFO): Completed Startup:StartupSatComms:A_Timeout
2012-05-23T19:37:40.514Z,1337801860.514 [Startup:StartupSatComms:A] Stopped
2012-05-23T19:37:40.514Z,1337801860.514 [Startup:StartupSatComms:B] Running Loop=1
2012-05-23T19:37:40.908Z,1337801860.908 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2012-05-23T19:38:11.793Z,1337801891.793 [NAL9601](INFO): SBD MO Status=2, MOMSN=6758, MT Status=2, MTMSN=0
2012-05-23T19:38:11.793Z,1337801891.793 [NAL9601](ERROR): Failed to initiate SBD session. Error code: 2
2012-05-23T19:38:40.528Z,1337801920.528 [Startup:StartupSatComms:B](INFO): Timed out from 2012-05-23T19:37:40.5Z
2012-05-23T19:38:40.528Z,1337801920.528 [Startup:StartupSatComms:A_Timeout] Running Loop=1
2012-05-23T19:38:40.528Z,1337801920.528 [Startup:StartupSatComms:A_Timeout](INFO): Aggregate::initialize Startup:StartupSatComms:A_Timeout
2012-05-23T19:38:40.529Z,1337801920.529 [Startup:StartupSatComms:A_Timeout](INFO): Completed Startup:StartupSatComms:A_Timeout
2012-05-23T19:38:40.529Z,1337801920.529 [Startup:StartupSatComms:B] Stopped
2012-05-23T19:38:40.529Z,1337801920.529 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2012-05-23T19:38:40.529Z,1337801920.529 [Startup:StartupSatComms] Stopped
2012-05-23T19:38:40.529Z,1337801920.529 [Startup:StartupSatComms](INFO): Aggregate::uninitialize Startup:StartupSatComms
2012-05-23T19:38:40.530Z,1337801920.530 [Startup](INFO): Completed Startup
2012-05-23T19:38:40.530Z,1337801920.530 [Startup] Stopped
2012-05-23T19:38:40.530Z,1337801920.530 [Startup](INFO): Aggregate::uninitialize Startup
2012-05-23T19:38:40.530Z,1337801920.530 [Startup:A.GoToSurface] Stopped
2012-05-23T19:38:40.530Z,1337801920.530 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-05-23T19:38:40.945Z,1337801920.945 [MissionManager](IMPORTANT): Started mission Default
2012-05-23T19:38:40.945Z,1337801920.945 [Default] Running Loop=1
2012-05-23T19:38:40.945Z,1337801920.945 [Default](INFO): Aggregate::initialize Default
2012-05-23T19:38:40.945Z,1337801920.945 [Default:D.SetSpeed] Running Loop=1
2012-05-23T19:38:40.945Z,1337801920.945 [Default:D.SetSpeed](DEBUG): Initialize.
2012-05-23T19:38:40.945Z,1337801920.945 [Default:E.GoToSurface] Running Loop=1
2012-05-23T19:38:40.945Z,1337801920.945 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-05-23T19:38:40.946Z,1337801920.946 [Default:Iridium] Running Loop=1
2012-05-23T19:38:40.946Z,1337801920.946 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2012-05-23T19:38:40.946Z,1337801920.946 [Default:Iridium:A.SetSpeed] Running Loop=1
2012-05-23T19:38:40.946Z,1337801920.946 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2012-05-23T19:38:40.946Z,1337801920.946 [Default:Iridium:B.GoToSurface] Running Loop=1
2012-05-23T19:38:40.947Z,1337801920.947 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-05-23T19:38:40.947Z,1337801920.947 [Default:E.GoToSurface] Running Loop=1
2012-05-23T19:38:40.952Z,1337801920.952 [Default:D.SetSpeed] Running Loop=1
2012-05-23T19:38:40.958Z,1337801920.958 [Default:CallIridium] Running Loop=1
2012-05-23T19:38:40.958Z,1337801920.958 [Default:CallIridium](INFO): Aggregate::initialize Default:CallIridium
2012-05-23T19:38:40.958Z,1337801920.958 [Default:CallIridium:A] Running Loop=1
2012-05-23T19:38:40.960Z,1337801920.960 [Default:CallIridium:A] Stopped
2012-05-23T19:38:40.960Z,1337801920.960 [Default:CallIridium:B] Running Loop=1
2012-05-23T19:38:40.960Z,1337801920.960 [Default:CallIridium:B](INFO): Aggregate::initialize Default:CallIridium:B
2012-05-23T19:38:40.966Z,1337801920.966 [Default:Iridium:B.GoToSurface] Stopped
2012-05-23T19:38:40.966Z,1337801920.966 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-05-23T19:38:40.966Z,1337801920.966 [Default:Iridium:Read_Iridium] Running Loop=1
2012-05-23T19:38:40.966Z,1337801920.966 [Default:Iridium:A.SetSpeed] Running Loop=1
2012-05-23T19:38:40.971Z,1337801920.971 [Default:GPS] Running Loop=1
2012-05-23T19:38:40.971Z,1337801920.971 [Default:GPS](INFO): Aggregate::initialize Default:GPS
2012-05-23T19:38:40.971Z,1337801920.971 [Default:GPS:A.SetSpeed] Running Loop=1
2012-05-23T19:38:40.971Z,1337801920.971 [Default:GPS:A.SetSpeed](DEBUG): Initialize.
2012-05-23T19:38:40.971Z,1337801920.971 [Default:GPS:B.GoToSurface] Running Loop=1
2012-05-23T19:38:40.971Z,1337801920.971 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-05-23T19:38:40.977Z,1337801920.977 [Default:GPS:B.GoToSurface] Stopped
2012-05-23T19:38:40.977Z,1337801920.977 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-05-23T19:38:40.977Z,1337801920.977 [Default:GPS:Read_GPS] Running Loop=1
2012-05-23T19:38:40.977Z,1337801920.977 [Default:GPS:A.SetSpeed] Running Loop=1
2012-05-23T19:38:41.329Z,1337801921.329 [Default:Iridium:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2012-05-23T19:38:41.332Z,1337801921.332 [Default:GPS:Read_GPS](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2012-05-23T19:39:11.962Z,1337801951.963 [NAL9601](INFO): SBD MO Status=2, MOMSN=6758, MT Status=2, MTMSN=0
2012-05-23T19:39:11.963Z,1337801951.963 [NAL9601](ERROR): Failed to initiate SBD session. Error code: 2
2012-05-23T19:40:07.578Z,1337802007.578 [NAL9601](INFO): SBD MO Status=2, MOMSN=6758, MT Status=2, MTMSN=0
2012-05-23T19:40:07.578Z,1337802007.578 [NAL9601](ERROR): Failed to initiate SBD session. Error code: 2
2012-05-23T19:40:50.132Z,1337802050.132 [Reporter](INFO): platform_buoyancy_position 950.028189 cc
2012-05-23T19:43:23.923Z,1337802203.923 [CommandLine](IMPORTANT): got command configSet VerticalControl.stopDepthExcursion 3.000000 meter
2012-05-23T19:43:42.307Z,1337802222.307 [CommandLine](IMPORTANT): got command show variable buoyancy
2012-05-23T19:43:42.310Z,1337802222.310 [CommandLine](INFO): platform_buoyancy_position (cubic_centimeter)
2012-05-23T19:43:42.312Z,1337802222.312 [CommandLine](INFO): Config/vehicle.BuoyancyServo_card (none)
2012-05-23T19:43:42.313Z,1337802222.313 [CommandLine](INFO): Config/vehicle.BuoyancyServo_uart (none)
2012-05-23T19:43:42.313Z,1337802222.313 [CommandLine](INFO): Config/vehicle.BuoyancyServo_baud (bit_per_second)
2012-05-23T19:43:42.319Z,1337802222.319 [CommandLine](INFO): Config/Servo.BuoyancyServo_enable (bool)
2012-05-23T19:43:42.319Z,1337802222.319 [CommandLine](INFO): Config/Servo.BuoyancyServo_useHardware (bool)
2012-05-23T19:43:42.320Z,1337802222.320 [CommandLine](INFO): Config/Servo.buoyancyCurrLimit (percent)
2012-05-23T19:43:42.320Z,1337802222.320 [CommandLine](INFO): Config/Servo.buoyancyOvrloadTmout (millisecond)
2012-05-23T19:43:42.320Z,1337802222.320 [CommandLine](INFO): Config/Servo.buoyancyPIDw (count)
2012-05-23T19:43:42.321Z,1337802222.321 [CommandLine](INFO): Config/Servo.buoyancyPIDx (count)
2012-05-23T19:43:42.321Z,1337802222.321 [CommandLine](INFO): Config/Servo.buoyancyPIDy (count)
2012-05-23T19:43:42.321Z,1337802222.321 [CommandLine](INFO): Config/Servo.buoyancyVelocity (none)
2012-05-23T19:43:42.322Z,1337802222.322 [CommandLine](INFO): Config/Servo.buoyancyAccel (none)
2012-05-23T19:43:42.322Z,1337802222.322 [CommandLine](INFO): Config/Servo.buoyancyCountsPerCC (count_per_cubic_centimeter)
2012-05-23T19:43:42.323Z,1337802222.323 [CommandLine](INFO): Config/Servo.buoyancyLimitHi (count)
2012-05-23T19:43:42.323Z,1337802222.323 [CommandLine](INFO): Config/Servo.buoyancyLimitLo (count)
2012-05-23T19:43:42.323Z,1337802222.323 [CommandLine](INFO): Config/Servo.buoyancyDeviation (cubic_centimeter)
2012-05-23T19:43:42.324Z,1337802222.324 [CommandLine](INFO): Config/Servo.buoyancyCheckingTimeout (minute)
2012-05-23T19:43:42.327Z,1337802222.327 [CommandLine](INFO): VerticalControl.buoyancyDefault (cubic_centimeter)
2012-05-23T19:43:42.327Z,1337802222.327 [CommandLine](INFO): VerticalControl.buoyancyLimitHiCC (cubic_centimeter)
2012-05-23T19:43:42.328Z,1337802222.328 [CommandLine](INFO): VerticalControl.buoyancyLimitLoCC (cubic_centimeter)
2012-05-23T19:43:42.328Z,1337802222.328 [CommandLine](INFO): VerticalControl.buoyancyNeutral (cubic_centimeter)
2012-05-23T19:43:42.328Z,1337802222.328 [CommandLine](INFO): VerticalControl.buoyancyPumpDepth (meter)
2012-05-23T19:43:42.332Z,1337802222.332 [CommandLine](INFO): Config/Simulator.initBuoyancyPosition (cubic_centimeter)
2012-05-23T19:43:42.333Z,1337802222.333 [CommandLine](INFO): Config/Simulator.buoyancyNeutralOffset (cubic_centimeter)
2012-05-23T19:43:42.333Z,1337802222.333 [CommandLine](INFO): Config/Simulator.wideHystBuoyancy (cubic_centimeter)
2012-05-23T19:43:42.334Z,1337802222.334 [CommandLine](INFO): Config/Simulator.centerHystBuoyancy (cubic_centimeter)
2012-05-23T19:43:42.334Z,1337802222.334 [CommandLine](INFO): Config/Simulator.speedBuoyancy (cubic_centimeter_per_second)
2012-05-23T19:43:42.337Z,1337802222.337 [CommandLine](INFO): BuoyancyServo.platform_buoyancy_position (cubic_centimeter)
2012-05-23T19:43:42.337Z,1337802222.337 [CommandLine](INFO): VerticalControl.buoyancyAction (cubic_centimeter)
2012-05-23T19:43:42.346Z,1337802222.346 [CommandLine](INFO): BuoyancyServo.durationOfLastRun (second)
2012-05-23T19:43:43.112Z,1337802223.112 [NAL9601](INFO): SBD MO Status=2, MOMSN=6758, MT Status=2, MTMSN=0
2012-05-23T19:43:43.113Z,1337802223.113 [NAL9601](ERROR): Failed to initiate SBD session. Error code: 2
2012-05-23T19:43:57.786Z,1337802237.786 [NAL9601](INFO): SBD MO Status=2, MOMSN=6758, MT Status=2, MTMSN=0
2012-05-23T19:43:57.786Z,1337802237.786 [NAL9601](ERROR): Failed to initiate SBD session. Error code: 2
2012-05-23T19:44:43.447Z,1337802283.447 [NAL9601](INFO): SBD MO Status=2, MOMSN=6758, MT Status=2, MTMSN=0
2012-05-23T19:44:43.447Z,1337802283.447 [NAL9601](ERROR): Failed to initiate SBD session. Error code: 2
2012-05-23T19:45:06.529Z,1337802306.529 [NAL9601](INFO): SBD MO Status=1, MOMSN=6758, MT Status=0, MTMSN=0
2012-05-23T19:45:06.723Z,1337802306.723 [NAL9601](INFO): Sent 332 bytes from file Logs/20120522T222510/shore0000.lzma
2012-05-23T19:45:06.723Z,1337802306.723 [NAL9601](INFO): Packets left to send: 1
2012-05-23T19:45:06.724Z,1337802306.724 [NAL9601](INFO): Stored copy of sent data in Logs/latest/sent0000000
2012-05-23T19:45:09.183Z,1337802309.183 [CommandLine](IMPORTANT): got command configSet VerticalControl.buoyancyNeutral 300.000000 cubic_centimeter
2012-05-23T19:45:43.398Z,1337802343.398 [NAL9601](INFO): SBD MO Status=2, MOMSN=6759, MT Status=2, MTMSN=0
2012-05-23T19:45:43.398Z,1337802343.398 [NAL9601](ERROR): Failed to initiate SBD session. Error code: 2
2012-05-23T19:45:51.772Z,1337802351.772 [Reporter](INFO): platform_buoyancy_position 950.162474 cc
2012-05-23T19:46:05.302Z,1337802365.302 [NAL9601](INFO): SBD MO Status=2, MOMSN=6759, MT Status=2, MTMSN=0
2012-05-23T19:46:05.302Z,1337802365.302 [NAL9601](ERROR): Failed to initiate SBD session. Error code: 2
2012-05-23T19:46:37.790Z,1337802397.790 [NAL9601](INFO): SBD MO Status=1, MOMSN=6759, MT Status=0, MTMSN=0
2012-05-23T19:46:37.979Z,1337802397.979 [NAL9601](INFO): Sent 73 bytes from file Logs/20120522T222510/shore0000.lzma
2012-05-23T19:46:37.979Z,1337802397.979 [NAL9601](INFO): Packets left to send: 0
2012-05-23T19:46:37.980Z,1337802397.980 [NAL9601](INFO): Stored copy of sent data in Logs/latest/sent0000001
2012-05-23T19:46:47.898Z,1337802407.898 [NAL9601](INFO): SBD MO Status=1, MOMSN=6760, MT Status=0, MTMSN=0
2012-05-23T19:46:48.063Z,1337802408.063 [NAL9601](INFO): Sent 332 bytes from file Logs/20120522T222510/shore0001.lzma
2012-05-23T19:46:48.063Z,1337802408.063 [NAL9601](INFO): Packets left to send: 2
2012-05-23T19:46:48.064Z,1337802408.064 [NAL9601](INFO): Stored copy of sent data in Logs/latest/sent0000002
2012-05-23T19:46:57.182Z,1337802417.182 [NAL9601](INFO): SBD MO Status=2, MOMSN=6761, MT Status=2, MTMSN=0
2012-05-23T19:46:57.182Z,1337802417.182 [NAL9601](ERROR): Failed to initiate SBD session. Error code: 2
2012-05-23T19:46:57.980Z,1337802417.980 [NAL9601](FAULT): GPS failed to acquire within timeout.
2012-05-23T19:46:57.980Z,1337802417.980 [NAL9601] Data Fault, FailCount= 1
2012-05-23T19:46:57.980Z,1337802417.980 [NAL9601](ERROR): Data Fault
2012-05-23T19:46:58.002Z,1337802418.001 [CBIT](ERROR): Data Fault in component: NAL9601
2012-05-23T19:46:58.384Z,1337802418.384 [NAL9601](INFO): Powering down
2012-05-23T19:46:58.406Z,1337802418.406 [CBIT](INFO): Clearing failed state for component NAL9601
2012-05-23T19:46:58.407Z,1337802418.407 [NAL9601] No Fault, FailCount= 1
2012-05-23T19:47:03.527Z,1337802423.527 [CommandLine](IMPORTANT): got command load ./Missions/Maintenance/ballast_and_trim.xml
2012-05-23T19:47:03.527Z,1337802423.527 [MissionManager](INFO): Loading Mission: ./Missions/Maintenance/ballast_and_trim.xml
2012-05-23T19:47:03.586Z,1337802423.586 [NAL9601](INFO): Powering up NAL9601
2012-05-23T19:47:03.604Z,1337802423.604 [MissionManager](INFO): DefineArg ballast_and_trim.BallastDepth = 25.000000 m
2012-05-23T19:47:03.611Z,1337802423.611 [MissionManager](INFO): DefineArg ballast_and_trim.HoldDuration = 25.000000 min
2012-05-23T19:47:03.614Z,1337802423.614 [MissionManager](INFO): DefineArg ballast_and_trim.Speed = 1.000000 m/s
2012-05-23T19:47:03.621Z,1337802423.621 [MissionManager](INFO): DefineArg ballast_and_trim.DepthDeadband = 4.000000 m
2012-05-23T19:47:03.628Z,1337802423.628 [MissionManager](INFO): DefineArg ballast_and_trim.BuoyPeriod = 0.400000 s
2012-05-23T19:47:03.636Z,1337802423.636 [MissionManager](INFO): DefineArg ballast_and_trim.BuoyancyDefault = 0.000945 n/a
2012-05-23T19:47:03.651Z,1337802423.651 [ballast_and_trim:D.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2012-05-23T19:47:03.664Z,1337802423.664 [ballast_and_trim:E.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2012-05-23T19:47:03.686Z,1337802423.686 [ballast_and_trim:F.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2012-05-23T19:47:03.698Z,1337802423.698 [MissionManager](INFO): Inserting Stack: Missions/Insert/Surface.xml
2012-05-23T19:47:03.741Z,1337802423.741 [MissionManager](INFO): DefineArg ballast_and_trim:SurfaceComms.SurfaceDepthRate = nan m/s
2012-05-23T19:47:03.748Z,1337802423.749 [MissionManager](INFO): DefineArg ballast_and_trim:SurfaceComms.SurfacePitch = nan arcdeg
2012-05-23T19:47:03.756Z,1337802423.756 [MissionManager](INFO): DefineArg ballast_and_trim:SurfaceComms.SurfaceSpeed = 0.500000 m/s
2012-05-23T19:47:03.764Z,1337802423.764 [MissionManager](INFO): DefineArg ballast_and_trim:SurfaceComms.IridiumTimeout = 30.000000 min
2012-05-23T19:47:03.765Z,1337802423.765 [ballast_and_trim:SurfaceComms:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-05-23T19:47:03.787Z,1337802423.787 [ballast_and_trim:H.SetSpeed](DEBUG): Construct.
2012-05-23T19:47:03.791Z,1337802423.791 [ballast_and_trim:ballast:A.SetSpeed](DEBUG): Construct.
2012-05-23T19:47:03.796Z,1337802423.796 [ballast_and_trim:ballast:C.Pitch](DEBUG): Construct.
2012-05-23T19:47:03.816Z,1337802423.816 [ballast_and_trim:ballast:D.Wait](DEBUG): Construct Wait.
2012-05-23T19:47:03.833Z,1337802423.833 [ballast_and_trim:ballast:ReportPositions:B.Wait](DEBUG): Construct Wait.
2012-05-23T19:47:03.837Z,1337802423.837 [ballast_and_trim:ballast:Float_Up:A.SetSpeed](DEBUG): Construct.
2012-05-23T19:47:03.840Z,1337802423.840 [ballast_and_trim:ballast:Float_Up:B.Buoyancy](DEBUG): Construct Buoyancy.
2012-05-23T19:47:03.856Z,1337802423.856 [ballast_and_trim:ballast:Float_Up:C.Wait](DEBUG): Construct Wait.
2012-05-23T19:47:03.864Z,1337802423.864 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Guidance="Tethys/Guidance" 
       xmlns:Trigger="Tethys/Trigger" 
       xmlns:Units="Tethys/Units"
       xmlns:Universal="Tethys/Universal"
       xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
       xsi:schemaLocation="Tethys http://aosn.mbari.org/tethys/Xml/Tethys.xsd
                           Tethys/Control http://aosn.mbari.org/tethys/Xml/Control.xsd
                           Tethys/Guidance http://aosn.mbari.org/tethys/Xml/Guidance.xsd
                           Tethys/Trigger http://aosn.mbari.org/tethys/Xml/Trigger.xsd
                           Tethys/Units http://aosn.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://aosn.mbari.org/tethys/Xml/Universal.xsd"
       Id="ballast_and_trim">

<!-- The following arguments are input arguments -->

    <DefineArg Name="BallastDepth"><Units:meter/><Value>25.0</Value></DefineArg>

    <DefineArg Name="HoldDuration"><Units:minute/><Value>25</Value></DefineArg>

    <DefineArg Name="Speed"><Units:meter_per_second/><Value>1</Value></DefineArg>

    <DefineArg Name="DepthDeadband"><Units:meter/><Value>4.0</Value></DefineArg>

    <DefineArg Name="BuoyPeriod"><Units:second/><Value>0.4</Value></DefineArg>

    <DefineArg Name="BuoyancyDefault"><Control:VerticalControl.buoyancyDefault/></DefineArg>

<!-- The timeout -->

    <Timeout Duration="P90M"/>

<!-- And now the mission -->

    <Assign RunIn="Parallel"><Control:VerticalControl.kpPitchMass/><Units:count/><Value>0.01</Value></Assign>

    <Assign RunIn="Parallel"><Control:VerticalControl.kiPitchMass/><Units:reciprocal_second/><Value>0.0015</Value></Assign>

    <Assign RunIn="Parallel"><Control:VerticalControl.kdPitchMass/><Units:second/><Value>0</Value></Assign>

    <Guidance:AltitudeEnvelope RunIn="Parallel">
        <Setting><Guidance:AltitudeEnvelope.minAltitude/><Units:meter/><Value>7</Value></Setting>
    </Guidance:AltitudeEnvelope>

    <Guidance:DepthEnvelope RunIn="Parallel">
        <Setting><Guidance:DepthEnvelope.maxDepth/><Units:meter/><Value>52</Value></Setting>
    </Guidance:DepthEnvelope>

    <Guidance:OffshoreEnvelope RunIn="Parallel">
        <Setting><Guidance:OffshoreEnvelope.minOffshore/><Units:kilometer/><Value>2.0</Value></Setting>
        <Setting><Guidance:OffshoreEnvelope.maxOffshore/><Units:kilometer/><Value>30.0</Value></Setting>
    </Guidance:OffshoreEnvelope>

    <Insert Filename="Insert/Surface.xml" Id="SurfaceComms" />

    <Guidance:SetSpeed>
        <While><Universal:platform_propeller_rotation_rate/>
            <Eq><Units:radian_per_second/><Value>0</Value></Eq>
        </While>
        <Setting><Guidance:SetSpeed.period/><Arg Name="BuoyPeriod"/></Setting>
    </Guidance:SetSpeed>

    <Aggregate Id="ballast">

        <Guidance:SetSpeed RunIn="Parallel">
            <Setting><Guidance:SetSpeed.speed/><Units:meter_per_second/><Value>0</Value></Setting>
        </Guidance:SetSpeed>

        <Assign RunIn="Parallel"><Control:VerticalControl.depthDeadband/><Arg Name="DepthDeadband"/></Assign>

        <Guidance:Pitch RunIn="Parallel">
            <Setting><Guidance:Pitch.depth /><Arg Name="BallastDepth" /></Setting>
        </Guidance:Pitch>

        <Guidance:Wait RunIn="Sequence">
            <Setting><Guidance:Wait.duration/><Arg Name="HoldDuration"/></Setting>
        </Guidance:Wait>

        <Aggregate Id="ReportPositions" Repeat="5" >

            <Syslog Severity="Important">
            Buoyancy:<Universal:platform_buoyancy_position/><Units:cubic_centimeter/>
            Mass:<Universal:platform_mass_position/><Units:centimeter/>
            Pitch:<Universal:platform_pitch_angle/><Units:degree/>
            </Syslog>

            <Guidance:Wait RunIn="Sequence">
                <Timeout Duration="P1M"></Timeout>
            </Guidance:Wait>

        </Aggregate>

        <Aggregate Id="Float_Up">

            <Until><Universal:depth/>
                <Lt><Units:meter/><Value>1</Value></Lt>
            </Until>

            <Guidance:SetSpeed RunIn="Parallel">
                <Setting><Guidance:SetSpeed.speed/><Units:meter_per_second/><Value>0</Value></Setting>
            </Guidance:SetSpeed>

            <Guidance:Buoyancy RunIn="Parallel">
                <Setting><Guidance:Buoyancy.position /><Arg Name="BuoyancyDefault"/></Setting>
            </Guidance:Buoyancy>

            <Guidance:Wait RunIn="Sequence">
                <Timeout Duration="P15M"></Timeout>
            </Guidance:Wait>

        </Aggregate>

    </Aggregate>

</Mission>


2012-05-23T19:47:03.864Z,1337802423.864 [CommandLine](IMPORTANT): Loaded ./Missions/Maintenance/ballast_and_trim.xml
2012-05-23T19:48:09.319Z,1337802489.319 [NAL9601](INFO): NAL9601 initialized
2012-05-23T19:48:41.894Z,1337802521.894 [NAL9601](INFO): SBD MO Status=2, MOMSN=6761, MT Status=2, MTMSN=0
2012-05-23T19:48:41.894Z,1337802521.894 [NAL9601](ERROR): Failed to initiate SBD session. Error code: 2
2012-05-23T19:48:44.363Z,1337802524.363 [CommandLine](IMPORTANT): got command set ballast_and_trim.BallastDepth 5.000000 meter
2012-05-23T19:49:10.855Z,1337802550.855 [CommandLine](IMPORTANT): got command set ballast_and_trim.HoldDuration 10.000000 minute
2012-05-23T19:49:24.243Z,1337802564.243 [CommandLine](IMPORTANT): got command set ballast_and_trim.Speed 0.000000
2012-05-23T19:49:24.243Z,1337802564.243 [CommandLine](FAULT): Incomplete syntax. Try: help set
2012-05-23T19:49:35.067Z,1337802575.067 [CommandLine](IMPORTANT): got command set ballast_and_trim.Speed 0.000000 meter_per_second
2012-05-23T19:49:50.695Z,1337802590.695 [CommandLine](IMPORTANT): got command set ballast_and_trim.DepthDeadband 1.000000 meter
2012-05-23T19:49:52.699Z,1337802592.699 [CommandLine](IMPORTANT): got command run
2012-05-23T19:49:52.699Z,1337802592.699 [CommandLine](IMPORTANT): Running 
2012-05-23T19:49:53.094Z,1337802593.094 [Default] Stopped
2012-05-23T19:49:53.094Z,1337802593.094 [Default](INFO): Aggregate::uninitialize Default
2012-05-23T19:49:53.094Z,1337802593.094 [Default:GPS] Stopped
2012-05-23T19:49:53.094Z,1337802593.094 [Default:GPS](INFO): Aggregate::uninitialize Default:GPS
2012-05-23T19:49:53.094Z,1337802593.094 [Default:GPS:A.SetSpeed] Stopped
2012-05-23T19:49:53.094Z,1337802593.094 [Default:GPS:A.SetSpeed](DEBUG): Uninitialize.
2012-05-23T19:49:53.094Z,1337802593.095 [Default:GPS:Read_GPS] Stopped
2012-05-23T19:49:53.094Z,1337802593.095 [Default:Iridium] Stopped
2012-05-23T19:49:53.095Z,1337802593.095 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2012-05-23T19:49:53.095Z,1337802593.095 [Default:Iridium:A.SetSpeed] Stopped
2012-05-23T19:49:53.095Z,1337802593.095 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2012-05-23T19:49:53.095Z,1337802593.095 [Default:Iridium:Read_Iridium] Stopped
2012-05-23T19:49:53.095Z,1337802593.095 [Default:CallIridium] Stopped
2012-05-23T19:49:53.095Z,1337802593.095 [Default:CallIridium](INFO): Aggregate::uninitialize Default:CallIridium
2012-05-23T19:49:53.095Z,1337802593.095 [Default:CallIridium:B] Stopped
2012-05-23T19:49:53.095Z,1337802593.095 [Default:CallIridium:B](INFO): Aggregate::uninitialize Default:CallIridium:B
2012-05-23T19:49:53.095Z,1337802593.095 [Default:D.SetSpeed] Stopped
2012-05-23T19:49:53.095Z,1337802593.095 [Default:D.SetSpeed](DEBUG): Uninitialize.
2012-05-23T19:49:53.095Z,1337802593.095 [Default:E.GoToSurface] Stopped
2012-05-23T19:49:53.095Z,1337802593.095 [Default:E.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-05-23T19:49:53.096Z,1337802593.096 [MissionManager](IMPORTANT): Started mission ballast_and_trim
2012-05-23T19:49:53.096Z,1337802593.096 [ballast_and_trim] Running Loop=1
2012-05-23T19:49:53.096Z,1337802593.096 [ballast_and_trim](INFO): Aggregate::initialize ballast_and_trim
2012-05-23T19:49:53.096Z,1337802593.096 [ballast_and_trim:A] Running Loop=1
2012-05-23T19:49:53.096Z,1337802593.096 [ballast_and_trim:B] Running Loop=1
2012-05-23T19:49:53.096Z,1337802593.096 [ballast_and_trim:C] Running Loop=1
2012-05-23T19:49:53.096Z,1337802593.096 [ballast_and_trim:D.AltitudeEnvelope] Running Loop=1
2012-05-23T19:49:53.096Z,1337802593.096 [ballast_and_trim:D.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2012-05-23T19:49:53.096Z,1337802593.096 [ballast_and_trim:E.DepthEnvelope] Running Loop=1
2012-05-23T19:49:53.096Z,1337802593.096 [ballast_and_trim:E.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2012-05-23T19:49:53.097Z,1337802593.097 [ballast_and_trim:F.OffshoreEnvelope] Running Loop=1
2012-05-23T19:49:53.097Z,1337802593.097 [ballast_and_trim:F.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2012-05-23T19:49:53.097Z,1337802593.098 [ballast_and_trim:H.SetSpeed] Running Loop=1
2012-05-23T19:49:53.098Z,1337802593.098 [ballast_and_trim:H.SetSpeed](DEBUG): Initialize.
2012-05-23T19:49:53.098Z,1337802593.098 [ballast_and_trim:SurfaceComms] Running Loop=1
2012-05-23T19:49:53.098Z,1337802593.098 [ballast_and_trim:SurfaceComms](INFO): Aggregate::initialize ballast_and_trim:SurfaceComms
2012-05-23T19:49:53.098Z,1337802593.098 [ballast_and_trim:SurfaceComms:A.GoToSurface] Running Loop=1
2012-05-23T19:49:53.098Z,1337802593.098 [ballast_and_trim:SurfaceComms:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-05-23T19:49:53.099Z,1337802593.099 [ballast_and_trim:H.SetSpeed] Running Loop=1
2012-05-23T19:49:53.108Z,1337802593.108 [ballast_and_trim:SurfaceComms:B] Running Loop=1
2012-05-23T19:49:53.108Z,1337802593.108 [ballast_and_trim:SurfaceComms:B](INFO): Aggregate::initialize ballast_and_trim:SurfaceComms:B
2012-05-23T19:49:53.108Z,1337802593.109 [ballast_and_trim:SurfaceComms:B:A] Running Loop=1
2012-05-23T19:49:53.109Z,1337802593.109 [ballast_and_trim:F.OffshoreEnvelope] Running Loop=1
2012-05-23T19:49:53.109Z,1337802593.109 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:49:53.113Z,1337802593.113 [ballast_and_trim:E.DepthEnvelope] Running Loop=1
2012-05-23T19:49:53.118Z,1337802593.118 [ballast_and_trim:D.AltitudeEnvelope] Running Loop=1
2012-05-23T19:49:53.122Z,1337802593.122 [ballast_and_trim:C] Running Loop=1
2012-05-23T19:49:53.124Z,1337802593.124 [ballast_and_trim:B] Running Loop=1
2012-05-23T19:49:53.125Z,1337802593.125 [ballast_and_trim:A] Running Loop=1
2012-05-23T19:49:53.515Z,1337802593.515 [ballast_and_trim:H.SetSpeed] Preempted
2012-05-23T19:49:53.515Z,1337802593.515 [ballast_and_trim:SurfaceComms:B:A](DEBUG): Initialize ReadDataComponent to sense time_fix
2012-05-23T19:49:53.517Z,1337802593.517 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:49:53.877Z,1337802593.877 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:49:54.285Z,1337802594.285 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:49:54.673Z,1337802594.672 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:49:55.084Z,1337802595.084 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:49:55.488Z,1337802595.488 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:49:55.885Z,1337802595.885 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:49:56.298Z,1337802596.298 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:49:56.692Z,1337802596.692 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:49:57.077Z,1337802597.077 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:49:57.484Z,1337802597.484 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:49:57.877Z,1337802597.877 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:49:58.320Z,1337802598.320 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:49:58.677Z,1337802598.677 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:49:59.083Z,1337802599.083 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:49:59.500Z,1337802599.500 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:49:59.884Z,1337802599.884 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:00.278Z,1337802600.278 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:00.684Z,1337802600.684 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:01.072Z,1337802601.072 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:01.487Z,1337802601.487 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:01.873Z,1337802601.872 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:02.285Z,1337802602.284 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:02.695Z,1337802602.695 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:03.084Z,1337802603.084 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:03.515Z,1337802603.515 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:03.884Z,1337802603.884 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:04.278Z,1337802604.278 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:04.684Z,1337802604.684 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:05.077Z,1337802605.077 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:05.488Z,1337802605.488 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:05.897Z,1337802605.897 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:06.288Z,1337802606.288 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:06.673Z,1337802606.672 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:07.084Z,1337802607.084 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:07.480Z,1337802607.480 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:07.885Z,1337802607.885 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:08.313Z,1337802608.313 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:08.684Z,1337802608.684 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:09.079Z,1337802609.079 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:09.506Z,1337802609.506 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:09.877Z,1337802609.877 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:10.285Z,1337802610.285 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:10.677Z,1337802610.677 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:11.088Z,1337802611.088 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:11.480Z,1337802611.480 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:11.931Z,1337802611.931 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:12.330Z,1337802612.330 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:12.754Z,1337802612.754 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:13.129Z,1337802613.129 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:13.571Z,1337802613.571 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:13.924Z,1337802613.924 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:14.336Z,1337802614.336 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:14.729Z,1337802614.729 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:15.136Z,1337802615.136 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:15.530Z,1337802615.530 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:15.953Z,1337802615.953 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:16.324Z,1337802616.325 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:16.736Z,1337802616.736 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:17.129Z,1337802617.129 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:17.537Z,1337802617.537 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:17.929Z,1337802617.929 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:18.337Z,1337802618.337 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:18.765Z,1337802618.765 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:19.157Z,1337802619.157 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:19.534Z,1337802619.534 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:19.936Z,1337802619.936 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:20.329Z,1337802620.329 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:20.736Z,1337802620.736 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:21.124Z,1337802621.124 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:21.537Z,1337802621.537 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:21.929Z,1337802621.929 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:22.336Z,1337802622.336 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:22.747Z,1337802622.747 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:23.140Z,1337802623.140 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:23.530Z,1337802623.530 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:23.971Z,1337802623.971 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:24.330Z,1337802624.330 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:24.736Z,1337802624.736 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:25.129Z,1337802625.129 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:25.541Z,1337802625.541 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:25.947Z,1337802625.947 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:26.336Z,1337802626.336 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:26.729Z,1337802626.729 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:27.136Z,1337802627.136 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:27.530Z,1337802627.530 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:27.937Z,1337802627.937 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:28.330Z,1337802628.330 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:28.772Z,1337802628.772 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:29.149Z,1337802629.149 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:29.537Z,1337802629.537 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:29.929Z,1337802629.929 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:30.337Z,1337802630.337 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:30.724Z,1337802630.724 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:31.136Z,1337802631.136 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:31.530Z,1337802631.530 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:31.937Z,1337802631.937 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:32.347Z,1337802632.348 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:32.736Z,1337802632.736 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:33.129Z,1337802633.129 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:33.537Z,1337802633.537 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:33.964Z,1337802633.964 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:34.337Z,1337802634.337 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:34.729Z,1337802634.728 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:35.136Z,1337802635.136 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:35.530Z,1337802635.530 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:35.954Z,1337802635.954 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:36.330Z,1337802636.330 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:36.736Z,1337802636.736 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:37.129Z,1337802637.129 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:37.541Z,1337802637.541 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:37.925Z,1337802637.925 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:38.337Z,1337802638.337 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:38.767Z,1337802638.767 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:39.157Z,1337802639.157 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:39.524Z,1337802639.524 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:39.936Z,1337802639.936 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:40.330Z,1337802640.330 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:40.736Z,1337802640.736 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:41.129Z,1337802641.129 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:41.537Z,1337802641.537 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:41.929Z,1337802641.929 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:42.354Z,1337802642.354 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:42.724Z,1337802642.724 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:43.140Z,1337802643.139 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:43.535Z,1337802643.534 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:43.972Z,1337802643.972 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:44.324Z,1337802644.324 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:44.736Z,1337802644.736 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:45.129Z,1337802645.129 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:45.555Z,1337802645.555 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:45.929Z,1337802645.929 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:46.337Z,1337802646.337 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:46.729Z,1337802646.728 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:47.136Z,1337802647.136 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:47.530Z,1337802647.530 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:47.931Z,1337802647.931 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:48.330Z,1337802648.330 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:48.755Z,1337802648.755 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:49.167Z,1337802649.167 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:49.537Z,1337802649.537 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:49.924Z,1337802649.924 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:50.336Z,1337802650.336 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:50.729Z,1337802650.729 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:51.137Z,1337802651.136 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:51.530Z,1337802651.530 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:51.936Z,1337802651.936 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:52.348Z,1337802652.348 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:52.736Z,1337802652.736 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:53.129Z,1337802653.129 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:53.187Z,1337802653.187 [Reporter](INFO): platform_buoyancy_position 950.296759 cc
2012-05-23T19:50:53.541Z,1337802653.541 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:53.929Z,1337802653.929 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:54.371Z,1337802654.371 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:54.724Z,1337802654.724 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:55.136Z,1337802655.136 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:55.547Z,1337802655.547 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:55.936Z,1337802655.936 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:56.329Z,1337802656.329 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:56.736Z,1337802656.736 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:57.124Z,1337802657.124 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:57.537Z,1337802657.537 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:57.929Z,1337802657.929 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:58.337Z,1337802658.337 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:58.751Z,1337802658.751 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:59.173Z,1337802659.173 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:59.530Z,1337802659.530 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:50:59.940Z,1337802659.940 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:00.330Z,1337802660.330 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:00.736Z,1337802660.736 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:01.129Z,1337802661.129 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:01.537Z,1337802661.537 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:01.947Z,1337802661.947 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:02.336Z,1337802662.336 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:02.729Z,1337802662.729 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:03.136Z,1337802663.136 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:03.530Z,1337802663.530 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:04.008Z,1337802664.008 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:04.440Z,1337802664.440 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:04.815Z,1337802664.815 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:05.223Z,1337802665.223 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:05.613Z,1337802665.614 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:06.005Z,1337802666.005 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:06.413Z,1337802666.413 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:06.805Z,1337802666.805 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:07.212Z,1337802667.212 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:07.606Z,1337802667.606 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:08.013Z,1337802668.013 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:08.424Z,1337802668.424 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:08.815Z,1337802668.815 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:09.205Z,1337802669.205 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:09.647Z,1337802669.647 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:10.005Z,1337802670.005 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:10.413Z,1337802670.413 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:10.804Z,1337802670.805 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:11.213Z,1337802671.213 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:11.624Z,1337802671.624 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:12.012Z,1337802672.012 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:12.406Z,1337802672.406 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:12.815Z,1337802672.815 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:13.205Z,1337802673.205 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:13.613Z,1337802673.613 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:14.005Z,1337802674.005 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:14.449Z,1337802674.449 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:14.805Z,1337802674.805 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:15.230Z,1337802675.230 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:15.606Z,1337802675.606 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:16.012Z,1337802676.012 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:16.406Z,1337802676.406 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:16.815Z,1337802676.815 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:17.209Z,1337802677.209 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:17.614Z,1337802677.614 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:18.005Z,1337802678.005 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:18.430Z,1337802678.430 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:18.805Z,1337802678.805 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:19.213Z,1337802679.213 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:19.639Z,1337802679.639 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:20.013Z,1337802680.013 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:20.405Z,1337802680.405 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:20.815Z,1337802680.815 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:21.205Z,1337802681.205 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:21.613Z,1337802681.613 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:22.022Z,1337802682.022 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:22.417Z,1337802682.417 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:22.804Z,1337802682.804 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:23.208Z,1337802683.208 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:23.606Z,1337802683.606 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:24.007Z,1337802684.007 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:24.401Z,1337802684.401 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:24.852Z,1337802684.852 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:25.223Z,1337802685.223 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:25.613Z,1337802685.614 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:26.005Z,1337802686.005 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:26.416Z,1337802686.416 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:26.805Z,1337802686.805 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:27.212Z,1337802687.212 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:27.610Z,1337802687.610 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:28.013Z,1337802688.013 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:28.424Z,1337802688.424 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:28.814Z,1337802688.815 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:29.205Z,1337802689.205 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:29.613Z,1337802689.613 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:30.040Z,1337802690.040 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:30.412Z,1337802690.412 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:30.805Z,1337802690.805 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:31.212Z,1337802691.212 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:31.623Z,1337802691.623 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:32.012Z,1337802692.012 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:32.405Z,1337802692.405 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:32.813Z,1337802692.813 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:33.205Z,1337802693.205 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:33.613Z,1337802693.613 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:34.005Z,1337802694.005 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:34.413Z,1337802694.413 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:34.865Z,1337802694.865 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:34.883Z,1337802694.883 [CommandLine](IMPORTANT): got command report mod platform_buoyancy_position
2012-05-23T19:51:35.264Z,1337802695.264 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:35.663Z,1337802695.662 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:36.069Z,1337802696.069 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:36.462Z,1337802696.462 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:36.869Z,1337802696.869 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:37.262Z,1337802697.262 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:37.674Z,1337802697.674 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:38.080Z,1337802698.080 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:38.469Z,1337802698.469 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:38.866Z,1337802698.866 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:39.269Z,1337802699.269 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:39.663Z,1337802699.663 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:40.102Z,1337802700.102 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:40.460Z,1337802700.460 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:40.868Z,1337802700.868 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:41.262Z,1337802701.262 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:41.688Z,1337802701.688 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:42.062Z,1337802702.062 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:42.469Z,1337802702.469 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:42.862Z,1337802702.862 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:43.269Z,1337802703.269 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:43.663Z,1337802703.663 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:44.077Z,1337802704.077 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:44.462Z,1337802704.462 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:44.924Z,1337802704.924 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:45.262Z,1337802705.262 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:45.670Z,1337802705.670 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:46.062Z,1337802706.062 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:46.470Z,1337802706.470 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:46.856Z,1337802706.856 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:47.269Z,1337802707.269 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:47.663Z,1337802707.663 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:48.087Z,1337802708.087 [ballast_and_trim:F.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-05-23T19:51:48.427Z,1337802708.427 [CommandLine](IMPORTANT): got command run ./Missions/Default.xml
2012-05-23T19:51:48.427Z,1337802708.427 [ballast_and_trim] Stopped
2012-05-23T19:51:48.427Z,1337802708.427 [ballast_and_trim](INFO): Aggregate::uninitialize ballast_and_trim
2012-05-23T19:51:48.427Z,1337802708.427 [ballast_and_trim:A] Stopped
2012-05-23T19:51:48.427Z,1337802708.427 [ballast_and_trim:B] Stopped
2012-05-23T19:51:48.427Z,1337802708.427 [ballast_and_trim:C] Stopped
2012-05-23T19:51:48.427Z,1337802708.427 [ballast_and_trim:D.AltitudeEnvelope] Stopped
2012-05-23T19:51:48.427Z,1337802708.427 [ballast_and_trim:D.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2012-05-23T19:51:48.427Z,1337802708.427 [ballast_and_trim:E.DepthEnvelope] Stopped
2012-05-23T19:51:48.428Z,1337802708.428 [ballast_and_trim:E.DepthEnvelope](DEBUG): Uninitialize.
2012-05-23T19:51:48.428Z,1337802708.428 [ballast_and_trim:F.OffshoreEnvelope] Stopped
2012-05-23T19:51:48.428Z,1337802708.428 [ballast_and_trim:F.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2012-05-23T19:51:48.428Z,1337802708.428 [ballast_and_trim:SurfaceComms] Stopped
2012-05-23T19:51:48.428Z,1337802708.428 [ballast_and_trim:SurfaceComms](INFO): Aggregate::uninitialize ballast_and_trim:SurfaceComms
2012-05-23T19:51:48.428Z,1337802708.428 [ballast_and_trim:SurfaceComms:A.GoToSurface] Stopped
2012-05-23T19:51:48.428Z,1337802708.428 [ballast_and_trim:SurfaceComms:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-05-23T19:51:48.428Z,1337802708.428 [ballast_and_trim:SurfaceComms:B] Stopped
2012-05-23T19:51:48.428Z,1337802708.428 [ballast_and_trim:SurfaceComms:B](INFO): Aggregate::uninitialize ballast_and_trim:SurfaceComms:B
2012-05-23T19:51:48.428Z,1337802708.428 [ballast_and_trim:SurfaceComms:B:A] Stopped
2012-05-23T19:51:48.428Z,1337802708.428 [ballast_and_trim:H.SetSpeed] Stopped
2012-05-23T19:51:48.428Z,1337802708.428 [ballast_and_trim:H.SetSpeed](DEBUG): Uninitialize.
2012-05-23T19:51:48.439Z,1337802708.439 [MissionManager](INFO): Loading Mission: ./Missions/Default.xml
2012-05-23T19:51:48.510Z,1337802708.510 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2012-05-23T19:51:48.512Z,1337802708.512 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2012-05-23T19:51:48.515Z,1337802708.514 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-05-23T19:51:48.520Z,1337802708.520 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2012-05-23T19:51:48.522Z,1337802708.522 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-05-23T19:51:48.538Z,1337802708.538 [Default:Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2012-05-23T19:51:48.545Z,1337802708.545 [Default:D.SetSpeed](DEBUG): Construct.
2012-05-23T19:51:48.556Z,1337802708.556 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2012-05-23T19:51:48.559Z,1337802708.559 [Default:F.Wait](DEBUG): Construct Wait.
2012-05-23T19:51:48.563Z,1337802708.563 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
xmlns:Control="Tethys/Control"
xmlns:Guidance="Tethys/Guidance" 
xmlns:Units="Tethys/Units"
xmlns:Universal="Tethys/Universal"
xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
xsi:schemaLocation="Tethys http://aosn.mbari.org/tethys/Xml/Tethys.xsd
Tethys/Control http://aosn.mbari.org/tethys/Xml/Control.xsd
Tethys/Guidance http://aosn.mbari.org/tethys/Xml/Guidance.xsd
Tethys/Units http://aosn.mbari.org/tethys/Xml/Units.xsd
Tethys/Universal http://aosn.mbari.org/tethys/Xml/Universal.xsd"
Id="Default">

    <DefineArg Name="NeedGPS"><True/></DefineArg>

    <Aggregate Id="GPS" >

        <When><Arg Name="NeedGPS"/>
        </When>

<!-- Run at high speed -->

        <Guidance:SetSpeed RunIn="Parallel">
            <Setting><Guidance:SetSpeed.period/><Units:millisecond/><Value>400</Value></Setting>
        </Guidance:SetSpeed>

<!-- Get to the surface -->

        <Guidance:GoToSurface RunIn="Sequence"/>

<!-- Get GPS fix -->

        <ReadDatum Id="Read_GPS"><Universal:latitude_fix/>
        </ReadDatum>

        <Assign><Arg Name="NeedGPS"/><False/></Assign>

    </Aggregate>

    <Aggregate Id="Iridium" >

<!-- Run at high speed -->

        <Guidance:SetSpeed RunIn="Parallel">
            <Setting><Guidance:SetSpeed.period/><Units:millisecond/><Value>400</Value></Setting>
        </Guidance:SetSpeed>

<!-- Get to the surface -->

        <Guidance:GoToSurface RunIn="Sequence"/>

<!-- Do data comms -->

        <ReadDatum Id="Read_Iridium">
            <Timeout Duration="P2H">
                <Guidance:Execute RunIn="Sequence">
                    <Setting>
                    <Guidance:Execute.command/><String>Burn 300</String></Setting>
                </Guidance:Execute>
                <Syslog Severity="Critical">Dropped drop weight due to communications timeout</Syslog>
            </Timeout><Universal:platform_communications/>
        </ReadDatum>

    </Aggregate>

    <Aggregate Id="CallIridium" >

        <When>
            <Elapsed><Universal:platform_communications/></Elapsed>
            <Gt><Units:minute/><Value>5.0</Value></Gt>
            <And><Universal:platform_conversation/><Eq><True/></Eq></And>
            <Or>
            <Elapsed><Universal:platform_communications/></Elapsed><Gt><Units:hour/><Value>1.0</Value></Gt></Or>
        </When>

        <Assign><Arg Name="NeedGPS"/><True/></Assign>

        <Call RefId="Iridium"/>

    </Aggregate>

<!-- Wait forever at the surface-->

<!-- Run at low speed -->

    <Guidance:SetSpeed RunIn="Parallel">
        <Setting><Guidance:SetSpeed.period/><Units:second/><Value>5</Value></Setting>
    </Guidance:SetSpeed>

    <Guidance:GoToSurface RunIn="Parallel"/>

    <Guidance:Wait RunIn="Sequence"></Guidance:Wait>

</Mission>


2012-05-23T19:51:48.563Z,1337802708.563 [CommandLine](IMPORTANT): Running ./Missions/Default.xml
2012-05-23T19:51:48.868Z,1337802708.868 [MissionManager](IMPORTANT): Started mission Default
2012-05-23T19:51:48.868Z,1337802708.868 [Default] Running Loop=1
2012-05-23T19:51:48.869Z,1337802708.869 [Default](INFO): Aggregate::initialize Default
2012-05-23T19:51:48.869Z,1337802708.869 [Default:D.SetSpeed] Running Loop=1
2012-05-23T19:51:48.869Z,1337802708.869 [Default:D.SetSpeed](DEBUG): Initialize.
2012-05-23T19:51:48.869Z,1337802708.869 [Default:E.GoToSurface] Running Loop=1
2012-05-23T19:51:48.869Z,1337802708.869 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-05-23T19:51:48.869Z,1337802708.869 [Default:Iridium] Running Loop=1
2012-05-23T19:51:48.870Z,1337802708.870 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2012-05-23T19:51:48.870Z,1337802708.870 [Default:Iridium:A.SetSpeed] Running Loop=1
2012-05-23T19:51:48.870Z,1337802708.870 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2012-05-23T19:51:48.870Z,1337802708.870 [Default:Iridium:B.GoToSurface] Running Loop=1
2012-05-23T19:51:48.870Z,1337802708.870 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-05-23T19:51:48.871Z,1337802708.871 [Default:E.GoToSurface] Running Loop=1
2012-05-23T19:51:48.872Z,1337802708.872 [Default:D.SetSpeed] Running Loop=1
2012-05-23T19:51:48.873Z,1337802708.873 [Default:CallIridium] Running Loop=1
2012-05-23T19:51:48.873Z,1337802708.873 [Default:CallIridium](INFO): Aggregate::initialize Default:CallIridium
2012-05-23T19:51:48.873Z,1337802708.873 [Default:CallIridium:A] Running Loop=1
2012-05-23T19:51:48.874Z,1337802708.874 [Default:CallIridium:A] Stopped
2012-05-23T19:51:48.874Z,1337802708.874 [Default:CallIridium:B] Running Loop=1
2012-05-23T19:51:48.874Z,1337802708.875 [Default:CallIridium:B](INFO): Aggregate::initialize Default:CallIridium:B
2012-05-23T19:51:48.876Z,1337802708.876 [Default:Iridium:B.GoToSurface] Stopped
2012-05-23T19:51:48.876Z,1337802708.876 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-05-23T19:51:48.876Z,1337802708.876 [Default:Iridium:Read_Iridium] Running Loop=1
2012-05-23T19:51:48.876Z,1337802708.876 [Default:Iridium:A.SetSpeed] Running Loop=1
2012-05-23T19:51:48.877Z,1337802708.877 [Default:GPS] Running Loop=1
2012-05-23T19:51:48.877Z,1337802708.877 [Default:GPS](INFO): Aggregate::initialize Default:GPS
2012-05-23T19:51:48.877Z,1337802708.877 [Default:GPS:A.SetSpeed] Running Loop=1
2012-05-23T19:51:48.877Z,1337802708.877 [Default:GPS:A.SetSpeed](DEBUG): Initialize.
2012-05-23T19:51:48.877Z,1337802708.877 [Default:GPS:B.GoToSurface] Running Loop=1
2012-05-23T19:51:48.877Z,1337802708.878 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-05-23T19:51:48.879Z,1337802708.879 [Default:GPS:B.GoToSurface] Stopped
2012-05-23T19:51:48.879Z,1337802708.879 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-05-23T19:51:48.879Z,1337802708.879 [Default:GPS:Read_GPS] Running Loop=1
2012-05-23T19:51:48.879Z,1337802708.879 [Default:GPS:A.SetSpeed] Running Loop=1
2012-05-23T19:51:49.263Z,1337802709.263 [Default:Iridium:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2012-05-23T19:51:49.264Z,1337802709.264 [Default:GPS:Read_GPS](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2012-05-23T19:53:18.273Z,1337802798.273 [NAL9601](INFO): SBD MO Status=2, MOMSN=6761, MT Status=2, MTMSN=0
2012-05-23T19:53:18.273Z,1337802798.273 [NAL9601](ERROR): Failed to initiate SBD session. Error code: 2
2012-05-23T19:53:30.142Z,1337802810.142 [NAL9601](INFO): SBD MO Status=2, MOMSN=6761, MT Status=2, MTMSN=0
2012-05-23T19:53:30.142Z,1337802810.142 [NAL9601](ERROR): Failed to initiate SBD session. Error code: 2
2012-05-23T19:53:54.586Z,1337802834.586 [NAL9601](INFO): SBD MO Status=2, MOMSN=6761, MT Status=2, MTMSN=0
2012-05-23T19:53:54.586Z,1337802834.586 [NAL9601](ERROR): Failed to initiate SBD session. Error code: 2
2012-05-23T19:54:20.446Z,1337802860.446 [NAL9601](INFO): SBD MO Status=2, MOMSN=6761, MT Status=2, MTMSN=0
2012-05-23T19:54:20.446Z,1337802860.446 [NAL9601](ERROR): Failed to initiate SBD session. Error code: 2
2012-05-23T19:54:59.254Z,1337802899.254 [NAL9601](INFO): SBD MO Status=2, MOMSN=6761, MT Status=2, MTMSN=0
2012-05-23T19:54:59.254Z,1337802899.254 [NAL9601](ERROR): Failed to initiate SBD session. Error code: 2
2012-05-23T19:55:54.684Z,1337802954.684 [Reporter](INFO): platform_buoyancy_position 950.028189 cc
2012-05-23T19:56:00.613Z,1337802960.613 [NAL9601](INFO): SBD MO Status=2, MOMSN=6761, MT Status=2, MTMSN=0
2012-05-23T19:56:00.613Z,1337802960.613 [NAL9601](ERROR): Failed to initiate SBD session. Error code: 2
2012-05-23T19:56:26.480Z,1337802986.480 [NAL9601](INFO): SBD MO Status=2, MOMSN=6761, MT Status=2, MTMSN=0
2012-05-23T19:56:26.480Z,1337802986.480 [NAL9601](ERROR): Failed to initiate SBD session. Error code: 2
2012-05-23T19:56:53.234Z,1337803013.234 [NAL9601](INFO): SBD MO Status=2, MOMSN=6761, MT Status=2, MTMSN=0
2012-05-23T19:56:53.234Z,1337803013.234 [NAL9601](ERROR): Failed to initiate SBD session. Error code: 2
2012-05-23T19:57:27.832Z,1337803047.832 [NAL9601](IMPORTANT): GPS fix at: 1337804920.00
2012-05-23T19:57:27.846Z,1337803047.846 [Default:GPS:Read_GPS] Stopped
2012-05-23T19:57:27.846Z,1337803047.846 [Default:GPS:D] Running Loop=1
2012-05-23T19:57:27.883Z,1337803047.883 [CommandLine](IMPORTANT): got command load ./Missions/Maintenance/ballast_and_trim.xml
2012-05-23T19:57:27.883Z,1337803047.883 [Default] Stopped
2012-05-23T19:57:27.883Z,1337803047.883 [Default](INFO): Aggregate::uninitialize Default
2012-05-23T19:57:27.883Z,1337803047.883 [Default:GPS] Stopped
2012-05-23T19:57:27.883Z,1337803047.883 [Default:GPS](INFO): Aggregate::uninitialize Default:GPS
2012-05-23T19:57:27.883Z,1337803047.883 [Default:GPS:A.SetSpeed] Stopped
2012-05-23T19:57:27.883Z,1337803047.883 [Default:GPS:A.SetSpeed](DEBUG): Uninitialize.
2012-05-23T19:57:27.883Z,1337803047.884 [Default:GPS:D] Stopped
2012-05-23T19:57:27.883Z,1337803047.884 [Default:Iridium] Stopped
2012-05-23T19:57:27.884Z,1337803047.884 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2012-05-23T19:57:27.884Z,1337803047.884 [Default:Iridium:A.SetSpeed] Stopped
2012-05-23T19:57:27.884Z,1337803047.884 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2012-05-23T19:57:27.884Z,1337803047.884 [Default:Iridium:Read_Iridium] Stopped
2012-05-23T19:57:27.884Z,1337803047.884 [Default:CallIridium] Stopped
2012-05-23T19:57:27.884Z,1337803047.884 [Default:CallIridium](INFO): Aggregate::uninitialize Default:CallIridium
2012-05-23T19:57:27.884Z,1337803047.884 [Default:CallIridium:B] Stopped
2012-05-23T19:57:27.884Z,1337803047.884 [Default:CallIridium:B](INFO): Aggregate::uninitialize Default:CallIridium:B
2012-05-23T19:57:27.884Z,1337803047.884 [Default:D.SetSpeed] Stopped
2012-05-23T19:57:27.884Z,1337803047.884 [Default:D.SetSpeed](DEBUG): Uninitialize.
2012-05-23T19:57:27.885Z,1337803047.885 [Default:E.GoToSurface] Stopped
2012-05-23T19:57:27.885Z,1337803047.885 [Default:E.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-05-23T19:57:27.888Z,1337803047.888 [MissionManager](INFO): Loading Mission: ./Missions/Maintenance/ballast_and_trim.xml
2012-05-23T19:57:27.971Z,1337803047.971 [MissionManager](INFO): DefineArg ballast_and_trim.BallastDepth = 25.000000 m
2012-05-23T19:57:27.973Z,1337803047.973 [MissionManager](INFO): DefineArg ballast_and_trim.HoldDuration = 25.000000 min
2012-05-23T19:57:27.979Z,1337803047.979 [MissionManager](INFO): DefineArg ballast_and_trim.Speed = 1.000000 m/s
2012-05-23T19:57:27.981Z,1337803047.981 [MissionManager](INFO): DefineArg ballast_and_trim.DepthDeadband = 4.000000 m
2012-05-23T19:57:27.988Z,1337803047.988 [MissionManager](INFO): DefineArg ballast_and_trim.BuoyPeriod = 0.400000 s
2012-05-23T19:57:27.994Z,1337803047.994 [MissionManager](INFO): DefineArg ballast_and_trim.BuoyancyDefault = 0.000945 n/a
2012-05-23T19:57:28.004Z,1337803048.004 [ballast_and_trim:D.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2012-05-23T19:57:28.013Z,1337803048.013 [ballast_and_trim:E.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2012-05-23T19:57:28.019Z,1337803048.019 [ballast_and_trim:F.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2012-05-23T19:57:28.024Z,1337803048.024 [MissionManager](INFO): Inserting Stack: Missions/Insert/Surface.xml
2012-05-23T19:57:28.040Z,1337803048.040 [MissionManager](INFO): DefineArg ballast_and_trim:SurfaceComms.SurfaceDepthRate = nan m/s
2012-05-23T19:57:28.042Z,1337803048.042 [MissionManager](INFO): DefineArg ballast_and_trim:SurfaceComms.SurfacePitch = nan arcdeg
2012-05-23T19:57:28.044Z,1337803048.044 [MissionManager](INFO): DefineArg ballast_and_trim:SurfaceComms.SurfaceSpeed = 0.500000 m/s
2012-05-23T19:57:28.047Z,1337803048.047 [MissionManager](INFO): DefineArg ballast_and_trim:SurfaceComms.IridiumTimeout = 30.000000 min
2012-05-23T19:57:28.048Z,1337803048.048 [ballast_and_trim:SurfaceComms:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-05-23T19:57:28.056Z,1337803048.056 [ballast_and_trim:H.SetSpeed](DEBUG): Construct.
2012-05-23T19:57:28.059Z,1337803048.059 [ballast_and_trim:ballast:A.SetSpeed](DEBUG): Construct.
2012-05-23T19:57:28.063Z,1337803048.063 [ballast_and_trim:ballast:C.Pitch](DEBUG): Construct.
2012-05-23T19:57:28.066Z,1337803048.066 [ballast_and_trim:ballast:D.Wait](DEBUG): Construct Wait.
2012-05-23T19:57:28.071Z,1337803048.071 [ballast_and_trim:ballast:ReportPositions:B.Wait](DEBUG): Construct Wait.
2012-05-23T19:57:28.074Z,1337803048.074 [ballast_and_trim:ballast:Float_Up:A.SetSpeed](DEBUG): Construct.
2012-05-23T19:57:28.076Z,1337803048.076 [ballast_and_trim:ballast:Float_Up:B.Buoyancy](DEBUG): Construct Buoyancy.
2012-05-23T19:57:28.078Z,1337803048.078 [ballast_and_trim:ballast:Float_Up:C.Wait](DEBUG): Construct Wait.
2012-05-23T19:57:28.086Z,1337803048.086 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Guidance="Tethys/Guidance" 
       xmlns:Trigger="Tethys/Trigger" 
       xmlns:Units="Tethys/Units"
       xmlns:Universal="Tethys/Universal"
       xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
       xsi:schemaLocation="Tethys http://aosn.mbari.org/tethys/Xml/Tethys.xsd
                           Tethys/Control http://aosn.mbari.org/tethys/Xml/Control.xsd
                           Tethys/Guidance http://aosn.mbari.org/tethys/Xml/Guidance.xsd
                           Tethys/Trigger http://aosn.mbari.org/tethys/Xml/Trigger.xsd
                           Tethys/Units http://aosn.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://aosn.mbari.org/tethys/Xml/Universal.xsd"
       Id="ballast_and_trim">

<!-- The following arguments are input arguments -->

    <DefineArg Name="BallastDepth"><Units:meter/><Value>25.0</Value></DefineArg>

    <DefineArg Name="HoldDuration"><Units:minute/><Value>25</Value></DefineArg>

    <DefineArg Name="Speed"><Units:meter_per_second/><Value>1</Value></DefineArg>

    <DefineArg Name="DepthDeadband"><Units:meter/><Value>4.0</Value></DefineArg>

    <DefineArg Name="BuoyPeriod"><Units:second/><Value>0.4</Value></DefineArg>

    <DefineArg Name="BuoyancyDefault"><Control:VerticalControl.buoyancyDefault/></DefineArg>

<!-- The timeout -->

    <Timeout Duration="P90M"/>

<!-- And now the mission -->

    <Assign RunIn="Parallel"><Control:VerticalControl.kpPitchMass/><Units:count/><Value>0.01</Value></Assign>

    <Assign RunIn="Parallel"><Control:VerticalControl.kiPitchMass/><Units:reciprocal_second/><Value>0.0015</Value></Assign>

    <Assign RunIn="Parallel"><Control:VerticalControl.kdPitchMass/><Units:second/><Value>0</Value></Assign>

    <Guidance:AltitudeEnvelope RunIn="Parallel">
        <Setting><Guidance:AltitudeEnvelope.minAltitude/><Units:meter/><Value>7</Value></Setting>
    </Guidance:AltitudeEnvelope>

    <Guidance:DepthEnvelope RunIn="Parallel">
        <Setting><Guidance:DepthEnvelope.maxDepth/><Units:meter/><Value>52</Value></Setting>
    </Guidance:DepthEnvelope>

    <Guidance:OffshoreEnvelope RunIn="Parallel">
        <Setting><Guidance:OffshoreEnvelope.minOffshore/><Units:kilometer/><Value>2.0</Value></Setting>
        <Setting><Guidance:OffshoreEnvelope.maxOffshore/><Units:kilometer/><Value>30.0</Value></Setting>
    </Guidance:OffshoreEnvelope>

    <Insert Filename="Insert/Surface.xml" Id="SurfaceComms" />

    <Guidance:SetSpeed>
        <While><Universal:platform_propeller_rotation_rate/>
            <Eq><Units:radian_per_second/><Value>0</Value></Eq>
        </While>
        <Setting><Guidance:SetSpeed.period/><Arg Name="BuoyPeriod"/></Setting>
    </Guidance:SetSpeed>

    <Aggregate Id="ballast">

        <Guidance:SetSpeed RunIn="Parallel">
            <Setting><Guidance:SetSpeed.speed/><Units:meter_per_second/><Value>0</Value></Setting>
        </Guidance:SetSpeed>

        <Assign RunIn="Parallel"><Control:VerticalControl.depthDeadband/><Arg Name="DepthDeadband"/></Assign>

        <Guidance:Pitch RunIn="Parallel">
            <Setting><Guidance:Pitch.depth /><Arg Name="BallastDepth" /></Setting>
        </Guidance:Pitch>

        <Guidance:Wait RunIn="Sequence">
            <Setting><Guidance:Wait.duration/><Arg Name="HoldDuration"/></Setting>
        </Guidance:Wait>

        <Aggregate Id="ReportPositions" Repeat="5" >

            <Syslog Severity="Important">
            Buoyancy:<Universal:platform_buoyancy_position/><Units:cubic_centimeter/>
            Mass:<Universal:platform_mass_position/><Units:centimeter/>
            Pitch:<Universal:platform_pitch_angle/><Units:degree/>
            </Syslog>

            <Guidance:Wait RunIn="Sequence">
                <Timeout Duration="P1M"></Timeout>
            </Guidance:Wait>

        </Aggregate>

        <Aggregate Id="Float_Up">

            <Until><Universal:depth/>
                <Lt><Units:meter/><Value>1</Value></Lt>
            </Until>

            <Guidance:SetSpeed RunIn="Parallel">
                <Setting><Guidance:SetSpeed.speed/><Units:meter_per_second/><Value>0</Value></Setting>
            </Guidance:SetSpeed>

            <Guidance:Buoyancy RunIn="Parallel">
                <Setting><Guidance:Buoyancy.position /><Arg Name="BuoyancyDefault"/></Setting>
            </Guidance:Buoyancy>

            <Guidance:Wait RunIn="Sequence">
                <Timeout Duration="P15M"></Timeout>
            </Guidance:Wait>

        </Aggregate>

    </Aggregate>

</Mission>


2012-05-23T19:57:28.086Z,1337803048.086 [CommandLine](IMPORTANT): Loaded ./Missions/Maintenance/ballast_and_trim.xml
2012-05-23T19:57:28.240Z,1337803048.240 [MissionManager](IMPORTANT): Started mission Default
2012-05-23T19:57:28.240Z,1337803048.240 [Default] Running Loop=1
2012-05-23T19:57:28.240Z,1337803048.240 [Default](INFO): Aggregate::initialize Default
2012-05-23T19:57:28.240Z,1337803048.240 [Default:D.SetSpeed] Running Loop=1
2012-05-23T19:57:28.241Z,1337803048.240 [Default:D.SetSpeed](DEBUG): Initialize.
2012-05-23T19:57:28.241Z,1337803048.241 [Default:E.GoToSurface] Running Loop=1
2012-05-23T19:57:28.241Z,1337803048.241 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-05-23T19:57:28.241Z,1337803048.241 [Default:Iridium] Running Loop=1
2012-05-23T19:57:28.241Z,1337803048.241 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2012-05-23T19:57:28.241Z,1337803048.241 [Default:Iridium:A.SetSpeed] Running Loop=1
2012-05-23T19:57:28.241Z,1337803048.241 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2012-05-23T19:57:28.242Z,1337803048.242 [Default:Iridium:B.GoToSurface] Running Loop=1
2012-05-23T19:57:28.242Z,1337803048.242 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-05-23T19:57:28.243Z,1337803048.243 [Default:CallIridium] Running Loop=1
2012-05-23T19:57:28.243Z,1337803048.243 [Default:CallIridium](INFO): Aggregate::initialize Default:CallIridium
2012-05-23T19:57:28.244Z,1337803048.244 [Default:CallIridium:A] Running Loop=1
2012-05-23T19:57:28.244Z,1337803048.244 [Default:CallIridium:A] Stopped
2012-05-23T19:57:28.244Z,1337803048.244 [Default:CallIridium:B] Running Loop=1
2012-05-23T19:57:28.244Z,1337803048.244 [Default:CallIridium:B](INFO): Aggregate::initialize Default:CallIridium:B
2012-05-23T19:57:28.245Z,1337803048.245 [Default:Iridium:B.GoToSurface] Stopped
2012-05-23T19:57:28.245Z,1337803048.245 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-05-23T19:57:28.245Z,1337803048.245 [Default:Iridium:Read_Iridium] Running Loop=1
2012-05-23T19:57:28.246Z,1337803048.246 [Default:GPS] Running Loop=1
2012-05-23T19:57:28.246Z,1337803048.246 [Default:GPS](INFO): Aggregate::initialize Default:GPS
2012-05-23T19:57:28.246Z,1337803048.246 [Default:GPS:A.SetSpeed] Running Loop=1
2012-05-23T19:57:28.246Z,1337803048.246 [Default:GPS:A.SetSpeed](DEBUG): Initialize.
2012-05-23T19:57:28.246Z,1337803048.246 [Default:GPS:B.GoToSurface] Running Loop=1
2012-05-23T19:57:28.246Z,1337803048.246 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-05-23T19:57:28.247Z,1337803048.247 [Default:GPS:B.GoToSurface] Stopped
2012-05-23T19:57:28.247Z,1337803048.247 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-05-23T19:57:28.248Z,1337803048.248 [Default:GPS:Read_GPS] Running Loop=1
2012-05-23T19:57:29.835Z,1337803049.835 [NAL9601](IMPORTANT): GPS fix at: 1337804922.00
2012-05-23T19:57:29.849Z,1337803049.849 [Default:GPS:Read_GPS] Stopped
2012-05-23T19:57:29.849Z,1337803049.849 [Default:GPS:D] Running Loop=1
2012-05-23T19:57:30.279Z,1337803050.279 [Default:GPS:D] Stopped
2012-05-23T19:57:30.280Z,1337803050.280 [Default:GPS](INFO): Completed Default:GPS
2012-05-23T19:57:30.280Z,1337803050.280 [Default:GPS] Stopped
2012-05-23T19:57:30.280Z,1337803050.280 [Default:GPS](INFO): Aggregate::uninitialize Default:GPS
2012-05-23T19:57:30.280Z,1337803050.280 [Default:GPS:A.SetSpeed] Stopped
2012-05-23T19:57:30.280Z,1337803050.280 [Default:GPS:A.SetSpeed](DEBUG): Uninitialize.
2012-05-23T19:57:34.883Z,1337803054.883 [CommandLine](IMPORTANT): got command set ballast_and_trim.BallastDepth 5.000000 meter
2012-05-23T19:57:39.227Z,1337803059.227 [CommandLine](IMPORTANT): got command set ballast_and_trim.HoldDuration 10.000000 minute
2012-05-23T19:57:43.351Z,1337803063.351 [CommandLine](IMPORTANT): got command set ballast_and_trim.Speed 0.000000
2012-05-23T19:57:43.351Z,1337803063.351 [CommandLine](FAULT): Incomplete syntax. Try: help set
2012-05-23T19:57:48.031Z,1337803068.031 [CommandLine](IMPORTANT): got command set ballast_and_trim.Speed 0.000000 meter_per_second
2012-05-23T19:57:52.851Z,1337803072.851 [CommandLine](IMPORTANT): got command set ballast_and_trim.DepthDeadband 1.000000 meter
2012-05-23T19:57:57.591Z,1337803077.591 [CommandLine](IMPORTANT): got command run
2012-05-23T19:57:57.591Z,1337803077.591 [CommandLine](IMPORTANT): Running 
2012-05-23T19:57:58.210Z,1337803078.210 [Default] Stopped
2012-05-23T19:57:58.210Z,1337803078.210 [Default](INFO): Aggregate::uninitialize Default
2012-05-23T19:57:58.210Z,1337803078.210 [Default:Iridium] Stopped
2012-05-23T19:57:58.210Z,1337803078.210 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2012-05-23T19:57:58.210Z,1337803078.210 [Default:Iridium:A.SetSpeed] Stopped
2012-05-23T19:57:58.210Z,1337803078.210 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2012-05-23T19:57:58.210Z,1337803078.210 [Default:Iridium:Read_Iridium] Stopped
2012-05-23T19:57:58.210Z,1337803078.210 [Default:CallIridium] Stopped
2012-05-23T19:57:58.211Z,1337803078.211 [Default:CallIridium](INFO): Aggregate::uninitialize Default:CallIridium
2012-05-23T19:57:58.211Z,1337803078.211 [Default:CallIridium:B] Stopped
2012-05-23T19:57:58.211Z,1337803078.211 [Default:CallIridium:B](INFO): Aggregate::uninitialize Default:CallIridium:B
2012-05-23T19:57:58.211Z,1337803078.211 [Default:D.SetSpeed] Stopped
2012-05-23T19:57:58.211Z,1337803078.211 [Default:D.SetSpeed](DEBUG): Uninitialize.
2012-05-23T19:57:58.211Z,1337803078.211 [Default:E.GoToSurface] Stopped
2012-05-23T19:57:58.211Z,1337803078.211 [Default:E.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-05-23T19:57:58.211Z,1337803078.211 [MissionManager](IMPORTANT): Started mission ballast_and_trim
2012-05-23T19:57:58.211Z,1337803078.211 [ballast_and_trim] Running Loop=1
2012-05-23T19:57:58.211Z,1337803078.211 [ballast_and_trim](INFO): Aggregate::initialize ballast_and_trim
2012-05-23T19:57:58.212Z,1337803078.211 [ballast_and_trim:A] Running Loop=1
2012-05-23T19:57:58.212Z,1337803078.211 [ballast_and_trim:B] Running Loop=1
2012-05-23T19:57:58.212Z,1337803078.212 [ballast_and_trim:C] Running Loop=1
2012-05-23T19:57:58.212Z,1337803078.212 [ballast_and_trim:D.AltitudeEnvelope] Running Loop=1
2012-05-23T19:57:58.212Z,1337803078.212 [ballast_and_trim:D.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2012-05-23T19:57:58.212Z,1337803078.212 [ballast_and_trim:E.DepthEnvelope] Running Loop=1
2012-05-23T19:57:58.212Z,1337803078.212 [ballast_and_trim:E.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2012-05-23T19:57:58.213Z,1337803078.213 [ballast_and_trim:F.OffshoreEnvelope] Running Loop=1
2012-05-23T19:57:58.213Z,1337803078.213 [ballast_and_trim:F.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2012-05-23T19:57:58.213Z,1337803078.213 [ballast_and_trim:H.SetSpeed] Running Loop=1
2012-05-23T19:57:58.213Z,1337803078.213 [ballast_and_trim:H.SetSpeed](DEBUG): Initialize.
2012-05-23T19:57:58.213Z,1337803078.213 [ballast_and_trim:SurfaceComms] Running Loop=1
2012-05-23T19:57:58.213Z,1337803078.213 [ballast_and_trim:SurfaceComms](INFO): Aggregate::initialize ballast_and_trim:SurfaceComms
2012-05-23T19:57:58.213Z,1337803078.213 [ballast_and_trim:SurfaceComms:A.GoToSurface] Running Loop=1
2012-05-23T19:57:58.213Z,1337803078.213 [ballast_and_trim:SurfaceComms:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-05-23T19:57:58.214Z,1337803078.214 [ballast_and_trim:H.SetSpeed] Running Loop=1
2012-05-23T19:57:58.216Z,1337803078.216 [ballast_and_trim:SurfaceComms:B] Running Loop=1
2012-05-23T19:57:58.216Z,1337803078.216 [ballast_and_trim:SurfaceComms:B](INFO): Aggregate::initialize ballast_and_trim:SurfaceComms:B
2012-05-23T19:57:58.216Z,1337803078.217 [ballast_and_trim:SurfaceComms:B:A] Running Loop=1
2012-05-23T19:57:58.217Z,1337803078.217 [ballast_and_trim:F.OffshoreEnvelope] Running Loop=1
2012-05-23T19:57:58.238Z,1337803078.238 [ballast_and_trim:E.DepthEnvelope] Running Loop=1
2012-05-23T19:57:58.239Z,1337803078.239 [ballast_and_trim:D.AltitudeEnvelope] Running Loop=1
2012-05-23T19:57:58.240Z,1337803078.240 [ballast_and_trim:C] Running Loop=1
2012-05-23T19:57:58.241Z,1337803078.241 [ballast_and_trim:B] Running Loop=1
2012-05-23T19:57:58.242Z,1337803078.242 [ballast_and_trim:A] Running Loop=1
2012-05-23T19:57:58.772Z,1337803078.772 [ballast_and_trim:H.SetSpeed] Preempted
2012-05-23T19:57:58.773Z,1337803078.773 [ballast_and_trim:SurfaceComms:B:A](DEBUG): Initialize ReadDataComponent to sense time_fix
2012-05-23T19:57:59.911Z,1337803079.911 [NAL9601](IMPORTANT): GPS fix at: 1337804953.00
2012-05-23T19:57:59.933Z,1337803079.933 [ballast_and_trim:SurfaceComms:B:A] Stopped
2012-05-23T19:57:59.933Z,1337803079.933 [ballast_and_trim:SurfaceComms:B:B] Running Loop=1
2012-05-23T19:58:00.398Z,1337803080.398 [ballast_and_trim:SurfaceComms:B:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2012-05-23T19:58:15.415Z,1337803095.415 [CommandLine](IMPORTANT): got command report mod platform_buoyancy_position
2012-05-23T20:00:33.455Z,1337803233.455 [CommandLine](IMPORTANT): got command run ./Missions/Default.xml
2012-05-23T20:00:33.455Z,1337803233.455 [ballast_and_trim] Stopped
2012-05-23T20:00:33.455Z,1337803233.455 [ballast_and_trim](INFO): Aggregate::uninitialize ballast_and_trim
2012-05-23T20:00:33.455Z,1337803233.455 [ballast_and_trim:A] Stopped
2012-05-23T20:00:33.455Z,1337803233.455 [ballast_and_trim:B] Stopped
2012-05-23T20:00:33.455Z,1337803233.455 [ballast_and_trim:C] Stopped
2012-05-23T20:00:33.455Z,1337803233.455 [ballast_and_trim:D.AltitudeEnvelope] Stopped
2012-05-23T20:00:33.455Z,1337803233.455 [ballast_and_trim:D.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2012-05-23T20:00:33.455Z,1337803233.455 [ballast_and_trim:E.DepthEnvelope] Stopped
2012-05-23T20:00:33.455Z,1337803233.455 [ballast_and_trim:E.DepthEnvelope](DEBUG): Uninitialize.
2012-05-23T20:00:33.456Z,1337803233.455 [ballast_and_trim:F.OffshoreEnvelope] Stopped
2012-05-23T20:00:33.456Z,1337803233.455 [ballast_and_trim:F.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2012-05-23T20:00:33.456Z,1337803233.456 [ballast_and_trim:SurfaceComms] Stopped
2012-05-23T20:00:33.456Z,1337803233.456 [ballast_and_trim:SurfaceComms](INFO): Aggregate::uninitialize ballast_and_trim:SurfaceComms
2012-05-23T20:00:33.456Z,1337803233.456 [ballast_and_trim:SurfaceComms:A.GoToSurface] Stopped
2012-05-23T20:00:33.456Z,1337803233.456 [ballast_and_trim:SurfaceComms:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-05-23T20:00:33.456Z,1337803233.456 [ballast_and_trim:SurfaceComms:B] Stopped
2012-05-23T20:00:33.456Z,1337803233.456 [ballast_and_trim:SurfaceComms:B](INFO): Aggregate::uninitialize ballast_and_trim:SurfaceComms:B
2012-05-23T20:00:33.456Z,1337803233.456 [ballast_and_trim:SurfaceComms:B:B] Stopped
2012-05-23T20:00:33.456Z,1337803233.456 [ballast_and_trim:H.SetSpeed] Stopped
2012-05-23T20:00:33.456Z,1337803233.456 [ballast_and_trim:H.SetSpeed](DEBUG): Uninitialize.
2012-05-23T20:00:33.464Z,1337803233.464 [MissionManager](INFO): Loading Mission: ./Missions/Default.xml
2012-05-23T20:00:33.495Z,1337803233.495 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2012-05-23T20:00:33.497Z,1337803233.497 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2012-05-23T20:00:33.500Z,1337803233.500 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-05-23T20:00:33.505Z,1337803233.505 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2012-05-23T20:00:33.508Z,1337803233.508 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-05-23T20:00:33.512Z,1337803233.512 [Default:Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2012-05-23T20:00:33.520Z,1337803233.520 [Default:D.SetSpeed](DEBUG): Construct.
2012-05-23T20:00:33.522Z,1337803233.522 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2012-05-23T20:00:33.525Z,1337803233.525 [Default:F.Wait](DEBUG): Construct Wait.
2012-05-23T20:00:33.529Z,1337803233.529 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
xmlns:Control="Tethys/Control"
xmlns:Guidance="Tethys/Guidance" 
xmlns:Units="Tethys/Units"
xmlns:Universal="Tethys/Universal"
xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
xsi:schemaLocation="Tethys http://aosn.mbari.org/tethys/Xml/Tethys.xsd
Tethys/Control http://aosn.mbari.org/tethys/Xml/Control.xsd
Tethys/Guidance http://aosn.mbari.org/tethys/Xml/Guidance.xsd
Tethys/Units http://aosn.mbari.org/tethys/Xml/Units.xsd
Tethys/Universal http://aosn.mbari.org/tethys/Xml/Universal.xsd"
Id="Default">

    <DefineArg Name="NeedGPS"><True/></DefineArg>

    <Aggregate Id="GPS" >

        <When><Arg Name="NeedGPS"/>
        </When>

<!-- Run at high speed -->

        <Guidance:SetSpeed RunIn="Parallel">
            <Setting><Guidance:SetSpeed.period/><Units:millisecond/><Value>400</Value></Setting>
        </Guidance:SetSpeed>

<!-- Get to the surface -->

        <Guidance:GoToSurface RunIn="Sequence"/>

<!-- Get GPS fix -->

        <ReadDatum Id="Read_GPS"><Universal:latitude_fix/>
        </ReadDatum>

        <Assign><Arg Name="NeedGPS"/><False/></Assign>

    </Aggregate>

    <Aggregate Id="Iridium" >

<!-- Run at high speed -->

        <Guidance:SetSpeed RunIn="Parallel">
            <Setting><Guidance:SetSpeed.period/><Units:millisecond/><Value>400</Value></Setting>
        </Guidance:SetSpeed>

<!-- Get to the surface -->

        <Guidance:GoToSurface RunIn="Sequence"/>

<!-- Do data comms -->

        <ReadDatum Id="Read_Iridium">
            <Timeout Duration="P2H">
                <Guidance:Execute RunIn="Sequence">
                    <Setting>
                    <Guidance:Execute.command/><String>Burn 300</String></Setting>
                </Guidance:Execute>
                <Syslog Severity="Critical">Dropped drop weight due to communications timeout</Syslog>
            </Timeout><Universal:platform_communications/>
        </ReadDatum>

    </Aggregate>

    <Aggregate Id="CallIridium" >

        <When>
            <Elapsed><Universal:platform_communications/></Elapsed>
            <Gt><Units:minute/><Value>5.0</Value></Gt>
            <And><Universal:platform_conversation/><Eq><True/></Eq></And>
            <Or>
            <Elapsed><Universal:platform_communications/></Elapsed><Gt><Units:hour/><Value>1.0</Value></Gt></Or>
        </When>

        <Assign><Arg Name="NeedGPS"/><True/></Assign>

        <Call RefId="Iridium"/>

    </Aggregate>

<!-- Wait forever at the surface-->

<!-- Run at low speed -->

    <Guidance:SetSpeed RunIn="Parallel">
        <Setting><Guidance:SetSpeed.period/><Units:second/><Value>5</Value></Setting>
    </Guidance:SetSpeed>

    <Guidance:GoToSurface RunIn="Parallel"/>

    <Guidance:Wait RunIn="Sequence"></Guidance:Wait>

</Mission>


2012-05-23T20:00:33.530Z,1337803233.530 [CommandLine](IMPORTANT): Running ./Missions/Default.xml
2012-05-23T20:00:33.595Z,1337803233.595 [MissionManager](IMPORTANT): Started mission Default
2012-05-23T20:00:33.595Z,1337803233.595 [Default] Running Loop=1
2012-05-23T20:00:33.595Z,1337803233.595 [Default](INFO): Aggregate::initialize Default
2012-05-23T20:00:33.595Z,1337803233.595 [Default:D.SetSpeed] Running Loop=1
2012-05-23T20:00:33.596Z,1337803233.596 [Default:D.SetSpeed](DEBUG): Initialize.
2012-05-23T20:00:33.596Z,1337803233.596 [Default:E.GoToSurface] Running Loop=1
2012-05-23T20:00:33.596Z,1337803233.596 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-05-23T20:00:33.596Z,1337803233.596 [Default:Iridium] Running Loop=1
2012-05-23T20:00:33.596Z,1337803233.596 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2012-05-23T20:00:33.596Z,1337803233.596 [Default:Iridium:A.SetSpeed] Running Loop=1
2012-05-23T20:00:33.596Z,1337803233.596 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2012-05-23T20:00:33.597Z,1337803233.597 [Default:Iridium:B.GoToSurface] Running Loop=1
2012-05-23T20:00:33.597Z,1337803233.597 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-05-23T20:00:33.597Z,1337803233.597 [Default:E.GoToSurface] Running Loop=1
2012-05-23T20:00:33.599Z,1337803233.599 [Default:D.SetSpeed] Running Loop=1
2012-05-23T20:00:33.600Z,1337803233.599 [Default:CallIridium] Running Loop=1
2012-05-23T20:00:33.600Z,1337803233.600 [Default:CallIridium](INFO): Aggregate::initialize Default:CallIridium
2012-05-23T20:00:33.600Z,1337803233.600 [Default:CallIridium:A] Running Loop=1
2012-05-23T20:00:33.601Z,1337803233.601 [Default:CallIridium:A] Stopped
2012-05-23T20:00:33.601Z,1337803233.601 [Default:CallIridium:B] Running Loop=1
2012-05-23T20:00:33.601Z,1337803233.601 [Default:CallIridium:B](INFO): Aggregate::initialize Default:CallIridium:B
2012-05-23T20:00:33.602Z,1337803233.602 [Default:Iridium:B.GoToSurface] Stopped
2012-05-23T20:00:33.602Z,1337803233.602 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-05-23T20:00:33.602Z,1337803233.602 [Default:Iridium:Read_Iridium] Running Loop=1
2012-05-23T20:00:33.603Z,1337803233.602 [Default:Iridium:A.SetSpeed] Running Loop=1
2012-05-23T20:00:33.603Z,1337803233.603 [Default:GPS] Running Loop=1
2012-05-23T20:00:33.604Z,1337803233.603 [Default:GPS](INFO): Aggregate::initialize Default:GPS
2012-05-23T20:00:33.604Z,1337803233.603 [Default:GPS:A.SetSpeed] Running Loop=1
2012-05-23T20:00:33.604Z,1337803233.604 [Default:GPS:A.SetSpeed](DEBUG): Initialize.
2012-05-23T20:00:33.604Z,1337803233.604 [Default:GPS:B.GoToSurface] Running Loop=1
2012-05-23T20:00:33.604Z,1337803233.604 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-05-23T20:00:33.605Z,1337803233.605 [Default:GPS:B.GoToSurface] Stopped
2012-05-23T20:00:33.605Z,1337803233.605 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-05-23T20:00:33.606Z,1337803233.606 [Default:GPS:Read_GPS] Running Loop=1
2012-05-23T20:00:33.606Z,1337803233.606 [Default:GPS:A.SetSpeed] Running Loop=1
2012-05-23T20:00:33.862Z,1337803233.862 [Default:Iridium:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2012-05-23T20:00:33.863Z,1337803233.863 [Default:GPS:Read_GPS](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2012-05-23T20:00:35.028Z,1337803235.028 [NAL9601](IMPORTANT): GPS fix at: 1337805108.00
2012-05-23T20:00:35.043Z,1337803235.043 [Default:GPS:Read_GPS] Stopped
2012-05-23T20:00:35.043Z,1337803235.043 [Default:GPS:D] Running Loop=1
2012-05-23T20:00:35.419Z,1337803235.419 [Default:GPS:D] Stopped
2012-05-23T20:00:35.419Z,1337803235.419 [Default:GPS](INFO): Completed Default:GPS
2012-05-23T20:00:35.419Z,1337803235.420 [Default:GPS] Stopped
2012-05-23T20:00:35.420Z,1337803235.420 [Default:GPS](INFO): Aggregate::uninitialize Default:GPS
2012-05-23T20:00:35.420Z,1337803235.420 [Default:GPS:A.SetSpeed] Stopped
2012-05-23T20:00:35.420Z,1337803235.420 [Default:GPS:A.SetSpeed](DEBUG): Uninitialize.
2012-05-23T20:00:43.907Z,1337803243.907 [CommandLine](IMPORTANT): got command maintain clear
2012-05-23T20:00:49.499Z,1337803249.499 [CommandLine](IMPORTANT): got command report clear
2012-05-23T20:01:06.911Z,1337803266.911 [CommandLine](IMPORTANT): got command report mod platform_buoyancy_position
2012-05-23T20:01:07.040Z,1337803267.040 [Reporter](INFO): platform_buoyancy_position 950.162474 cc
2012-05-23T20:01:07.781Z,1337803267.782 [NAL9601](INFO): SBD MO Status=2, MOMSN=6761, MT Status=2, MTMSN=0
2012-05-23T20:01:07.782Z,1337803267.782 [NAL9601](ERROR): Failed to initiate SBD session. Error code: 2
2012-05-23T20:01:49.853Z,1337803309.853 [NAL9601](INFO): SBD MO Status=2, MOMSN=6761, MT Status=2, MTMSN=0
2012-05-23T20:01:49.853Z,1337803309.853 [NAL9601](ERROR): Failed to initiate SBD session. Error code: 2
2012-05-23T20:02:14.671Z,1337803334.671 [CommandLine](IMPORTANT): got command load ./Missions/Maintenance/ballast_and_trim.xml
2012-05-23T20:02:14.671Z,1337803334.671 [Default] Stopped
2012-05-23T20:02:14.671Z,1337803334.671 [Default](INFO): Aggregate::uninitialize Default
2012-05-23T20:02:14.671Z,1337803334.671 [Default:Iridium] Stopped
2012-05-23T20:02:14.671Z,1337803334.671 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2012-05-23T20:02:14.671Z,1337803334.671 [Default:Iridium:A.SetSpeed] Stopped
2012-05-23T20:02:14.671Z,1337803334.671 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2012-05-23T20:02:14.671Z,1337803334.671 [Default:Iridium:Read_Iridium] Stopped
2012-05-23T20:02:14.671Z,1337803334.671 [Default:CallIridium] Stopped
2012-05-23T20:02:14.672Z,1337803334.672 [Default:CallIridium](INFO): Aggregate::uninitialize Default:CallIridium
2012-05-23T20:02:14.672Z,1337803334.672 [Default:CallIridium:B] Stopped
2012-05-23T20:02:14.672Z,1337803334.672 [Default:CallIridium:B](INFO): Aggregate::uninitialize Default:CallIridium:B
2012-05-23T20:02:14.672Z,1337803334.672 [Default:D.SetSpeed] Stopped
2012-05-23T20:02:14.672Z,1337803334.672 [Default:D.SetSpeed](DEBUG): Uninitialize.
2012-05-23T20:02:14.672Z,1337803334.672 [Default:E.GoToSurface] Stopped
2012-05-23T20:02:14.672Z,1337803334.672 [Default:E.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-05-23T20:02:14.675Z,1337803334.675 [MissionManager](INFO): Loading Mission: ./Missions/Maintenance/ballast_and_trim.xml
2012-05-23T20:02:14.716Z,1337803334.717 [MissionManager](INFO): DefineArg ballast_and_trim.BallastDepth = 25.000000 m
2012-05-23T20:02:14.719Z,1337803334.719 [MissionManager](INFO): DefineArg ballast_and_trim.HoldDuration = 25.000000 min
2012-05-23T20:02:14.721Z,1337803334.721 [MissionManager](INFO): DefineArg ballast_and_trim.Speed = 1.000000 m/s
2012-05-23T20:02:14.723Z,1337803334.723 [MissionManager](INFO): DefineArg ballast_and_trim.DepthDeadband = 4.000000 m
2012-05-23T20:02:14.725Z,1337803334.725 [MissionManager](INFO): DefineArg ballast_and_trim.BuoyPeriod = 0.400000 s
2012-05-23T20:02:14.728Z,1337803334.728 [MissionManager](INFO): DefineArg ballast_and_trim.BuoyancyDefault = 0.000945 n/a
2012-05-23T20:02:14.734Z,1337803334.734 [ballast_and_trim:D.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2012-05-23T20:02:14.739Z,1337803334.739 [ballast_and_trim:E.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2012-05-23T20:02:14.745Z,1337803334.745 [ballast_and_trim:F.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2012-05-23T20:02:14.750Z,1337803334.750 [MissionManager](INFO): Inserting Stack: Missions/Insert/Surface.xml
2012-05-23T20:02:14.768Z,1337803334.768 [MissionManager](INFO): DefineArg ballast_and_trim:SurfaceComms.SurfaceDepthRate = nan m/s
2012-05-23T20:02:14.770Z,1337803334.770 [MissionManager](INFO): DefineArg ballast_and_trim:SurfaceComms.SurfacePitch = nan arcdeg
2012-05-23T20:02:14.772Z,1337803334.772 [MissionManager](INFO): DefineArg ballast_and_trim:SurfaceComms.SurfaceSpeed = 0.500000 m/s
2012-05-23T20:02:14.775Z,1337803334.775 [MissionManager](INFO): DefineArg ballast_and_trim:SurfaceComms.IridiumTimeout = 30.000000 min
2012-05-23T20:02:14.775Z,1337803334.776 [ballast_and_trim:SurfaceComms:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-05-23T20:02:14.783Z,1337803334.783 [ballast_and_trim:H.SetSpeed](DEBUG): Construct.
2012-05-23T20:02:14.787Z,1337803334.787 [ballast_and_trim:ballast:A.SetSpeed](DEBUG): Construct.
2012-05-23T20:02:14.790Z,1337803334.790 [ballast_and_trim:ballast:C.Pitch](DEBUG): Construct.
2012-05-23T20:02:14.794Z,1337803334.794 [ballast_and_trim:ballast:D.Wait](DEBUG): Construct Wait.
2012-05-23T20:02:14.799Z,1337803334.799 [ballast_and_trim:ballast:ReportPositions:B.Wait](DEBUG): Construct Wait.
2012-05-23T20:02:14.802Z,1337803334.802 [ballast_and_trim:ballast:Float_Up:A.SetSpeed](DEBUG): Construct.
2012-05-23T20:02:14.804Z,1337803334.804 [ballast_and_trim:ballast:Float_Up:B.Buoyancy](DEBUG): Construct Buoyancy.
2012-05-23T20:02:14.809Z,1337803334.809 [ballast_and_trim:ballast:Float_Up:C.Wait](DEBUG): Construct Wait.
2012-05-23T20:02:14.817Z,1337803334.817 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Guidance="Tethys/Guidance" 
       xmlns:Trigger="Tethys/Trigger" 
       xmlns:Units="Tethys/Units"
       xmlns:Universal="Tethys/Universal"
       xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
       xsi:schemaLocation="Tethys http://aosn.mbari.org/tethys/Xml/Tethys.xsd
                           Tethys/Control http://aosn.mbari.org/tethys/Xml/Control.xsd
                           Tethys/Guidance http://aosn.mbari.org/tethys/Xml/Guidance.xsd
                           Tethys/Trigger http://aosn.mbari.org/tethys/Xml/Trigger.xsd
                           Tethys/Units http://aosn.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://aosn.mbari.org/tethys/Xml/Universal.xsd"
       Id="ballast_and_trim">

<!-- The following arguments are input arguments -->

    <DefineArg Name="BallastDepth"><Units:meter/><Value>25.0</Value></DefineArg>

    <DefineArg Name="HoldDuration"><Units:minute/><Value>25</Value></DefineArg>

    <DefineArg Name="Speed"><Units:meter_per_second/><Value>1</Value></DefineArg>

    <DefineArg Name="DepthDeadband"><Units:meter/><Value>4.0</Value></DefineArg>

    <DefineArg Name="BuoyPeriod"><Units:second/><Value>0.4</Value></DefineArg>

    <DefineArg Name="BuoyancyDefault"><Control:VerticalControl.buoyancyDefault/></DefineArg>

<!-- The timeout -->

    <Timeout Duration="P90M"/>

<!-- And now the mission -->

    <Assign RunIn="Parallel"><Control:VerticalControl.kpPitchMass/><Units:count/><Value>0.01</Value></Assign>

    <Assign RunIn="Parallel"><Control:VerticalControl.kiPitchMass/><Units:reciprocal_second/><Value>0.0015</Value></Assign>

    <Assign RunIn="Parallel"><Control:VerticalControl.kdPitchMass/><Units:second/><Value>0</Value></Assign>

    <Guidance:AltitudeEnvelope RunIn="Parallel">
        <Setting><Guidance:AltitudeEnvelope.minAltitude/><Units:meter/><Value>7</Value></Setting>
    </Guidance:AltitudeEnvelope>

    <Guidance:DepthEnvelope RunIn="Parallel">
        <Setting><Guidance:DepthEnvelope.maxDepth/><Units:meter/><Value>52</Value></Setting>
    </Guidance:DepthEnvelope>

    <Guidance:OffshoreEnvelope RunIn="Parallel">
        <Setting><Guidance:OffshoreEnvelope.minOffshore/><Units:kilometer/><Value>2.0</Value></Setting>
        <Setting><Guidance:OffshoreEnvelope.maxOffshore/><Units:kilometer/><Value>30.0</Value></Setting>
    </Guidance:OffshoreEnvelope>

    <Insert Filename="Insert/Surface.xml" Id="SurfaceComms" />

    <Guidance:SetSpeed>
        <While><Universal:platform_propeller_rotation_rate/>
            <Eq><Units:radian_per_second/><Value>0</Value></Eq>
        </While>
        <Setting><Guidance:SetSpeed.period/><Arg Name="BuoyPeriod"/></Setting>
    </Guidance:SetSpeed>

    <Aggregate Id="ballast">

        <Guidance:SetSpeed RunIn="Parallel">
            <Setting><Guidance:SetSpeed.speed/><Units:meter_per_second/><Value>0</Value></Setting>
        </Guidance:SetSpeed>

        <Assign RunIn="Parallel"><Control:VerticalControl.depthDeadband/><Arg Name="DepthDeadband"/></Assign>

        <Guidance:Pitch RunIn="Parallel">
            <Setting><Guidance:Pitch.depth /><Arg Name="BallastDepth" /></Setting>
        </Guidance:Pitch>

        <Guidance:Wait RunIn="Sequence">
            <Setting><Guidance:Wait.duration/><Arg Name="HoldDuration"/></Setting>
        </Guidance:Wait>

        <Aggregate Id="ReportPositions" Repeat="5" >

            <Syslog Severity="Important">
            Buoyancy:<Universal:platform_buoyancy_position/><Units:cubic_centimeter/>
            Mass:<Universal:platform_mass_position/><Units:centimeter/>
            Pitch:<Universal:platform_pitch_angle/><Units:degree/>
            </Syslog>

            <Guidance:Wait RunIn="Sequence">
                <Timeout Duration="P1M"></Timeout>
            </Guidance:Wait>

        </Aggregate>

        <Aggregate Id="Float_Up">

            <Until><Universal:depth/>
                <Lt><Units:meter/><Value>1</Value></Lt>
            </Until>

            <Guidance:SetSpeed RunIn="Parallel">
                <Setting><Guidance:SetSpeed.speed/><Units:meter_per_second/><Value>0</Value></Setting>
            </Guidance:SetSpeed>

            <Guidance:Buoyancy RunIn="Parallel">
                <Setting><Guidance:Buoyancy.position /><Arg Name="BuoyancyDefault"/></Setting>
            </Guidance:Buoyancy>

            <Guidance:Wait RunIn="Sequence">
                <Timeout Duration="P15M"></Timeout>
            </Guidance:Wait>

        </Aggregate>

    </Aggregate>

</Mission>


2012-05-23T20:02:14.817Z,1337803334.817 [CommandLine](IMPORTANT): Loaded ./Missions/Maintenance/ballast_and_trim.xml
2012-05-23T20:02:14.962Z,1337803334.962 [MissionManager](IMPORTANT): Started mission Default
2012-05-23T20:02:14.962Z,1337803334.962 [Default] Running Loop=1
2012-05-23T20:02:14.962Z,1337803334.962 [Default](INFO): Aggregate::initialize Default
2012-05-23T20:02:14.962Z,1337803334.962 [Default:D.SetSpeed] Running Loop=1
2012-05-23T20:02:14.962Z,1337803334.962 [Default:D.SetSpeed](DEBUG): Initialize.
2012-05-23T20:02:14.962Z,1337803334.962 [Default:E.GoToSurface] Running Loop=1
2012-05-23T20:02:14.962Z,1337803334.963 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-05-23T20:02:14.963Z,1337803334.963 [Default:Iridium] Running Loop=1
2012-05-23T20:02:14.963Z,1337803334.963 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2012-05-23T20:02:14.963Z,1337803334.963 [Default:Iridium:A.SetSpeed] Running Loop=1
2012-05-23T20:02:14.963Z,1337803334.963 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2012-05-23T20:02:14.963Z,1337803334.963 [Default:Iridium:B.GoToSurface] Running Loop=1
2012-05-23T20:02:14.964Z,1337803334.964 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-05-23T20:02:14.965Z,1337803334.965 [Default:CallIridium] Running Loop=1
2012-05-23T20:02:14.965Z,1337803334.965 [Default:CallIridium](INFO): Aggregate::initialize Default:CallIridium
2012-05-23T20:02:14.965Z,1337803334.965 [Default:CallIridium:A] Running Loop=1
2012-05-23T20:02:14.966Z,1337803334.966 [Default:CallIridium:A] Stopped
2012-05-23T20:02:14.966Z,1337803334.966 [Default:CallIridium:B] Running Loop=1
2012-05-23T20:02:14.966Z,1337803334.966 [Default:CallIridium:B](INFO): Aggregate::initialize Default:CallIridium:B
2012-05-23T20:02:14.967Z,1337803334.967 [Default:Iridium:B.GoToSurface] Stopped
2012-05-23T20:02:14.967Z,1337803334.967 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-05-23T20:02:14.967Z,1337803334.967 [Default:Iridium:Read_Iridium] Running Loop=1
2012-05-23T20:02:15.444Z,1337803335.444 [Default:GPS] Running Loop=1
2012-05-23T20:02:15.444Z,1337803335.444 [Default:GPS](INFO): Aggregate::initialize Default:GPS
2012-05-23T20:02:15.444Z,1337803335.444 [Default:GPS:A.SetSpeed] Running Loop=1
2012-05-23T20:02:15.444Z,1337803335.444 [Default:GPS:A.SetSpeed](DEBUG): Initialize.
2012-05-23T20:02:15.444Z,1337803335.444 [Default:GPS:B.GoToSurface] Running Loop=1
2012-05-23T20:02:15.444Z,1337803335.444 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-05-23T20:02:15.445Z,1337803335.445 [Default:GPS:B.GoToSurface] Stopped
2012-05-23T20:02:15.445Z,1337803335.445 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-05-23T20:02:15.446Z,1337803335.446 [Default:GPS:Read_GPS] Running Loop=1
2012-05-23T20:02:30.811Z,1337803350.811 [CommandLine](IMPORTANT): got command set ballast_and_trim.BallastDepth 5.000000 meter
2012-05-23T20:02:38.367Z,1337803358.367 [CommandLine](IMPORTANT): got command set ballast_and_trim.HoldDuration 10.000000 minute
2012-05-23T20:02:44.099Z,1337803364.099 [CommandLine](IMPORTANT): got command set ballast_and_trim.Speed 0.000000 meter_per_second
2012-05-23T20:02:49.075Z,1337803369.075 [CommandLine](IMPORTANT): got command set ballast_and_trim.DepthDeadband 1.000000 meter
2012-05-23T20:02:52.950Z,1337803372.950 [NAL9601](INFO): SBD MO Status=2, MOMSN=6761, MT Status=2, MTMSN=0
2012-05-23T20:02:52.950Z,1337803372.950 [NAL9601](ERROR): Failed to initiate SBD session. Error code: 2
2012-05-23T20:02:54.148Z,1337803374.148 [NAL9601](IMPORTANT): GPS fix at: 1337805247.00
2012-05-23T20:02:54.164Z,1337803374.164 [Default:GPS:Read_GPS] Stopped
2012-05-23T20:02:54.164Z,1337803374.164 [Default:GPS:D] Running Loop=1
2012-05-23T20:02:54.564Z,1337803374.564 [Default:GPS:D] Stopped
2012-05-23T20:02:54.564Z,1337803374.564 [Default:GPS](INFO): Completed Default:GPS
2012-05-23T20:02:54.564Z,1337803374.564 [Default:GPS] Stopped
2012-05-23T20:02:54.564Z,1337803374.564 [Default:GPS](INFO): Aggregate::uninitialize Default:GPS
2012-05-23T20:02:54.564Z,1337803374.564 [Default:GPS:A.SetSpeed] Stopped
2012-05-23T20:02:54.564Z,1337803374.564 [Default:GPS:A.SetSpeed](DEBUG): Uninitialize.
2012-05-23T20:02:56.551Z,1337803376.551 [CommandLine](IMPORTANT): got command run
2012-05-23T20:02:56.551Z,1337803376.551 [CommandLine](IMPORTANT): Running 
2012-05-23T20:02:56.564Z,1337803376.565 [Default] Stopped
2012-05-23T20:02:56.565Z,1337803376.565 [Default](INFO): Aggregate::uninitialize Default
2012-05-23T20:02:56.565Z,1337803376.565 [Default:Iridium] Stopped
2012-05-23T20:02:56.565Z,1337803376.565 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2012-05-23T20:02:56.565Z,1337803376.565 [Default:Iridium:A.SetSpeed] Stopped
2012-05-23T20:02:56.565Z,1337803376.565 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2012-05-23T20:02:56.565Z,1337803376.565 [Default:Iridium:Read_Iridium] Stopped
2012-05-23T20:02:56.565Z,1337803376.565 [Default:CallIridium] Stopped
2012-05-23T20:02:56.565Z,1337803376.565 [Default:CallIridium](INFO): Aggregate::uninitialize Default:CallIridium
2012-05-23T20:02:56.565Z,1337803376.565 [Default:CallIridium:B] Stopped
2012-05-23T20:02:56.566Z,1337803376.566 [Default:CallIridium:B](INFO): Aggregate::uninitialize Default:CallIridium:B
2012-05-23T20:02:56.566Z,1337803376.566 [Default:D.SetSpeed] Stopped
2012-05-23T20:02:56.566Z,1337803376.566 [Default:D.SetSpeed](DEBUG): Uninitialize.
2012-05-23T20:02:56.566Z,1337803376.566 [Default:E.GoToSurface] Stopped
2012-05-23T20:02:56.566Z,1337803376.566 [Default:E.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-05-23T20:02:56.566Z,1337803376.566 [MissionManager](IMPORTANT): Started mission ballast_and_trim
2012-05-23T20:02:56.566Z,1337803376.566 [ballast_and_trim] Running Loop=1
2012-05-23T20:02:56.566Z,1337803376.566 [ballast_and_trim](INFO): Aggregate::initialize ballast_and_trim
2012-05-23T20:02:56.566Z,1337803376.566 [ballast_and_trim:A] Running Loop=1
2012-05-23T20:02:56.567Z,1337803376.566 [ballast_and_trim:B] Running Loop=1
2012-05-23T20:02:56.567Z,1337803376.566 [ballast_and_trim:C] Running Loop=1
2012-05-23T20:02:56.567Z,1337803376.567 [ballast_and_trim:D.AltitudeEnvelope] Running Loop=1
2012-05-23T20:02:56.567Z,1337803376.567 [ballast_and_trim:D.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2012-05-23T20:02:56.567Z,1337803376.567 [ballast_and_trim:E.DepthEnvelope] Running Loop=1
2012-05-23T20:02:56.567Z,1337803376.567 [ballast_and_trim:E.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2012-05-23T20:02:56.567Z,1337803376.568 [ballast_and_trim:F.OffshoreEnvelope] Running Loop=1
2012-05-23T20:02:56.568Z,1337803376.568 [ballast_and_trim:F.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2012-05-23T20:02:56.568Z,1337803376.568 [ballast_and_trim:H.SetSpeed] Running Loop=1
2012-05-23T20:02:56.568Z,1337803376.568 [ballast_and_trim:H.SetSpeed](DEBUG): Initialize.
2012-05-23T20:02:56.568Z,1337803376.568 [ballast_and_trim:SurfaceComms] Running Loop=1
2012-05-23T20:02:56.568Z,1337803376.568 [ballast_and_trim:SurfaceComms](INFO): Aggregate::initialize ballast_and_trim:SurfaceComms
2012-05-23T20:02:56.568Z,1337803376.568 [ballast_and_trim:SurfaceComms:A.GoToSurface] Running Loop=1
2012-05-23T20:02:56.568Z,1337803376.568 [ballast_and_trim:SurfaceComms:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-05-23T20:02:56.569Z,1337803376.569 [ballast_and_trim:H.SetSpeed] Running Loop=1
2012-05-23T20:02:56.571Z,1337803376.571 [ballast_and_trim:SurfaceComms:B] Running Loop=1
2012-05-23T20:02:56.572Z,1337803376.572 [ballast_and_trim:SurfaceComms:B](INFO): Aggregate::initialize ballast_and_trim:SurfaceComms:B
2012-05-23T20:02:56.572Z,1337803376.572 [ballast_and_trim:SurfaceComms:B:A] Running Loop=1
2012-05-23T20:02:56.572Z,1337803376.572 [ballast_and_trim:F.OffshoreEnvelope] Running Loop=1
2012-05-23T20:02:56.581Z,1337803376.581 [ballast_and_trim:E.DepthEnvelope] Running Loop=1
2012-05-23T20:02:56.583Z,1337803376.583 [ballast_and_trim:D.AltitudeEnvelope] Running Loop=1
2012-05-23T20:02:56.584Z,1337803376.584 [ballast_and_trim:C] Running Loop=1
2012-05-23T20:02:56.585Z,1337803376.585 [ballast_and_trim:B] Running Loop=1
2012-05-23T20:02:56.586Z,1337803376.586 [ballast_and_trim:A] Running Loop=1
2012-05-23T20:02:57.490Z,1337803377.490 [ballast_and_trim:H.SetSpeed] Preempted
2012-05-23T20:02:57.490Z,1337803377.490 [ballast_and_trim:SurfaceComms:B:A](DEBUG): Initialize ReadDataComponent to sense time_fix
2012-05-23T20:02:59.154Z,1337803379.154 [NAL9601](IMPORTANT): GPS fix at: 1337805252.00
2012-05-23T20:02:59.169Z,1337803379.168 [ballast_and_trim:SurfaceComms:B:A] Stopped
2012-05-23T20:02:59.169Z,1337803379.169 [ballast_and_trim:SurfaceComms:B:B] Running Loop=1
2012-05-23T20:02:59.549Z,1337803379.549 [ballast_and_trim:SurfaceComms:B:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2012-05-23T20:03:19.556Z,1337803399.556 [NAL9601](INFO): SBD MO Status=2, MOMSN=6761, MT Status=2, MTMSN=0
2012-05-23T20:03:19.556Z,1337803399.556 [NAL9601](ERROR): Failed to initiate SBD session. Error code: 2
2012-05-23T20:03:45.597Z,1337803425.597 [NAL9601](INFO): SBD MO Status=2, MOMSN=6761, MT Status=2, MTMSN=0
2012-05-23T20:03:45.597Z,1337803425.597 [NAL9601](ERROR): Failed to initiate SBD session. Error code: 2
2012-05-23T20:04:11.604Z,1337803451.604 [NAL9601](INFO): SBD MO Status=2, MOMSN=6761, MT Status=2, MTMSN=0
2012-05-23T20:04:11.605Z,1337803451.605 [NAL9601](ERROR): Failed to initiate SBD session. Error code: 2
2012-05-23T20:04:38.661Z,1337803478.661 [NAL9601](INFO): SBD MO Status=2, MOMSN=6761, MT Status=2, MTMSN=0
2012-05-23T20:04:38.661Z,1337803478.661 [NAL9601](ERROR): Failed to initiate SBD session. Error code: 2
2012-05-23T20:05:26.492Z,1337803526.492 [NAL9601](INFO): SBD MO Status=2, MOMSN=6761, MT Status=2, MTMSN=0
2012-05-23T20:05:26.492Z,1337803526.492 [NAL9601](ERROR): Failed to initiate SBD session. Error code: 2
2012-05-23T20:05:29.859Z,1337803529.859 [CommandLine](IMPORTANT): got command run ./Missions/Default.xml
2012-05-23T20:05:29.859Z,1337803529.859 [ballast_and_trim] Stopped
2012-05-23T20:05:29.859Z,1337803529.859 [ballast_and_trim](INFO): Aggregate::uninitialize ballast_and_trim
2012-05-23T20:05:29.859Z,1337803529.859 [ballast_and_trim:A] Stopped
2012-05-23T20:05:29.859Z,1337803529.859 [ballast_and_trim:B] Stopped
2012-05-23T20:05:29.859Z,1337803529.859 [ballast_and_trim:C] Stopped
2012-05-23T20:05:29.859Z,1337803529.859 [ballast_and_trim:D.AltitudeEnvelope] Stopped
2012-05-23T20:05:29.859Z,1337803529.859 [ballast_and_trim:D.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2012-05-23T20:05:29.859Z,1337803529.859 [ballast_and_trim:E.DepthEnvelope] Stopped
2012-05-23T20:05:29.859Z,1337803529.859 [ballast_and_trim:E.DepthEnvelope](DEBUG): Uninitialize.
2012-05-23T20:05:29.859Z,1337803529.859 [ballast_and_trim:F.OffshoreEnvelope] Stopped
2012-05-23T20:05:29.860Z,1337803529.860 [ballast_and_trim:F.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2012-05-23T20:05:29.860Z,1337803529.860 [ballast_and_trim:SurfaceComms] Stopped
2012-05-23T20:05:29.860Z,1337803529.860 [ballast_and_trim:SurfaceComms](INFO): Aggregate::uninitialize ballast_and_trim:SurfaceComms
2012-05-23T20:05:29.860Z,1337803529.860 [ballast_and_trim:SurfaceComms:A.GoToSurface] Stopped
2012-05-23T20:05:29.860Z,1337803529.860 [ballast_and_trim:SurfaceComms:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-05-23T20:05:29.860Z,1337803529.860 [ballast_and_trim:SurfaceComms:B] Stopped
2012-05-23T20:05:29.860Z,1337803529.860 [ballast_and_trim:SurfaceComms:B](INFO): Aggregate::uninitialize ballast_and_trim:SurfaceComms:B
2012-05-23T20:05:29.860Z,1337803529.860 [ballast_and_trim:SurfaceComms:B:B] Stopped
2012-05-23T20:05:29.860Z,1337803529.860 [ballast_and_trim:H.SetSpeed] Stopped
2012-05-23T20:05:29.860Z,1337803529.860 [ballast_and_trim:H.SetSpeed](DEBUG): Uninitialize.
2012-05-23T20:05:29.868Z,1337803529.868 [MissionManager](INFO): Loading Mission: ./Missions/Default.xml
2012-05-23T20:05:29.895Z,1337803529.895 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2012-05-23T20:05:29.896Z,1337803529.896 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2012-05-23T20:05:29.899Z,1337803529.899 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-05-23T20:05:29.904Z,1337803529.904 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2012-05-23T20:05:29.906Z,1337803529.907 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-05-23T20:05:29.911Z,1337803529.911 [Default:Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2012-05-23T20:05:29.918Z,1337803529.918 [Default:D.SetSpeed](DEBUG): Construct.
2012-05-23T20:05:29.920Z,1337803529.920 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2012-05-23T20:05:29.923Z,1337803529.923 [Default:F.Wait](DEBUG): Construct Wait.
2012-05-23T20:05:29.927Z,1337803529.927 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
xmlns:Control="Tethys/Control"
xmlns:Guidance="Tethys/Guidance" 
xmlns:Units="Tethys/Units"
xmlns:Universal="Tethys/Universal"
xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
xsi:schemaLocation="Tethys http://aosn.mbari.org/tethys/Xml/Tethys.xsd
Tethys/Control http://aosn.mbari.org/tethys/Xml/Control.xsd
Tethys/Guidance http://aosn.mbari.org/tethys/Xml/Guidance.xsd
Tethys/Units http://aosn.mbari.org/tethys/Xml/Units.xsd
Tethys/Universal http://aosn.mbari.org/tethys/Xml/Universal.xsd"
Id="Default">

    <DefineArg Name="NeedGPS"><True/></DefineArg>

    <Aggregate Id="GPS" >

        <When><Arg Name="NeedGPS"/>
        </When>

<!-- Run at high speed -->

        <Guidance:SetSpeed RunIn="Parallel">
            <Setting><Guidance:SetSpeed.period/><Units:millisecond/><Value>400</Value></Setting>
        </Guidance:SetSpeed>

<!-- Get to the surface -->

        <Guidance:GoToSurface RunIn="Sequence"/>

<!-- Get GPS fix -->

        <ReadDatum Id="Read_GPS"><Universal:latitude_fix/>
        </ReadDatum>

        <Assign><Arg Name="NeedGPS"/><False/></Assign>

    </Aggregate>

    <Aggregate Id="Iridium" >

<!-- Run at high speed -->

        <Guidance:SetSpeed RunIn="Parallel">
            <Setting><Guidance:SetSpeed.period/><Units:millisecond/><Value>400</Value></Setting>
        </Guidance:SetSpeed>

<!-- Get to the surface -->

        <Guidance:GoToSurface RunIn="Sequence"/>

<!-- Do data comms -->

        <ReadDatum Id="Read_Iridium">
            <Timeout Duration="P2H">
                <Guidance:Execute RunIn="Sequence">
                    <Setting>
                    <Guidance:Execute.command/><String>Burn 300</String></Setting>
                </Guidance:Execute>
                <Syslog Severity="Critical">Dropped drop weight due to communications timeout</Syslog>
            </Timeout><Universal:platform_communications/>
        </ReadDatum>

    </Aggregate>

    <Aggregate Id="CallIridium" >

        <When>
            <Elapsed><Universal:platform_communications/></Elapsed>
            <Gt><Units:minute/><Value>5.0</Value></Gt>
            <And><Universal:platform_conversation/><Eq><True/></Eq></And>
            <Or>
            <Elapsed><Universal:platform_communications/></Elapsed><Gt><Units:hour/><Value>1.0</Value></Gt></Or>
        </When>

        <Assign><Arg Name="NeedGPS"/><True/></Assign>

        <Call RefId="Iridium"/>

    </Aggregate>

<!-- Wait forever at the surface-->

<!-- Run at low speed -->

    <Guidance:SetSpeed RunIn="Parallel">
        <Setting><Guidance:SetSpeed.period/><Units:second/><Value>5</Value></Setting>
    </Guidance:SetSpeed>

    <Guidance:GoToSurface RunIn="Parallel"/>

    <Guidance:Wait RunIn="Sequence"></Guidance:Wait>

</Mission>


2012-05-23T20:05:29.928Z,1337803529.928 [CommandLine](IMPORTANT): Running ./Missions/Default.xml
2012-05-23T20:05:30.094Z,1337803530.094 [MissionManager](IMPORTANT): Started mission Default
2012-05-23T20:05:30.094Z,1337803530.094 [Default] Running Loop=1
2012-05-23T20:05:30.094Z,1337803530.095 [Default](INFO): Aggregate::initialize Default
2012-05-23T20:05:30.095Z,1337803530.095 [Default:D.SetSpeed] Running Loop=1
2012-05-23T20:05:30.095Z,1337803530.095 [Default:D.SetSpeed](DEBUG): Initialize.
2012-05-23T20:05:30.095Z,1337803530.095 [Default:E.GoToSurface] Running Loop=1
2012-05-23T20:05:30.095Z,1337803530.095 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-05-23T20:05:30.095Z,1337803530.095 [Default:Iridium] Running Loop=1
2012-05-23T20:05:30.095Z,1337803530.095 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2012-05-23T20:05:30.095Z,1337803530.095 [Default:Iridium:A.SetSpeed] Running Loop=1
2012-05-23T20:05:30.096Z,1337803530.096 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2012-05-23T20:05:30.096Z,1337803530.096 [Default:Iridium:B.GoToSurface] Running Loop=1
2012-05-23T20:05:30.096Z,1337803530.096 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-05-23T20:05:30.097Z,1337803530.096 [Default:E.GoToSurface] Running Loop=1
2012-05-23T20:05:30.098Z,1337803530.098 [Default:D.SetSpeed] Running Loop=1
2012-05-23T20:05:30.099Z,1337803530.099 [Default:CallIridium] Running Loop=1
2012-05-23T20:05:30.099Z,1337803530.099 [Default:CallIridium](INFO): Aggregate::initialize Default:CallIridium
2012-05-23T20:05:30.099Z,1337803530.099 [Default:CallIridium:A] Running Loop=1
2012-05-23T20:05:30.100Z,1337803530.100 [Default:CallIridium:A] Stopped
2012-05-23T20:05:30.100Z,1337803530.100 [Default:CallIridium:B] Running Loop=1
2012-05-23T20:05:30.100Z,1337803530.100 [Default:CallIridium:B](INFO): Aggregate::initialize Default:CallIridium:B
2012-05-23T20:05:30.101Z,1337803530.101 [Default:Iridium:B.GoToSurface] Stopped
2012-05-23T20:05:30.101Z,1337803530.102 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-05-23T20:05:30.102Z,1337803530.102 [Default:Iridium:Read_Iridium] Running Loop=1
2012-05-23T20:05:30.102Z,1337803530.102 [Default:Iridium:A.SetSpeed] Running Loop=1
2012-05-23T20:05:30.103Z,1337803530.103 [Default:GPS] Running Loop=1
2012-05-23T20:05:30.103Z,1337803530.103 [Default:GPS](INFO): Aggregate::initialize Default:GPS
2012-05-23T20:05:30.103Z,1337803530.103 [Default:GPS:A.SetSpeed] Running Loop=1
2012-05-23T20:05:30.103Z,1337803530.103 [Default:GPS:A.SetSpeed](DEBUG): Initialize.
2012-05-23T20:05:30.103Z,1337803530.103 [Default:GPS:B.GoToSurface] Running Loop=1
2012-05-23T20:05:30.103Z,1337803530.103 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-05-23T20:05:30.105Z,1337803530.105 [Default:GPS:B.GoToSurface] Stopped
2012-05-23T20:05:30.105Z,1337803530.105 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-05-23T20:05:30.105Z,1337803530.105 [Default:GPS:Read_GPS] Running Loop=1
2012-05-23T20:05:30.105Z,1337803530.105 [Default:GPS:A.SetSpeed] Running Loop=1
2012-05-23T20:05:30.507Z,1337803530.507 [Default:Iridium:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2012-05-23T20:05:30.508Z,1337803530.508 [Default:GPS:Read_GPS](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2012-05-23T20:05:32.687Z,1337803532.687 [NAL9601](IMPORTANT): GPS fix at: 1337805406.00
2012-05-23T20:05:32.703Z,1337803532.703 [Default:GPS:Read_GPS] Stopped
2012-05-23T20:05:32.703Z,1337803532.703 [Default:GPS:D] Running Loop=1
2012-05-23T20:05:33.099Z,1337803533.099 [Default:GPS:D] Stopped
2012-05-23T20:05:33.100Z,1337803533.100 [Default:GPS](INFO): Completed Default:GPS
2012-05-23T20:05:33.100Z,1337803533.100 [Default:GPS] Stopped
2012-05-23T20:05:33.100Z,1337803533.100 [Default:GPS](INFO): Aggregate::uninitialize Default:GPS
2012-05-23T20:05:33.100Z,1337803533.100 [Default:GPS:A.SetSpeed] Stopped
2012-05-23T20:05:33.100Z,1337803533.100 [Default:GPS:A.SetSpeed](DEBUG): Uninitialize.
2012-05-23T20:05:57.748Z,1337803557.748 [Reporter](INFO): platform_buoyancy_position 950.028189 cc
2012-05-23T20:06:12.729Z,1337803572.729 [NAL9601](INFO): SBD MO Status=2, MOMSN=6761, MT Status=2, MTMSN=0
2012-05-23T20:06:12.730Z,1337803572.730 [NAL9601](ERROR): Failed to initiate SBD session. Error code: 2
2012-05-23T20:07:08.988Z,1337803628.988 [Radio_Freewave](INFO): Powering down
2012-05-23T20:07:10.002Z,1337803630.003 [ThrusterServo](ERROR): Thruster uart error: serial timeout
2012-05-23T20:07:10.003Z,1337803630.003 [ThrusterServo] Communications Fault, FailCount= 1
2012-05-23T20:07:10.003Z,1337803630.003 [ThrusterServo](ERROR): Communications Fault
2012-05-23T20:07:10.005Z,1337803630.005 [CBIT](ERROR): Communications Fault in component: ThrusterServo
2012-05-23T20:07:10.748Z,1337803630.747 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-05-23T20:07:10.748Z,1337803630.748 [ThrusterServo](INFO): Powering down
2012-05-23T20:07:10.750Z,1337803630.750 [CBIT](INFO): Clearing failed state for component ThrusterServo
2012-05-23T20:07:10.750Z,1337803630.750 [ThrusterServo] No Fault, FailCount= 1
2012-05-23T20:07:11.960Z,1337803631.960 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-05-23T20:07:12.079Z,1337803632.079 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-05-23T20:07:13.126Z,1337803633.126 [ThrusterServo](ERROR): Thruster initialization uart error serial timeout
2012-05-23T20:07:13.127Z,1337803633.127 [ThrusterServo](FAULT): Thruster failed to initialize
2012-05-23T20:07:13.127Z,1337803633.127 [ThrusterServo] Communications Fault, FailCount= 2
2012-05-23T20:07:13.127Z,1337803633.127 [ThrusterServo](ERROR): Communications Fault
2012-05-23T20:07:13.129Z,1337803633.129 [CBIT](ERROR): Communications Fault in component: ThrusterServo
2012-05-23T20:07:13.129Z,1337803633.129 [CBIT](CRITICAL): Communications Fault in component: ThrusterServo
2012-05-23T20:07:13.329Z,1337803633.329 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-05-23T20:07:13.329Z,1337803633.329 [ThrusterServo](INFO): Powering down
2012-05-23T20:07:13.631Z,1337803633.631 [Default] Stopped
2012-05-23T20:07:13.631Z,1337803633.631 [Default](INFO): Aggregate::uninitialize Default
2012-05-23T20:07:13.631Z,1337803633.631 [Default:Iridium] Stopped
2012-05-23T20:07:13.631Z,1337803633.631 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2012-05-23T20:07:13.631Z,1337803633.631 [Default:Iridium:A.SetSpeed] Stopped
2012-05-23T20:07:13.631Z,1337803633.631 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2012-05-23T20:07:13.632Z,1337803633.632 [Default:Iridium:Read_Iridium] Stopped
2012-05-23T20:07:13.632Z,1337803633.632 [Default:CallIridium] Stopped
2012-05-23T20:07:13.632Z,1337803633.632 [Default:CallIridium](INFO): Aggregate::uninitialize Default:CallIridium
2012-05-23T20:07:13.632Z,1337803633.632 [Default:CallIridium:B] Stopped
2012-05-23T20:07:13.632Z,1337803633.632 [Default:CallIridium:B](INFO): Aggregate::uninitialize Default:CallIridium:B
2012-05-23T20:07:13.632Z,1337803633.632 [Default:D.SetSpeed] Stopped
2012-05-23T20:07:13.632Z,1337803633.632 [Default:D.SetSpeed](DEBUG): Uninitialize.
2012-05-23T20:07:13.632Z,1337803633.632 [Default:E.GoToSurface] Stopped
2012-05-23T20:07:13.632Z,1337803633.632 [Default:E.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-05-23T20:07:14.029Z,1337803634.029 [MissionManager](IMPORTANT): Started mission Default
2012-05-23T20:07:14.029Z,1337803634.029 [Default] Running Loop=1
2012-05-23T20:07:14.029Z,1337803634.029 [Default](INFO): Aggregate::initialize Default
2012-05-23T20:07:14.029Z,1337803634.029 [Default:D.SetSpeed] Running Loop=1
2012-05-23T20:07:14.029Z,1337803634.029 [Default:D.SetSpeed](DEBUG): Initialize.
2012-05-23T20:07:14.029Z,1337803634.029 [Default:E.GoToSurface] Running Loop=1
2012-05-23T20:07:14.029Z,1337803634.029 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-05-23T20:07:14.030Z,1337803634.030 [Default:Iridium] Running Loop=1
2012-05-23T20:07:14.030Z,1337803634.030 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2012-05-23T20:07:14.030Z,1337803634.030 [Default:Iridium:A.SetSpeed] Running Loop=1
2012-05-23T20:07:14.030Z,1337803634.030 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2012-05-23T20:07:14.030Z,1337803634.030 [Default:Iridium:B.GoToSurface] Running Loop=1
2012-05-23T20:07:14.030Z,1337803634.030 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-05-23T20:07:14.032Z,1337803634.032 [Default:CallIridium] Running Loop=1
2012-05-23T20:07:14.032Z,1337803634.032 [Default:CallIridium](INFO): Aggregate::initialize Default:CallIridium
2012-05-23T20:07:14.032Z,1337803634.032 [Default:CallIridium:A] Running Loop=1
2012-05-23T20:07:14.033Z,1337803634.033 [Default:CallIridium:A] Stopped
2012-05-23T20:07:14.033Z,1337803634.033 [Default:CallIridium:B] Running Loop=1
2012-05-23T20:07:14.033Z,1337803634.033 [Default:CallIridium:B](INFO): Aggregate::initialize Default:CallIridium:B
2012-05-23T20:07:14.431Z,1337803634.431 [Default:GPS] Running Loop=1
2012-05-23T20:07:14.431Z,1337803634.431 [Default:GPS](INFO): Aggregate::initialize Default:GPS
2012-05-23T20:07:14.431Z,1337803634.431 [Default:GPS:A.SetSpeed] Running Loop=1
2012-05-23T20:07:14.431Z,1337803634.431 [Default:GPS:A.SetSpeed](DEBUG): Initialize.
2012-05-23T20:07:14.431Z,1337803634.431 [Default:GPS:B.GoToSurface] Running Loop=1
2012-05-23T20:07:14.431Z,1337803634.431 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-05-23T20:07:21.957Z,1337803641.957 [NAL9601](INFO): Powering down
2012-05-23T20:07:43.277Z,1337803663.277 [CBIT](INFO): Clearing failed count for component ThrusterServo
2012-05-23T20:07:43.277Z,1337803663.277 [ThrusterServo] No Fault, FailCount= 2
2012-05-23T20:07:44.076Z,1337803664.076 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-05-23T20:07:44.195Z,1337803664.195 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-05-23T20:08:44.762Z,1337803724.762 [Radio_Freewave](INFO): Powering up
2012-05-23T20:08:44.772Z,1337803724.773 [Default:Iridium:B.GoToSurface] Stopped
2012-05-23T20:08:44.773Z,1337803724.773 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-05-23T20:08:44.773Z,1337803724.773 [Default:Iridium:Read_Iridium] Running Loop=1
2012-05-23T20:08:44.774Z,1337803724.774 [Default:GPS:B.GoToSurface] Stopped
2012-05-23T20:08:44.774Z,1337803724.774 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-05-23T20:08:44.774Z,1337803724.774 [Default:GPS:Read_GPS] Running Loop=1
2012-05-23T20:08:45.947Z,1337803725.947 [NAL9601](INFO): Powering up
2012-05-23T20:09:51.667Z,1337803791.667 [NAL9601](INFO): NAL9601 initialized
2012-05-23T20:10:17.884Z,1337803817.884 [NAL9601](INFO): SBD MO Status=1, MOMSN=6761, MT Status=0, MTMSN=0
2012-05-23T20:10:18.015Z,1337803818.015 [NAL9601](INFO): Sent 332 bytes from file Logs/20120522T222510/shore0001.lzma
2012-05-23T20:10:18.015Z,1337803818.015 [NAL9601](INFO): Packets left to send: 1
2012-05-23T20:10:18.016Z,1337803818.016 [NAL9601](INFO): Stored copy of sent data in Logs/latest/sent0000003
2012-05-23T20:10:28.025Z,1337803828.026 [NAL9601](INFO): SBD MO Status=1, MOMSN=6762, MT Status=0, MTMSN=0
2012-05-23T20:10:28.199Z,1337803828.199 [NAL9601](INFO): Sent 156 bytes from file Logs/20120522T222510/shore0001.lzma
2012-05-23T20:10:28.199Z,1337803828.199 [NAL9601](INFO): Packets left to send: 0
2012-05-23T20:10:28.200Z,1337803828.200 [NAL9601](INFO): Stored copy of sent data in Logs/latest/sent0000004
2012-05-23T20:10:39.712Z,1337803839.713 [NAL9601](INFO): SBD MO Status=1, MOMSN=6763, MT Status=0, MTMSN=0
2012-05-23T20:10:39.879Z,1337803839.879 [NAL9601](INFO): Sent 332 bytes from file Logs/20120523T163336/shore0000.lzma
2012-05-23T20:10:39.879Z,1337803839.879 [NAL9601](INFO): Packets left to send: 1
2012-05-23T20:10:39.880Z,1337803839.880 [NAL9601](INFO): Stored copy of sent data in Logs/latest/sent0000005
2012-05-23T20:10:51.854Z,1337803851.854 [NAL9601](INFO): SBD MO Status=1, MOMSN=6764, MT Status=0, MTMSN=0
2012-05-23T20:10:52.063Z,1337803852.063 [NAL9601](INFO): Sent 106 bytes from file Logs/20120523T163336/shore0000.lzma
2012-05-23T20:10:52.063Z,1337803852.063 [NAL9601](INFO): Packets left to send: 0
2012-05-23T20:10:52.064Z,1337803852.064 [NAL9601](INFO): Stored copy of sent data in Logs/latest/sent0000006
2012-05-23T20:10:59.236Z,1337803859.236 [Reporter](INFO): platform_buoyancy_position 950.162474 cc
2012-05-23T20:11:04.740Z,1337803864.740 [NAL9601](INFO): SBD MO Status=2, MOMSN=6765, MT Status=2, MTMSN=0
2012-05-23T20:11:04.741Z,1337803864.741 [NAL9601](ERROR): Failed to initiate SBD session. Error code: 2
2012-05-23T20:11:38.073Z,1337803898.073 [NAL9601](INFO): SBD MO Status=1, MOMSN=6765, MT Status=0, MTMSN=0
2012-05-23T20:11:38.291Z,1337803898.291 [NAL9601](INFO): Sent 332 bytes from file Logs/20120523T164021/shore0000.lzma
2012-05-23T20:11:38.291Z,1337803898.291 [NAL9601](INFO): Packets left to send: 1
2012-05-23T20:11:38.292Z,1337803898.292 [NAL9601](INFO): Stored copy of sent data in Logs/latest/sent0000007
2012-05-23T20:11:50.200Z,1337803910.200 [NAL9601](INFO): SBD MO Status=1, MOMSN=6766, MT Status=0, MTMSN=0
2012-05-23T20:11:50.371Z,1337803910.371 [NAL9601](INFO): Sent 72 bytes from file Logs/20120523T164021/shore0000.lzma
2012-05-23T20:11:50.371Z,1337803910.371 [NAL9601](INFO): Packets left to send: 0
2012-05-23T20:11:50.372Z,1337803910.372 [NAL9601](INFO): Stored copy of sent data in Logs/latest/sent0000008
2012-05-23T20:12:02.658Z,1337803922.658 [NAL9601](INFO): SBD MO Status=1, MOMSN=6767, MT Status=0, MTMSN=0
2012-05-23T20:12:02.851Z,1337803922.851 [NAL9601](INFO): Sent 332 bytes from file Logs/20120523T164021/shore0001.lzma
2012-05-23T20:12:02.851Z,1337803922.851 [NAL9601](INFO): Packets left to send: 1
2012-05-23T20:12:02.852Z,1337803922.852 [NAL9601](INFO): Stored copy of sent data in Logs/latest/sent0000009
2012-05-23T20:12:21.148Z,1337803941.148 [NAL9601](INFO): SBD MO Status=1, MOMSN=6768, MT Status=0, MTMSN=0
2012-05-23T20:12:21.323Z,1337803941.323 [NAL9601](INFO): Sent 146 bytes from file Logs/20120523T164021/shore0001.lzma
2012-05-23T20:12:21.323Z,1337803941.323 [NAL9601](INFO): Packets left to send: 0
2012-05-23T20:12:21.324Z,1337803941.324 [NAL9601](INFO): Stored copy of sent data in Logs/latest/sent0000010
2012-05-23T20:12:44.449Z,1337803964.450 [NAL9601](INFO): SBD MO Status=2, MOMSN=6769, MT Status=2, MTMSN=0
2012-05-23T20:12:44.450Z,1337803964.450 [NAL9601](ERROR): Failed to initiate SBD session. Error code: 2
2012-05-23T20:13:02.058Z,1337803982.058 [NAL9601](INFO): SBD MO Status=1, MOMSN=6769, MT Status=0, MTMSN=0
2012-05-23T20:13:02.263Z,1337803982.263 [NAL9601](INFO): Sent 332 bytes from file Logs/20120523T193537/shore0000.lzma
2012-05-23T20:13:02.263Z,1337803982.263 [NAL9601](INFO): Packets left to send: 1
2012-05-23T20:13:02.264Z,1337803982.264 [NAL9601](INFO): Stored copy of sent data in Logs/latest/sent0000011
2012-05-23T20:13:19.812Z,1337803999.812 [NAL9601](INFO): SBD MO Status=2, MOMSN=6770, MT Status=2, MTMSN=0
2012-05-23T20:13:19.812Z,1337803999.812 [NAL9601](ERROR): Failed to initiate SBD session. Error code: 2
2012-05-23T20:13:54.513Z,1337804034.513 [NAL9601](INFO): SBD MO Status=1, MOMSN=6770, MT Status=0, MTMSN=0
2012-05-23T20:13:54.679Z,1337804034.679 [NAL9601](INFO): Sent 209 bytes from file Logs/20120523T193537/shore0000.lzma
2012-05-23T20:13:54.679Z,1337804034.679 [NAL9601](INFO): Packets left to send: 0
2012-05-23T20:13:54.680Z,1337804034.680 [NAL9601](INFO): Stored copy of sent data in Logs/latest/sent0000012
2012-05-23T20:14:34.113Z,1337804074.113 [NAL9601](INFO): SBD MO Status=2, MOMSN=6771, MT Status=2, MTMSN=0
2012-05-23T20:14:34.113Z,1337804074.114 [NAL9601](ERROR): Failed to initiate SBD session. Error code: 2
2012-05-23T20:14:47.109Z,1337804087.109 [NAL9601](INFO): SBD MO Status=2, MOMSN=6771, MT Status=2, MTMSN=0
2012-05-23T20:14:47.109Z,1337804087.109 [NAL9601](ERROR): Failed to initiate SBD session. Error code: 2
2012-05-23T20:15:00.101Z,1337804100.101 [NAL9601](INFO): SBD MO Status=0, MOMSN=6771, MT Status=0, MTMSN=0
2012-05-23T20:15:00.289Z,1337804100.289 [Default:Iridium:Read_Iridium] Stopped
2012-05-23T20:15:00.289Z,1337804100.289 [Default:Iridium](INFO): Completed Default:Iridium
2012-05-23T20:15:00.289Z,1337804100.289 [Default:Iridium] Stopped
2012-05-23T20:15:00.290Z,1337804100.290 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2012-05-23T20:15:00.290Z,1337804100.290 [Default:Iridium:A.SetSpeed] Stopped
2012-05-23T20:15:00.290Z,1337804100.290 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2012-05-23T20:15:00.290Z,1337804100.290 [Default:F.Wait] Running Loop=1
2012-05-23T20:15:00.290Z,1337804100.290 [Default:F.Wait](DEBUG): Initialize Wait Component.
2012-05-23T20:15:00.518Z,1337804100.518 [Default:CallIridium:B](INFO): Completed Default:CallIridium:B
2012-05-23T20:15:00.518Z,1337804100.518 [Default:CallIridium:B] Stopped
2012-05-23T20:15:00.518Z,1337804100.518 [Default:CallIridium:B](INFO): Aggregate::uninitialize Default:CallIridium:B
2012-05-23T20:15:00.518Z,1337804100.518 [Default:CallIridium](INFO): Completed Default:CallIridium
2012-05-23T20:15:00.518Z,1337804100.518 [Default:CallIridium] Stopped
2012-05-23T20:15:00.519Z,1337804100.519 [Default:CallIridium](INFO): Aggregate::uninitialize Default:CallIridium
2012-05-23T20:18:14.117Z,1337804294.117 [Radio_Freewave](INFO): Powering down
2012-05-23T20:19:00.545Z,1337804340.545 [Radio_Freewave](INFO): Powering up
2012-05-23T20:19:53.762Z,1337804393.762 [NAL9601](FAULT): GPS failed to acquire within timeout.
2012-05-23T20:19:53.762Z,1337804393.762 [NAL9601] Data Fault, FailCount= 2
2012-05-23T20:19:53.762Z,1337804393.762 [NAL9601](ERROR): Data Fault
2012-05-23T20:19:53.777Z,1337804393.777 [Default:CallIridium] Running Loop=1
2012-05-23T20:19:53.777Z,1337804393.777 [Default:CallIridium](INFO): Aggregate::initialize Default:CallIridium
2012-05-23T20:19:53.777Z,1337804393.777 [Default:CallIridium:A] Running Loop=1
2012-05-23T20:19:53.777Z,1337804393.777 [Default:CallIridium:A] Stopped
2012-05-23T20:19:53.778Z,1337804393.778 [Default:CallIridium:B] Running Loop=1
2012-05-23T20:19:53.778Z,1337804393.778 [Default:CallIridium:B](INFO): Aggregate::initialize Default:CallIridium:B
2012-05-23T20:19:53.787Z,1337804393.787 [CBIT](ERROR): Data Fault in component: NAL9601
2012-05-23T20:19:53.787Z,1337804393.787 [CBIT](CRITICAL): Data Fault in component: NAL9601
2012-05-23T20:19:54.143Z,1337804394.143 [NAL9601](INFO): Powering down
2012-05-23T20:19:54.174Z,1337804394.174 [Default:Iridium] Running Loop=1
2012-05-23T20:19:54.178Z,1337804394.178 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2012-05-23T20:19:54.178Z,1337804394.178 [Default:Iridium:A.SetSpeed] Running Loop=1
2012-05-23T20:19:54.179Z,1337804394.179 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2012-05-23T20:19:54.179Z,1337804394.179 [Default:Iridium:B.GoToSurface] Running Loop=1
2012-05-23T20:19:54.179Z,1337804394.179 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-05-23T20:19:54.180Z,1337804394.180 [Default:Iridium:B.GoToSurface] Stopped
2012-05-23T20:19:54.180Z,1337804394.180 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-05-23T20:19:54.180Z,1337804394.180 [Default:Iridium:Read_Iridium] Running Loop=1
2012-05-23T20:21:53.802Z,1337804513.802 [CBIT](INFO): Clearing failed count for component NAL9601
2012-05-23T20:21:53.802Z,1337804513.802 [NAL9601] No Fault, FailCount= 2
2012-05-23T20:21:54.143Z,1337804514.143 [NAL9601](INFO): Powering up NAL9601
2012-05-23T20:22:12.479Z,1337804532.479 [CommandLine](IMPORTANT): got command load ./Missions/Maintenance/ballast_and_trim.xml
2012-05-23T20:22:12.479Z,1337804532.479 [MissionManager](INFO): Loading Mission: ./Missions/Maintenance/ballast_and_trim.xml
2012-05-23T20:22:12.556Z,1337804532.556 [MissionManager](INFO): DefineArg ballast_and_trim.BallastDepth = 25.000000 m
2012-05-23T20:22:12.563Z,1337804532.563 [MissionManager](INFO): DefineArg ballast_and_trim.HoldDuration = 25.000000 min
2012-05-23T20:22:12.565Z,1337804532.565 [MissionManager](INFO): DefineArg ballast_and_trim.Speed = 1.000000 m/s
2012-05-23T20:22:12.571Z,1337804532.571 [MissionManager](INFO): DefineArg ballast_and_trim.DepthDeadband = 4.000000 m
2012-05-23T20:22:12.573Z,1337804532.573 [MissionManager](INFO): DefineArg ballast_and_trim.BuoyPeriod = 0.400000 s
2012-05-23T20:22:12.580Z,1337804532.580 [MissionManager](INFO): DefineArg ballast_and_trim.BuoyancyDefault = 0.000945 n/a
2012-05-23T20:22:12.590Z,1337804532.590 [ballast_and_trim:D.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2012-05-23T20:22:12.603Z,1337804532.603 [ballast_and_trim:E.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2012-05-23T20:22:12.613Z,1337804532.613 [ballast_and_trim:F.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2012-05-23T20:22:12.627Z,1337804532.626 [MissionManager](INFO): Inserting Stack: Missions/Insert/Surface.xml
2012-05-23T20:22:12.660Z,1337804532.661 [MissionManager](INFO): DefineArg ballast_and_trim:SurfaceComms.SurfaceDepthRate = nan m/s
2012-05-23T20:22:12.667Z,1337804532.667 [MissionManager](INFO): DefineArg ballast_and_trim:SurfaceComms.SurfacePitch = nan arcdeg
2012-05-23T20:22:12.669Z,1337804532.669 [MissionManager](INFO): DefineArg ballast_and_trim:SurfaceComms.SurfaceSpeed = 0.500000 m/s
2012-05-23T20:22:12.675Z,1337804532.675 [MissionManager](INFO): DefineArg ballast_and_trim:SurfaceComms.IridiumTimeout = 30.000000 min
2012-05-23T20:22:12.677Z,1337804532.677 [ballast_and_trim:SurfaceComms:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-05-23T20:22:12.692Z,1337804532.693 [ballast_and_trim:H.SetSpeed](DEBUG): Construct.
2012-05-23T20:22:12.700Z,1337804532.700 [ballast_and_trim:ballast:A.SetSpeed](DEBUG): Construct.
2012-05-23T20:22:12.704Z,1337804532.704 [ballast_and_trim:ballast:C.Pitch](DEBUG): Construct.
2012-05-23T20:22:12.708Z,1337804532.708 [ballast_and_trim:ballast:D.Wait](DEBUG): Construct Wait.
2012-05-23T20:22:12.713Z,1337804532.713 [ballast_and_trim:ballast:ReportPositions:B.Wait](DEBUG): Construct Wait.
2012-05-23T20:22:12.716Z,1337804532.716 [ballast_and_trim:ballast:Float_Up:A.SetSpeed](DEBUG): Construct.
2012-05-23T20:22:12.719Z,1337804532.718 [ballast_and_trim:ballast:Float_Up:B.Buoyancy](DEBUG): Construct Buoyancy.
2012-05-23T20:22:12.721Z,1337804532.721 [ballast_and_trim:ballast:Float_Up:C.Wait](DEBUG): Construct Wait.
2012-05-23T20:22:12.729Z,1337804532.729 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Guidance="Tethys/Guidance" 
       xmlns:Trigger="Tethys/Trigger" 
       xmlns:Units="Tethys/Units"
       xmlns:Universal="Tethys/Universal"
       xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
       xsi:schemaLocation="Tethys http://aosn.mbari.org/tethys/Xml/Tethys.xsd
                           Tethys/Control http://aosn.mbari.org/tethys/Xml/Control.xsd
                           Tethys/Guidance http://aosn.mbari.org/tethys/Xml/Guidance.xsd
                           Tethys/Trigger http://aosn.mbari.org/tethys/Xml/Trigger.xsd
                           Tethys/Units http://aosn.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://aosn.mbari.org/tethys/Xml/Universal.xsd"
       Id="ballast_and_trim">

<!-- The following arguments are input arguments -->

    <DefineArg Name="BallastDepth"><Units:meter/><Value>25.0</Value></DefineArg>

    <DefineArg Name="HoldDuration"><Units:minute/><Value>25</Value></DefineArg>

    <DefineArg Name="Speed"><Units:meter_per_second/><Value>1</Value></DefineArg>

    <DefineArg Name="DepthDeadband"><Units:meter/><Value>4.0</Value></DefineArg>

    <DefineArg Name="BuoyPeriod"><Units:second/><Value>0.4</Value></DefineArg>

    <DefineArg Name="BuoyancyDefault"><Control:VerticalControl.buoyancyDefault/></DefineArg>

<!-- The timeout -->

    <Timeout Duration="P90M"/>

<!-- And now the mission -->

    <Assign RunIn="Parallel"><Control:VerticalControl.kpPitchMass/><Units:count/><Value>0.01</Value></Assign>

    <Assign RunIn="Parallel"><Control:VerticalControl.kiPitchMass/><Units:reciprocal_second/><Value>0.0015</Value></Assign>

    <Assign RunIn="Parallel"><Control:VerticalControl.kdPitchMass/><Units:second/><Value>0</Value></Assign>

    <Guidance:AltitudeEnvelope RunIn="Parallel">
        <Setting><Guidance:AltitudeEnvelope.minAltitude/><Units:meter/><Value>7</Value></Setting>
    </Guidance:AltitudeEnvelope>

    <Guidance:DepthEnvelope RunIn="Parallel">
        <Setting><Guidance:DepthEnvelope.maxDepth/><Units:meter/><Value>52</Value></Setting>
    </Guidance:DepthEnvelope>

    <Guidance:OffshoreEnvelope RunIn="Parallel">
        <Setting><Guidance:OffshoreEnvelope.minOffshore/><Units:kilometer/><Value>2.0</Value></Setting>
        <Setting><Guidance:OffshoreEnvelope.maxOffshore/><Units:kilometer/><Value>30.0</Value></Setting>
    </Guidance:OffshoreEnvelope>

    <Insert Filename="Insert/Surface.xml" Id="SurfaceComms" />

    <Guidance:SetSpeed>
        <While><Universal:platform_propeller_rotation_rate/>
            <Eq><Units:radian_per_second/><Value>0</Value></Eq>
        </While>
        <Setting><Guidance:SetSpeed.period/><Arg Name="BuoyPeriod"/></Setting>
    </Guidance:SetSpeed>

    <Aggregate Id="ballast">

        <Guidance:SetSpeed RunIn="Parallel">
            <Setting><Guidance:SetSpeed.speed/><Units:meter_per_second/><Value>0</Value></Setting>
        </Guidance:SetSpeed>

        <Assign RunIn="Parallel"><Control:VerticalControl.depthDeadband/><Arg Name="DepthDeadband"/></Assign>

        <Guidance:Pitch RunIn="Parallel">
            <Setting><Guidance:Pitch.depth /><Arg Name="BallastDepth" /></Setting>
        </Guidance:Pitch>

        <Guidance:Wait RunIn="Sequence">
            <Setting><Guidance:Wait.duration/><Arg Name="HoldDuration"/></Setting>
        </Guidance:Wait>

        <Aggregate Id="ReportPositions" Repeat="5" >

            <Syslog Severity="Important">
            Buoyancy:<Universal:platform_buoyancy_position/><Units:cubic_centimeter/>
            Mass:<Universal:platform_mass_position/><Units:centimeter/>
            Pitch:<Universal:platform_pitch_angle/><Units:degree/>
            </Syslog>

            <Guidance:Wait RunIn="Sequence">
                <Timeout Duration="P1M"></Timeout>
            </Guidance:Wait>

        </Aggregate>

        <Aggregate Id="Float_Up">

            <Until><Universal:depth/>
                <Lt><Units:meter/><Value>1</Value></Lt>
            </Until>

            <Guidance:SetSpeed RunIn="Parallel">
                <Setting><Guidance:SetSpeed.speed/><Units:meter_per_second/><Value>0</Value></Setting>
            </Guidance:SetSpeed>

            <Guidance:Buoyancy RunIn="Parallel">
                <Setting><Guidance:Buoyancy.position /><Arg Name="BuoyancyDefault"/></Setting>
            </Guidance:Buoyancy>

            <Guidance:Wait RunIn="Sequence">
                <Timeout Duration="P15M"></Timeout>
            </Guidance:Wait>

        </Aggregate>

    </Aggregate>

</Mission>


2012-05-23T20:22:12.729Z,1337804532.729 [CommandLine](IMPORTANT): Loaded ./Missions/Maintenance/ballast_and_trim.xml
2012-05-23T20:22:15.791Z,1337804535.791 [CommandLine](IMPORTANT): got command set ballast_and_trim.BallastDepth 5.000000 meter
2012-05-23T20:22:18.547Z,1337804538.547 [CommandLine](IMPORTANT): got command set ballast_and_trim.HoldDuration 10.000000 minute
2012-05-23T20:22:21.839Z,1337804541.839 [CommandLine](IMPORTANT): got command set ballast_and_trim.Speed 0.000000 meter_per_second
2012-05-23T20:22:24.895Z,1337804544.895 [CommandLine](IMPORTANT): got command set ballast_and_trim.DepthDeadband 1.000000 meter
2012-05-23T20:22:59.787Z,1337804579.787 [NAL9601](INFO): NAL9601 initialized
2012-05-23T20:23:21.521Z,1337804601.520 [NAL9601](INFO): SBD MO Status=1, MOMSN=6772, MT Status=0, MTMSN=0
2012-05-23T20:23:21.739Z,1337804601.739 [NAL9601](INFO): Sent 332 bytes from file Logs/20120523T193537/shore0001.lzma
2012-05-23T20:23:21.739Z,1337804601.739 [NAL9601](INFO): Packets left to send: 4
2012-05-23T20:23:21.740Z,1337804601.740 [NAL9601](INFO): Stored copy of sent data in Logs/latest/sent0000013
2012-05-23T20:23:33.572Z,1337804613.572 [NAL9601](INFO): SBD MO Status=2, MOMSN=6773, MT Status=2, MTMSN=0
2012-05-23T20:23:33.573Z,1337804613.573 [NAL9601](ERROR): Failed to initiate SBD session. Error code: 2
2012-05-23T20:24:30.637Z,1337804670.637 [NAL9601](INFO): SBD MO Status=2, MOMSN=6773, MT Status=2, MTMSN=0
2012-05-23T20:24:30.638Z,1337804670.638 [NAL9601](ERROR): Failed to initiate SBD session. Error code: 2
2012-05-23T20:26:03.232Z,1337804763.232 [Reporter](INFO): platform_buoyancy_position 950.296759 cc
2012-05-23T20:26:08.788Z,1337804768.788 [NAL9601](INFO): SBD MO Status=2, MOMSN=6773, MT Status=2, MTMSN=0
2012-05-23T20:26:08.788Z,1337804768.788 [NAL9601](ERROR): Failed to initiate SBD session. Error code: 2
2012-05-23T20:26:57.674Z,1337804817.674 [NAL9601](IMPORTANT): SBD MO Status=1, MOMSN=6773, MT Status=1, MTMSN=2625
2012-05-23T20:26:57.809Z,1337804817.809 [NAL9601](INFO): Sent 332 bytes from file Logs/20120523T193537/shore0001.lzma
2012-05-23T20:26:57.809Z,1337804817.809 [NAL9601](INFO): Packets left to send: 3
2012-05-23T20:26:57.811Z,1337804817.810 [NAL9601](INFO): Stored copy of sent data in Logs/latest/sent0000014
2012-05-23T20:26:58.338Z,1337804818.338 [NAL9601](INFO): Received command:load Maintenance/ballast_and_trim.xml;set ballast_and_trim.BallastDepth 5 meter;set ballast_and_trim.HoldDuration 10 minute;set ballast_and_trim.Speed 0 meter_per_second;set ballast_and_trim.DepthDeadband 1 meter;run 
2012-05-23T20:26:58.361Z,1337804818.361 [CommandLine](IMPORTANT): got command load ./Missions/Maintenance/ballast_and_trim.xml
2012-05-23T20:26:58.380Z,1337804818.380 [MissionManager](INFO): Loading Mission: ./Missions/Maintenance/ballast_and_trim.xml
2012-05-23T20:26:58.449Z,1337804818.449 [MissionManager](INFO): DefineArg ballast_and_trim.BallastDepth = 25.000000 m
2012-05-23T20:26:58.463Z,1337804818.464 [MissionManager](INFO): DefineArg ballast_and_trim.HoldDuration = 25.000000 min
2012-05-23T20:26:58.466Z,1337804818.466 [MissionManager](INFO): DefineArg ballast_and_trim.Speed = 1.000000 m/s
2012-05-23T20:26:58.479Z,1337804818.478 [MissionManager](INFO): DefineArg ballast_and_trim.DepthDeadband = 4.000000 m
2012-05-23T20:26:58.481Z,1337804818.481 [MissionManager](INFO): DefineArg ballast_and_trim.BuoyPeriod = 0.400000 s
2012-05-23T20:26:58.495Z,1337804818.495 [MissionManager](INFO): DefineArg ballast_and_trim.BuoyancyDefault = 0.000945 n/a
2012-05-23T20:26:58.501Z,1337804818.501 [ballast_and_trim:D.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2012-05-23T20:26:58.506Z,1337804818.506 [ballast_and_trim:E.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2012-05-23T20:26:58.524Z,1337804818.524 [ballast_and_trim:F.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2012-05-23T20:26:58.529Z,1337804818.529 [MissionManager](INFO): Inserting Stack: Missions/Insert/Surface.xml
2012-05-23T20:26:58.551Z,1337804818.551 [MissionManager](INFO): DefineArg ballast_and_trim:SurfaceComms.SurfaceDepthRate = nan m/s
2012-05-23T20:26:58.553Z,1337804818.553 [MissionManager](INFO): DefineArg ballast_and_trim:SurfaceComms.SurfacePitch = nan arcdeg
2012-05-23T20:26:58.556Z,1337804818.556 [MissionManager](INFO): DefineArg ballast_and_trim:SurfaceComms.SurfaceSpeed = 0.500000 m/s
2012-05-23T20:26:58.558Z,1337804818.558 [MissionManager](INFO): DefineArg ballast_and_trim:SurfaceComms.IridiumTimeout = 30.000000 min
2012-05-23T20:26:58.559Z,1337804818.559 [ballast_and_trim:SurfaceComms:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-05-23T20:26:58.566Z,1337804818.566 [ballast_and_trim:H.SetSpeed](DEBUG): Construct.
2012-05-23T20:26:58.570Z,1337804818.570 [ballast_and_trim:ballast:A.SetSpeed](DEBUG): Construct.
2012-05-23T20:26:58.573Z,1337804818.573 [ballast_and_trim:ballast:C.Pitch](DEBUG): Construct.
2012-05-23T20:26:58.577Z,1337804818.577 [ballast_and_trim:ballast:D.Wait](DEBUG): Construct Wait.
2012-05-23T20:26:58.582Z,1337804818.582 [ballast_and_trim:ballast:ReportPositions:B.Wait](DEBUG): Construct Wait.
2012-05-23T20:26:58.587Z,1337804818.587 [ballast_and_trim:ballast:Float_Up:A.SetSpeed](DEBUG): Construct.
2012-05-23T20:26:58.589Z,1337804818.589 [ballast_and_trim:ballast:Float_Up:B.Buoyancy](DEBUG): Construct Buoyancy.
2012-05-23T20:26:58.591Z,1337804818.591 [ballast_and_trim:ballast:Float_Up:C.Wait](DEBUG): Construct Wait.
2012-05-23T20:26:58.598Z,1337804818.598 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Guidance="Tethys/Guidance" 
       xmlns:Trigger="Tethys/Trigger" 
       xmlns:Units="Tethys/Units"
       xmlns:Universal="Tethys/Universal"
       xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
       xsi:schemaLocation="Tethys http://aosn.mbari.org/tethys/Xml/Tethys.xsd
                           Tethys/Control http://aosn.mbari.org/tethys/Xml/Control.xsd
                           Tethys/Guidance http://aosn.mbari.org/tethys/Xml/Guidance.xsd
                           Tethys/Trigger http://aosn.mbari.org/tethys/Xml/Trigger.xsd
                           Tethys/Units http://aosn.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://aosn.mbari.org/tethys/Xml/Universal.xsd"
       Id="ballast_and_trim">

<!-- The following arguments are input arguments -->

    <DefineArg Name="BallastDepth"><Units:meter/><Value>25.0</Value></DefineArg>

    <DefineArg Name="HoldDuration"><Units:minute/><Value>25</Value></DefineArg>

    <DefineArg Name="Speed"><Units:meter_per_second/><Value>1</Value></DefineArg>

    <DefineArg Name="DepthDeadband"><Units:meter/><Value>4.0</Value></DefineArg>

    <DefineArg Name="BuoyPeriod"><Units:second/><Value>0.4</Value></DefineArg>

    <DefineArg Name="BuoyancyDefault"><Control:VerticalControl.buoyancyDefault/></DefineArg>

<!-- The timeout -->

    <Timeout Duration="P90M"/>

<!-- And now the mission -->

    <Assign RunIn="Parallel"><Control:VerticalControl.kpPitchMass/><Units:count/><Value>0.01</Value></Assign>

    <Assign RunIn="Parallel"><Control:VerticalControl.kiPitchMass/><Units:reciprocal_second/><Value>0.0015</Value></Assign>

    <Assign RunIn="Parallel"><Control:VerticalControl.kdPitchMass/><Units:second/><Value>0</Value></Assign>

    <Guidance:AltitudeEnvelope RunIn="Parallel">
        <Setting><Guidance:AltitudeEnvelope.minAltitude/><Units:meter/><Value>7</Value></Setting>
    </Guidance:AltitudeEnvelope>

    <Guidance:DepthEnvelope RunIn="Parallel">
        <Setting><Guidance:DepthEnvelope.maxDepth/><Units:meter/><Value>52</Value></Setting>
    </Guidance:DepthEnvelope>

    <Guidance:OffshoreEnvelope RunIn="Parallel">
        <Setting><Guidance:OffshoreEnvelope.minOffshore/><Units:kilometer/><Value>2.0</Value></Setting>
        <Setting><Guidance:OffshoreEnvelope.maxOffshore/><Units:kilometer/><Value>30.0</Value></Setting>
    </Guidance:OffshoreEnvelope>

    <Insert Filename="Insert/Surface.xml" Id="SurfaceComms" />

    <Guidance:SetSpeed>
        <While><Universal:platform_propeller_rotation_rate/>
            <Eq><Units:radian_per_second/><Value>0</Value></Eq>
        </While>
        <Setting><Guidance:SetSpeed.period/><Arg Name="BuoyPeriod"/></Setting>
    </Guidance:SetSpeed>

    <Aggregate Id="ballast">

        <Guidance:SetSpeed RunIn="Parallel">
            <Setting><Guidance:SetSpeed.speed/><Units:meter_per_second/><Value>0</Value></Setting>
        </Guidance:SetSpeed>

        <Assign RunIn="Parallel"><Control:VerticalControl.depthDeadband/><Arg Name="DepthDeadband"/></Assign>

        <Guidance:Pitch RunIn="Parallel">
            <Setting><Guidance:Pitch.depth /><Arg Name="BallastDepth" /></Setting>
        </Guidance:Pitch>

        <Guidance:Wait RunIn="Sequence">
            <Setting><Guidance:Wait.duration/><Arg Name="HoldDuration"/></Setting>
        </Guidance:Wait>

        <Aggregate Id="ReportPositions" Repeat="5" >

            <Syslog Severity="Important">
            Buoyancy:<Universal:platform_buoyancy_position/><Units:cubic_centimeter/>
            Mass:<Universal:platform_mass_position/><Units:centimeter/>
            Pitch:<Universal:platform_pitch_angle/><Units:degree/>
            </Syslog>

            <Guidance:Wait RunIn="Sequence">
                <Timeout Duration="P1M"></Timeout>
            </Guidance:Wait>

        </Aggregate>

        <Aggregate Id="Float_Up">

            <Until><Universal:depth/>
                <Lt><Units:meter/><Value>1</Value></Lt>
            </Until>

            <Guidance:SetSpeed RunIn="Parallel">
                <Setting><Guidance:SetSpeed.speed/><Units:meter_per_second/><Value>0</Value></Setting>
            </Guidance:SetSpeed>

            <Guidance:Buoyancy RunIn="Parallel">
                <Setting><Guidance:Buoyancy.position /><Arg Name="BuoyancyDefault"/></Setting>
            </Guidance:Buoyancy>

            <Guidance:Wait RunIn="Sequence">
                <Timeout Duration="P15M"></Timeout>
            </Guidance:Wait>

        </Aggregate>

    </Aggregate>

</Mission>


2012-05-23T20:26:58.599Z,1337804818.599 [CommandLine](IMPORTANT): Loaded ./Missions/Maintenance/ballast_and_trim.xml
2012-05-23T20:26:58.738Z,1337804818.738 [CommandLine](IMPORTANT): got command set ballast_and_trim.BallastDepth 5.000000 meter
2012-05-23T20:26:58.889Z,1337804818.889 [CommandLine](IMPORTANT): got command set ballast_and_trim.HoldDuration 10.000000 minute
2012-05-23T20:26:59.013Z,1337804819.013 [CommandLine](IMPORTANT): got command set ballast_and_trim.Speed 0.000000 meter_per_second
2012-05-23T20:26:59.164Z,1337804819.164 [CommandLine](IMPORTANT): got command set ballast_and_trim.DepthDeadband 1.000000 meter
2012-05-23T20:26:59.165Z,1337804819.165 [CommandLine](IMPORTANT): got command run 
2012-05-23T20:26:59.166Z,1337804819.166 [CommandLine](IMPORTANT): Running 
2012-05-23T20:26:59.179Z,1337804819.179 [Default] Stopped
2012-05-23T20:26:59.179Z,1337804819.179 [Default](INFO): Aggregate::uninitialize Default
2012-05-23T20:26:59.179Z,1337804819.180 [Default:GPS] Stopped
2012-05-23T20:26:59.180Z,1337804819.180 [Default:GPS](INFO): Aggregate::uninitialize Default:GPS
2012-05-23T20:26:59.180Z,1337804819.180 [Default:GPS:A.SetSpeed] Stopped
2012-05-23T20:26:59.180Z,1337804819.180 [Default:GPS:A.SetSpeed](DEBUG): Uninitialize.
2012-05-23T20:26:59.180Z,1337804819.180 [Default:GPS:Read_GPS] Stopped
2012-05-23T20:26:59.180Z,1337804819.180 [Default:Iridium] Stopped
2012-05-23T20:26:59.180Z,1337804819.180 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2012-05-23T20:26:59.180Z,1337804819.180 [Default:Iridium:A.SetSpeed] Stopped
2012-05-23T20:26:59.180Z,1337804819.180 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2012-05-23T20:26:59.180Z,1337804819.180 [Default:Iridium:Read_Iridium] Stopped
2012-05-23T20:26:59.180Z,1337804819.180 [Default:CallIridium] Stopped
2012-05-23T20:26:59.181Z,1337804819.181 [Default:CallIridium](INFO): Aggregate::uninitialize Default:CallIridium
2012-05-23T20:26:59.181Z,1337804819.181 [Default:CallIridium:B] Stopped
2012-05-23T20:26:59.181Z,1337804819.181 [Default:CallIridium:B](INFO): Aggregate::uninitialize Default:CallIridium:B
2012-05-23T20:26:59.181Z,1337804819.181 [Default:D.SetSpeed] Stopped
2012-05-23T20:26:59.181Z,1337804819.181 [Default:D.SetSpeed](DEBUG): Uninitialize.
2012-05-23T20:26:59.181Z,1337804819.181 [Default:E.GoToSurface] Stopped
2012-05-23T20:26:59.181Z,1337804819.181 [Default:E.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-05-23T20:26:59.181Z,1337804819.181 [Default:F.Wait] Stopped
2012-05-23T20:26:59.181Z,1337804819.181 [Default:F.Wait](DEBUG): Uninitialize Wait Component.
2012-05-23T20:26:59.181Z,1337804819.181 [MissionManager](IMPORTANT): Started mission ballast_and_trim
2012-05-23T20:26:59.181Z,1337804819.181 [ballast_and_trim] Running Loop=1
2012-05-23T20:26:59.182Z,1337804819.181 [ballast_and_trim](INFO): Aggregate::initialize ballast_and_trim
2012-05-23T20:26:59.182Z,1337804819.181 [ballast_and_trim:A] Running Loop=1
2012-05-23T20:26:59.182Z,1337804819.182 [ballast_and_trim:B] Running Loop=1
2012-05-23T20:26:59.182Z,1337804819.182 [ballast_and_trim:C] Running Loop=1
2012-05-23T20:26:59.182Z,1337804819.182 [ballast_and_trim:D.AltitudeEnvelope] Running Loop=1
2012-05-23T20:26:59.182Z,1337804819.182 [ballast_and_trim:D.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2012-05-23T20:26:59.182Z,1337804819.182 [ballast_and_trim:E.DepthEnvelope] Running Loop=1
2012-05-23T20:26:59.182Z,1337804819.182 [ballast_and_trim:E.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2012-05-23T20:26:59.183Z,1337804819.183 [ballast_and_trim:F.OffshoreEnvelope] Running Loop=1
2012-05-23T20:26:59.183Z,1337804819.183 [ballast_and_trim:F.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2012-05-23T20:26:59.183Z,1337804819.183 [ballast_and_trim:H.SetSpeed] Running Loop=1
2012-05-23T20:26:59.183Z,1337804819.183 [ballast_and_trim:H.SetSpeed](DEBUG): Initialize.
2012-05-23T20:26:59.183Z,1337804819.183 [ballast_and_trim:SurfaceComms] Running Loop=1
2012-05-23T20:26:59.183Z,1337804819.183 [ballast_and_trim:SurfaceComms](INFO): Aggregate::initialize ballast_and_trim:SurfaceComms
2012-05-23T20:26:59.183Z,1337804819.183 [ballast_and_trim:SurfaceComms:A.GoToSurface] Running Loop=1
2012-05-23T20:26:59.184Z,1337804819.184 [ballast_and_trim:SurfaceComms:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-05-23T20:26:59.184Z,1337804819.184 [ballast_and_trim:H.SetSpeed] Running Loop=1
2012-05-23T20:26:59.187Z,1337804819.187 [ballast_and_trim:SurfaceComms:B] Running Loop=1
2012-05-23T20:26:59.187Z,1337804819.187 [ballast_and_trim:SurfaceComms:B](INFO): Aggregate::initialize ballast_and_trim:SurfaceComms:B
2012-05-23T20:26:59.187Z,1337804819.187 [ballast_and_trim:SurfaceComms:B:A] Running Loop=1
2012-05-23T20:26:59.187Z,1337804819.187 [ballast_and_trim:F.OffshoreEnvelope] Running Loop=1
2012-05-23T20:26:59.196Z,1337804819.196 [ballast_and_trim:E.DepthEnvelope] Running Loop=1
2012-05-23T20:26:59.197Z,1337804819.197 [ballast_and_trim:D.AltitudeEnvelope] Running Loop=1
2012-05-23T20:26:59.199Z,1337804819.199 [ballast_and_trim:C] Running Loop=1
2012-05-23T20:26:59.200Z,1337804819.200 [ballast_and_trim:B] Running Loop=1
2012-05-23T20:26:59.201Z,1337804819.201 [ballast_and_trim:A] Running Loop=1
2012-05-23T20:26:59.773Z,1337804819.773 [ballast_and_trim:H.SetSpeed] Preempted
2012-05-23T20:26:59.773Z,1337804819.773 [ballast_and_trim:SurfaceComms:B:A](DEBUG): Initialize ReadDataComponent to sense time_fix
2012-05-23T20:31:04.550Z,1337805064.550 [Reporter](INFO): platform_buoyancy_position 950.028189 cc
2012-05-23T20:33:00.924Z,1337805180.924 [NAL9601](FAULT): GPS failed to acquire within timeout.
2012-05-23T20:33:00.924Z,1337805180.924 [NAL9601] Data Fault, FailCount= 1
2012-05-23T20:33:00.924Z,1337805180.924 [NAL9601](ERROR): Data Fault
2012-05-23T20:33:01.017Z,1337805181.017 [CBIT](ERROR): Data Fault in component: NAL9601
2012-05-23T20:33:01.243Z,1337805181.243 [NAL9601](INFO): Powering down
2012-05-23T20:33:01.301Z,1337805181.301 [CBIT](INFO): Clearing failed state for component NAL9601
2012-05-23T20:33:01.301Z,1337805181.301 [NAL9601] No Fault, FailCount= 1
2012-05-23T20:33:06.471Z,1337805186.471 [NAL9601](INFO): Powering up NAL9601
2012-05-23T20:34:12.207Z,1337805252.207 [NAL9601](INFO): NAL9601 initialized
2012-05-23T20:34:12.914Z,1337805252.914 [NAL9601](ERROR): getFix uart error: serial timeout
2012-05-23T20:36:05.755Z,1337805365.755 [Reporter](INFO): platform_buoyancy_position 950.431044 cc
2012-05-23T20:41:07.034Z,1337805667.034 [Reporter](INFO): platform_buoyancy_position 950.162474 cc
2012-05-23T20:44:13.311Z,1337805853.311 [NAL9601](FAULT): GPS failed to acquire within timeout.
2012-05-23T20:44:13.311Z,1337805853.311 [NAL9601] Data Fault, FailCount= 2
2012-05-23T20:44:13.311Z,1337805853.311 [NAL9601](ERROR): Data Fault
2012-05-23T20:44:13.369Z,1337805853.369 [CBIT](ERROR): Data Fault in component: NAL9601
2012-05-23T20:44:13.369Z,1337805853.369 [CBIT](CRITICAL): Data Fault in component: NAL9601
2012-05-23T20:44:13.716Z,1337805853.716 [NAL9601](INFO): Powering down
2012-05-23T20:44:14.164Z,1337805854.164 [ballast_and_trim] Stopped
2012-05-23T20:44:14.164Z,1337805854.164 [ballast_and_trim](INFO): Aggregate::uninitialize ballast_and_trim
2012-05-23T20:44:14.164Z,1337805854.164 [ballast_and_trim:A] Stopped
2012-05-23T20:44:14.164Z,1337805854.164 [ballast_and_trim:B] Stopped
2012-05-23T20:44:14.164Z,1337805854.164 [ballast_and_trim:C] Stopped
2012-05-23T20:44:14.164Z,1337805854.164 [ballast_and_trim:D.AltitudeEnvelope] Stopped
2012-05-23T20:44:14.164Z,1337805854.164 [ballast_and_trim:D.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2012-05-23T20:44:14.164Z,1337805854.164 [ballast_and_trim:E.DepthEnvelope] Stopped
2012-05-23T20:44:14.164Z,1337805854.164 [ballast_and_trim:E.DepthEnvelope](DEBUG): Uninitialize.
2012-05-23T20:44:14.165Z,1337805854.165 [ballast_and_trim:F.OffshoreEnvelope] Stopped
2012-05-23T20:44:14.165Z,1337805854.165 [ballast_and_trim:F.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2012-05-23T20:44:14.165Z,1337805854.165 [ballast_and_trim:SurfaceComms] Stopped
2012-05-23T20:44:14.165Z,1337805854.165 [ballast_and_trim:SurfaceComms](INFO): Aggregate::uninitialize ballast_and_trim:SurfaceComms
2012-05-23T20:44:14.165Z,1337805854.165 [ballast_and_trim:SurfaceComms:A.GoToSurface] Stopped
2012-05-23T20:44:14.165Z,1337805854.165 [ballast_and_trim:SurfaceComms:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-05-23T20:44:14.165Z,1337805854.165 [ballast_and_trim:SurfaceComms:B] Stopped
2012-05-23T20:44:14.165Z,1337805854.165 [ballast_and_trim:SurfaceComms:B](INFO): Aggregate::uninitialize ballast_and_trim:SurfaceComms:B
2012-05-23T20:44:14.165Z,1337805854.165 [ballast_and_trim:SurfaceComms:B:A] Stopped
2012-05-23T20:44:14.165Z,1337805854.165 [ballast_and_trim:H.SetSpeed] Stopped
2012-05-23T20:44:14.165Z,1337805854.165 [ballast_and_trim:H.SetSpeed](DEBUG): Uninitialize.
2012-05-23T20:44:14.530Z,1337805854.530 [MissionManager](IMPORTANT): Started mission Default
2012-05-23T20:44:14.530Z,1337805854.530 [Default] Running Loop=1
2012-05-23T20:44:14.530Z,1337805854.530 [Default](INFO): Aggregate::initialize Default
2012-05-23T20:44:14.530Z,1337805854.530 [Default:D.SetSpeed] Running Loop=1
2012-05-23T20:44:14.530Z,1337805854.530 [Default:D.SetSpeed](DEBUG): Initialize.
2012-05-23T20:44:14.530Z,1337805854.530 [Default:E.GoToSurface] Running Loop=1
2012-05-23T20:44:14.530Z,1337805854.530 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-05-23T20:44:14.535Z,1337805854.535 [Default:Iridium] Running Loop=1
2012-05-23T20:44:14.535Z,1337805854.535 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2012-05-23T20:44:14.535Z,1337805854.535 [Default:Iridium:A.SetSpeed] Running Loop=1
2012-05-23T20:44:14.535Z,1337805854.535 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2012-05-23T20:44:14.535Z,1337805854.535 [Default:Iridium:B.GoToSurface] Running Loop=1
2012-05-23T20:44:14.535Z,1337805854.535 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-05-23T20:44:14.537Z,1337805854.537 [Default:CallIridium] Running Loop=1
2012-05-23T20:44:14.537Z,1337805854.537 [Default:CallIridium](INFO): Aggregate::initialize Default:CallIridium
2012-05-23T20:44:14.537Z,1337805854.537 [Default:CallIridium:A] Running Loop=1
2012-05-23T20:44:14.537Z,1337805854.537 [Default:CallIridium:A] Stopped
2012-05-23T20:44:14.538Z,1337805854.537 [Default:CallIridium:B] Running Loop=1
2012-05-23T20:44:14.538Z,1337805854.538 [Default:CallIridium:B](INFO): Aggregate::initialize Default:CallIridium:B
2012-05-23T20:44:14.543Z,1337805854.543 [Default:Iridium:B.GoToSurface] Stopped
2012-05-23T20:44:14.543Z,1337805854.543 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-05-23T20:44:14.543Z,1337805854.543 [Default:Iridium:Read_Iridium] Running Loop=1
2012-05-23T20:44:14.543Z,1337805854.543 [Default:GPS] Running Loop=1
2012-05-23T20:44:14.543Z,1337805854.543 [Default:GPS](INFO): Aggregate::initialize Default:GPS
2012-05-23T20:44:14.544Z,1337805854.543 [Default:GPS:A.SetSpeed] Running Loop=1
2012-05-23T20:44:14.544Z,1337805854.543 [Default:GPS:A.SetSpeed](DEBUG): Initialize.
2012-05-23T20:44:14.544Z,1337805854.544 [Default:GPS:B.GoToSurface] Running Loop=1
2012-05-23T20:44:14.544Z,1337805854.544 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-05-23T20:44:14.545Z,1337805854.545 [Default:GPS:B.GoToSurface] Stopped
2012-05-23T20:44:14.545Z,1337805854.545 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-05-23T20:44:14.545Z,1337805854.545 [Default:GPS:Read_GPS] Running Loop=1
2012-05-23T20:46:08.508Z,1337805968.508 [Reporter](INFO): platform_buoyancy_position 950.565329 cc
2012-05-23T20:46:13.654Z,1337805973.654 [CBIT](INFO): Clearing failed count for component NAL9601
2012-05-23T20:46:13.654Z,1337805973.654 [NAL9601] No Fault, FailCount= 2
2012-05-23T20:46:14.033Z,1337805974.033 [NAL9601](INFO): Powering up NAL9601
2012-05-23T20:47:19.675Z,1337806039.675 [NAL9601](INFO): NAL9601 initialized
2012-05-23T20:47:48.358Z,1337806068.358 [NAL9601](INFO): SBD MO Status=1, MOMSN=6774, MT Status=0, MTMSN=0
2012-05-23T20:47:48.515Z,1337806068.515 [NAL9601](INFO): Sent 332 bytes from file Logs/20120523T193537/shore0001.lzma
2012-05-23T20:47:48.515Z,1337806068.515 [NAL9601](INFO): Packets left to send: 2
2012-05-23T20:47:48.516Z,1337806068.516 [NAL9601](INFO): Stored copy of sent data in Logs/latest/sent0000015
2012-05-23T20:48:00.458Z,1337806080.458 [NAL9601](INFO): SBD MO Status=2, MOMSN=6775, MT Status=2, MTMSN=0
2012-05-23T20:48:00.458Z,1337806080.458 [NAL9601](ERROR): Failed to initiate SBD session. Error code: 2
2012-05-23T20:48:14.749Z,1337806094.749 [NAL9601](INFO): SBD MO Status=2, MOMSN=6775, MT Status=2, MTMSN=0
2012-05-23T20:48:14.749Z,1337806094.750 [NAL9601](ERROR): Failed to initiate SBD session. Error code: 2
2012-05-23T20:48:32.076Z,1337806112.076 [NAL9601](INFO): SBD MO Status=2, MOMSN=6775, MT Status=2, MTMSN=0
2012-05-23T20:48:32.076Z,1337806112.076 [NAL9601](ERROR): Failed to initiate SBD session. Error code: 2
2012-05-23T20:49:04.695Z,1337806144.695 [NAL9601](INFO): SBD MO Status=1, MOMSN=6775, MT Status=0, MTMSN=0
2012-05-23T20:49:04.899Z,1337806144.899 [NAL9601](INFO): Sent 332 bytes from file Logs/20120523T193537/shore0001.lzma
2012-05-23T20:49:04.899Z,1337806144.899 [NAL9601](INFO): Packets left to send: 1
2012-05-23T20:49:04.900Z,1337806144.900 [NAL9601](INFO): Stored copy of sent data in Logs/latest/sent0000016
2012-05-23T20:49:15.225Z,1337806155.225 [NAL9601](INFO): SBD MO Status=1, MOMSN=6776, MT Status=0, MTMSN=0
2012-05-23T20:49:15.387Z,1337806155.387 [NAL9601](INFO): Sent 295 bytes from file Logs/20120523T193537/shore0001.lzma
2012-05-23T20:49:15.387Z,1337806155.387 [NAL9601](INFO): Packets left to send: 0
2012-05-23T20:49:15.388Z,1337806155.388 [NAL9601](INFO): Stored copy of sent data in Logs/latest/sent0000017
2012-05-23T20:49:29.226Z,1337806169.226 [NAL9601](INFO): SBD MO Status=0, MOMSN=6777, MT Status=0, MTMSN=0
2012-05-23T20:49:29.373Z,1337806169.372 [Default:Iridium:Read_Iridium] Stopped
2012-05-23T20:49:29.373Z,1337806169.373 [Default:Iridium](INFO): Completed Default:Iridium
2012-05-23T20:49:29.373Z,1337806169.373 [Default:Iridium] Stopped
2012-05-23T20:49:29.373Z,1337806169.373 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2012-05-23T20:49:29.373Z,1337806169.373 [Default:Iridium:A.SetSpeed] Stopped
2012-05-23T20:49:29.373Z,1337806169.373 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2012-05-23T20:49:29.373Z,1337806169.373 [Default:F.Wait] Running Loop=1
2012-05-23T20:49:29.373Z,1337806169.374 [Default:F.Wait](DEBUG): Initialize Wait Component.
2012-05-23T20:49:29.633Z,1337806169.634 [Default:CallIridium:B](INFO): Completed Default:CallIridium:B
2012-05-23T20:49:29.634Z,1337806169.634 [Default:CallIridium:B] Stopped
2012-05-23T20:49:29.634Z,1337806169.634 [Default:CallIridium:B](INFO): Aggregate::uninitialize Default:CallIridium:B
2012-05-23T20:49:29.634Z,1337806169.634 [Default:CallIridium](INFO): Completed Default:CallIridium
2012-05-23T20:49:29.634Z,1337806169.634 [Default:CallIridium] Stopped
2012-05-23T20:49:29.634Z,1337806169.634 [Default:CallIridium](INFO): Aggregate::uninitialize Default:CallIridium
2012-05-23T20:51:10.116Z,1337806270.115 [Reporter](INFO): platform_buoyancy_position 950.833957 cc
2012-05-23T20:54:29.633Z,1337806469.633 [Default:CallIridium] Running Loop=1
2012-05-23T20:54:29.634Z,1337806469.634 [Default:CallIridium](INFO): Aggregate::initialize Default:CallIridium
2012-05-23T20:54:29.634Z,1337806469.634 [Default:CallIridium:A] Running Loop=1
2012-05-23T20:54:29.634Z,1337806469.634 [Default:CallIridium:A] Stopped
2012-05-23T20:54:29.634Z,1337806469.634 [Default:CallIridium:B] Running Loop=1
2012-05-23T20:54:29.635Z,1337806469.635 [Default:CallIridium:B](INFO): Aggregate::initialize Default:CallIridium:B
2012-05-23T20:54:30.038Z,1337806470.038 [Default:Iridium] Running Loop=1
2012-05-23T20:54:30.038Z,1337806470.038 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2012-05-23T20:54:30.038Z,1337806470.039 [Default:Iridium:A.SetSpeed] Running Loop=1
2012-05-23T20:54:30.039Z,1337806470.039 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2012-05-23T20:54:30.039Z,1337806470.039 [Default:Iridium:B.GoToSurface] Running Loop=1
2012-05-23T20:54:30.039Z,1337806470.039 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-05-23T20:54:30.040Z,1337806470.040 [Default:Iridium:B.GoToSurface] Stopped
2012-05-23T20:54:30.040Z,1337806470.040 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-05-23T20:54:30.040Z,1337806470.040 [Default:Iridium:Read_Iridium] Running Loop=1
2012-05-23T20:54:59.525Z,1337806499.525 [NAL9601](INFO): SBD MO Status=1, MOMSN=6778, MT Status=0, MTMSN=0
2012-05-23T20:54:59.647Z,1337806499.647 [NAL9601](INFO): Sent 332 bytes from file Logs/20120523T193537/shore0002.lzma
2012-05-23T20:54:59.647Z,1337806499.647 [NAL9601](INFO): Packets left to send: 1
2012-05-23T20:54:59.648Z,1337806499.648 [NAL9601](INFO): Stored copy of sent data in Logs/latest/sent0000018
2012-05-23T20:55:21.807Z,1337806521.807 [CommandLine](IMPORTANT): got command load ./Missions/Maintenance/ballast_and_trim.xml
2012-05-23T20:55:21.807Z,1337806521.807 [MissionManager](INFO): Loading Mission: ./Missions/Maintenance/ballast_and_trim.xml
2012-05-23T20:55:21.869Z,1337806521.869 [MissionManager](INFO): DefineArg ballast_and_trim.BallastDepth = 25.000000 m
2012-05-23T20:55:21.871Z,1337806521.871 [MissionManager](INFO): DefineArg ballast_and_trim.HoldDuration = 25.000000 min
2012-05-23T20:55:21.873Z,1337806521.873 [MissionManager](INFO): DefineArg ballast_and_trim.Speed = 1.000000 m/s
2012-05-23T20:55:21.876Z,1337806521.875 [MissionManager](INFO): DefineArg ballast_and_trim.DepthDeadband = 4.000000 m
2012-05-23T20:55:21.877Z,1337806521.878 [MissionManager](INFO): DefineArg ballast_and_trim.BuoyPeriod = 0.400000 s
2012-05-23T20:55:21.880Z,1337806521.880 [MissionManager](INFO): DefineArg ballast_and_trim.BuoyancyDefault = 0.000945 n/a
2012-05-23T20:55:21.885Z,1337806521.885 [ballast_and_trim:D.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2012-05-23T20:55:21.890Z,1337806521.890 [ballast_and_trim:E.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2012-05-23T20:55:21.896Z,1337806521.896 [ballast_and_trim:F.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2012-05-23T20:55:21.901Z,1337806521.901 [MissionManager](INFO): Inserting Stack: Missions/Insert/Surface.xml
2012-05-23T20:55:21.917Z,1337806521.917 [MissionManager](INFO): DefineArg ballast_and_trim:SurfaceComms.SurfaceDepthRate = nan m/s
2012-05-23T20:55:21.919Z,1337806521.920 [MissionManager](INFO): DefineArg ballast_and_trim:SurfaceComms.SurfacePitch = nan arcdeg
2012-05-23T20:55:21.922Z,1337806521.922 [MissionManager](INFO): DefineArg ballast_and_trim:SurfaceComms.SurfaceSpeed = 0.500000 m/s
2012-05-23T20:55:21.924Z,1337806521.924 [MissionManager](INFO): DefineArg ballast_and_trim:SurfaceComms.IridiumTimeout = 30.000000 min
2012-05-23T20:55:21.925Z,1337806521.925 [ballast_and_trim:SurfaceComms:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-05-23T20:55:21.932Z,1337806521.932 [ballast_and_trim:H.SetSpeed](DEBUG): Construct.
2012-05-23T20:55:21.936Z,1337806521.936 [ballast_and_trim:ballast:A.SetSpeed](DEBUG): Construct.
2012-05-23T20:55:21.939Z,1337806521.939 [ballast_and_trim:ballast:C.Pitch](DEBUG): Construct.
2012-05-23T20:55:21.943Z,1337806521.943 [ballast_and_trim:ballast:D.Wait](DEBUG): Construct Wait.
2012-05-23T20:55:21.947Z,1337806521.947 [ballast_and_trim:ballast:ReportPositions:B.Wait](DEBUG): Construct Wait.
2012-05-23T20:55:21.950Z,1337806521.950 [ballast_and_trim:ballast:Float_Up:A.SetSpeed](DEBUG): Construct.
2012-05-23T20:55:21.952Z,1337806521.952 [ballast_and_trim:ballast:Float_Up:B.Buoyancy](DEBUG): Construct Buoyancy.
2012-05-23T20:55:21.956Z,1337806521.955 [ballast_and_trim:ballast:Float_Up:C.Wait](DEBUG): Construct Wait.
2012-05-23T20:55:21.963Z,1337806521.963 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Guidance="Tethys/Guidance" 
       xmlns:Trigger="Tethys/Trigger" 
       xmlns:Units="Tethys/Units"
       xmlns:Universal="Tethys/Universal"
       xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
       xsi:schemaLocation="Tethys http://aosn.mbari.org/tethys/Xml/Tethys.xsd
                           Tethys/Control http://aosn.mbari.org/tethys/Xml/Control.xsd
                           Tethys/Guidance http://aosn.mbari.org/tethys/Xml/Guidance.xsd
                           Tethys/Trigger http://aosn.mbari.org/tethys/Xml/Trigger.xsd
                           Tethys/Units http://aosn.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://aosn.mbari.org/tethys/Xml/Universal.xsd"
       Id="ballast_and_trim">

<!-- The following arguments are input arguments -->

    <DefineArg Name="BallastDepth"><Units:meter/><Value>25.0</Value></DefineArg>

    <DefineArg Name="HoldDuration"><Units:minute/><Value>25</Value></DefineArg>

    <DefineArg Name="Speed"><Units:meter_per_second/><Value>1</Value></DefineArg>

    <DefineArg Name="DepthDeadband"><Units:meter/><Value>4.0</Value></DefineArg>

    <DefineArg Name="BuoyPeriod"><Units:second/><Value>0.4</Value></DefineArg>

    <DefineArg Name="BuoyancyDefault"><Control:VerticalControl.buoyancyDefault/></DefineArg>

<!-- The timeout -->

    <Timeout Duration="P90M"/>

<!-- And now the mission -->

    <Assign RunIn="Parallel"><Control:VerticalControl.kpPitchMass/><Units:count/><Value>0.01</Value></Assign>

    <Assign RunIn="Parallel"><Control:VerticalControl.kiPitchMass/><Units:reciprocal_second/><Value>0.0015</Value></Assign>

    <Assign RunIn="Parallel"><Control:VerticalControl.kdPitchMass/><Units:second/><Value>0</Value></Assign>

    <Guidance:AltitudeEnvelope RunIn="Parallel">
        <Setting><Guidance:AltitudeEnvelope.minAltitude/><Units:meter/><Value>7</Value></Setting>
    </Guidance:AltitudeEnvelope>

    <Guidance:DepthEnvelope RunIn="Parallel">
        <Setting><Guidance:DepthEnvelope.maxDepth/><Units:meter/><Value>52</Value></Setting>
    </Guidance:DepthEnvelope>

    <Guidance:OffshoreEnvelope RunIn="Parallel">
        <Setting><Guidance:OffshoreEnvelope.minOffshore/><Units:kilometer/><Value>2.0</Value></Setting>
        <Setting><Guidance:OffshoreEnvelope.maxOffshore/><Units:kilometer/><Value>30.0</Value></Setting>
    </Guidance:OffshoreEnvelope>

    <Insert Filename="Insert/Surface.xml" Id="SurfaceComms" />

    <Guidance:SetSpeed>
        <While><Universal:platform_propeller_rotation_rate/>
            <Eq><Units:radian_per_second/><Value>0</Value></Eq>
        </While>
        <Setting><Guidance:SetSpeed.period/><Arg Name="BuoyPeriod"/></Setting>
    </Guidance:SetSpeed>

    <Aggregate Id="ballast">

        <Guidance:SetSpeed RunIn="Parallel">
            <Setting><Guidance:SetSpeed.speed/><Units:meter_per_second/><Value>0</Value></Setting>
        </Guidance:SetSpeed>

        <Assign RunIn="Parallel"><Control:VerticalControl.depthDeadband/><Arg Name="DepthDeadband"/></Assign>

        <Guidance:Pitch RunIn="Parallel">
            <Setting><Guidance:Pitch.depth /><Arg Name="BallastDepth" /></Setting>
        </Guidance:Pitch>

        <Guidance:Wait RunIn="Sequence">
            <Setting><Guidance:Wait.duration/><Arg Name="HoldDuration"/></Setting>
        </Guidance:Wait>

        <Aggregate Id="ReportPositions" Repeat="5" >

            <Syslog Severity="Important">
            Buoyancy:<Universal:platform_buoyancy_position/><Units:cubic_centimeter/>
            Mass:<Universal:platform_mass_position/><Units:centimeter/>
            Pitch:<Universal:platform_pitch_angle/><Units:degree/>
            </Syslog>

            <Guidance:Wait RunIn="Sequence">
                <Timeout Duration="P1M"></Timeout>
            </Guidance:Wait>

        </Aggregate>

        <Aggregate Id="Float_Up">

            <Until><Universal:depth/>
                <Lt><Units:meter/><Value>1</Value></Lt>
            </Until>

            <Guidance:SetSpeed RunIn="Parallel">
                <Setting><Guidance:SetSpeed.speed/><Units:meter_per_second/><Value>0</Value></Setting>
            </Guidance:SetSpeed>

            <Guidance:Buoyancy RunIn="Parallel">
                <Setting><Guidance:Buoyancy.position /><Arg Name="BuoyancyDefault"/></Setting>
            </Guidance:Buoyancy>

            <Guidance:Wait RunIn="Sequence">
                <Timeout Duration="P15M"></Timeout>
            </Guidance:Wait>

        </Aggregate>

    </Aggregate>

</Mission>


2012-05-23T20:55:21.964Z,1337806521.964 [CommandLine](IMPORTANT): Loaded ./Missions/Maintenance/ballast_and_trim.xml
2012-05-23T20:55:30.414Z,1337806530.414 [NAL9601](INFO): SBD MO Status=2, MOMSN=6779, MT Status=0, MTMSN=0
2012-05-23T20:55:30.414Z,1337806530.414 [NAL9601](ERROR): Failed to initiate SBD session. Error code: 2
2012-05-23T20:55:36.423Z,1337806536.423 [CommandLine](IMPORTANT): got command set ballast_and_trim.BallastDepth 5.000000 meter
2012-05-23T20:55:48.895Z,1337806548.895 [CommandLine](IMPORTANT): got command set ballast_and_trim.HoldDuration 10.000000 minute
2012-05-23T20:56:00.775Z,1337806560.775 [CommandLine](IMPORTANT): got command set ballast_and_trim.DepthDeadband 1.000000 meter
2012-05-23T20:56:07.362Z,1337806567.362 [NAL9601](INFO): SBD MO Status=2, MOMSN=6779, MT Status=2, MTMSN=0
2012-05-23T20:56:07.362Z,1337806567.362 [NAL9601](ERROR): Failed to initiate SBD session. Error code: 2
2012-05-23T20:56:09.819Z,1337806569.819 [CommandLine](IMPORTANT): got command run 
2012-05-23T20:56:09.819Z,1337806569.819 [CommandLine](IMPORTANT): Running 
2012-05-23T20:56:09.823Z,1337806569.823 [Default] Stopped
2012-05-23T20:56:09.823Z,1337806569.823 [Default](INFO): Aggregate::uninitialize Default
2012-05-23T20:56:09.823Z,1337806569.823 [Default:GPS] Stopped
2012-05-23T20:56:09.824Z,1337806569.824 [Default:GPS](INFO): Aggregate::uninitialize Default:GPS
2012-05-23T20:56:09.824Z,1337806569.824 [Default:GPS:A.SetSpeed] Stopped
2012-05-23T20:56:09.824Z,1337806569.824 [Default:GPS:A.SetSpeed](DEBUG): Uninitialize.
2012-05-23T20:56:09.824Z,1337806569.824 [Default:GPS:Read_GPS] Stopped
2012-05-23T20:56:09.824Z,1337806569.824 [Default:Iridium] Stopped
2012-05-23T20:56:09.824Z,1337806569.824 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2012-05-23T20:56:09.824Z,1337806569.824 [Default:Iridium:A.SetSpeed] Stopped
2012-05-23T20:56:09.824Z,1337806569.824 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2012-05-23T20:56:09.824Z,1337806569.824 [Default:Iridium:Read_Iridium] Stopped
2012-05-23T20:56:09.824Z,1337806569.824 [Default:CallIridium] Stopped
2012-05-23T20:56:09.824Z,1337806569.824 [Default:CallIridium](INFO): Aggregate::uninitialize Default:CallIridium
2012-05-23T20:56:09.825Z,1337806569.825 [Default:CallIridium:B] Stopped
2012-05-23T20:56:09.825Z,1337806569.825 [Default:CallIridium:B](INFO): Aggregate::uninitialize Default:CallIridium:B
2012-05-23T20:56:09.825Z,1337806569.825 [Default:D.SetSpeed] Stopped
2012-05-23T20:56:09.825Z,1337806569.825 [Default:D.SetSpeed](DEBUG): Uninitialize.
2012-05-23T20:56:09.825Z,1337806569.825 [Default:E.GoToSurface] Stopped
2012-05-23T20:56:09.825Z,1337806569.825 [Default:E.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-05-23T20:56:09.825Z,1337806569.825 [Default:F.Wait] Stopped
2012-05-23T20:56:09.825Z,1337806569.825 [Default:F.Wait](DEBUG): Uninitialize Wait Component.
2012-05-23T20:56:09.825Z,1337806569.825 [MissionManager](IMPORTANT): Started mission ballast_and_trim
2012-05-23T20:56:09.825Z,1337806569.825 [ballast_and_trim] Running Loop=1
2012-05-23T20:56:09.825Z,1337806569.825 [ballast_and_trim](INFO): Aggregate::initialize ballast_and_trim
2012-05-23T20:56:09.826Z,1337806569.826 [ballast_and_trim:A] Running Loop=1
2012-05-23T20:56:09.826Z,1337806569.826 [ballast_and_trim:B] Running Loop=1
2012-05-23T20:56:09.826Z,1337806569.826 [ballast_and_trim:C] Running Loop=1
2012-05-23T20:56:09.826Z,1337806569.826 [ballast_and_trim:D.AltitudeEnvelope] Running Loop=1
2012-05-23T20:56:09.826Z,1337806569.826 [ballast_and_trim:D.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2012-05-23T20:56:09.826Z,1337806569.826 [ballast_and_trim:E.DepthEnvelope] Running Loop=1
2012-05-23T20:56:09.826Z,1337806569.826 [ballast_and_trim:E.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2012-05-23T20:56:09.831Z,1337806569.831 [ballast_and_trim:F.OffshoreEnvelope] Running Loop=1
2012-05-23T20:56:09.831Z,1337806569.831 [ballast_and_trim:F.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2012-05-23T20:56:09.831Z,1337806569.831 [ballast_and_trim:H.SetSpeed] Running Loop=1
2012-05-23T20:56:09.831Z,1337806569.831 [ballast_and_trim:H.SetSpeed](DEBUG): Initialize.
2012-05-23T20:56:09.831Z,1337806569.831 [ballast_and_trim:SurfaceComms] Running Loop=1
2012-05-23T20:56:09.831Z,1337806569.831 [ballast_and_trim:SurfaceComms](INFO): Aggregate::initialize ballast_and_trim:SurfaceComms
2012-05-23T20:56:09.831Z,1337806569.831 [ballast_and_trim:SurfaceComms:A.GoToSurface] Running Loop=1
2012-05-23T20:56:09.831Z,1337806569.831 [ballast_and_trim:SurfaceComms:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-05-23T20:56:09.832Z,1337806569.832 [ballast_and_trim:H.SetSpeed] Running Loop=1
2012-05-23T20:56:09.839Z,1337806569.839 [ballast_and_trim:SurfaceComms:B] Running Loop=1
2012-05-23T20:56:09.839Z,1337806569.839 [ballast_and_trim:SurfaceComms:B](INFO): Aggregate::initialize ballast_and_trim:SurfaceComms:B
2012-05-23T20:56:09.839Z,1337806569.839 [ballast_and_trim:SurfaceComms:B:A] Running Loop=1
2012-05-23T20:56:09.839Z,1337806569.839 [ballast_and_trim:F.OffshoreEnvelope] Running Loop=1
2012-05-23T20:56:09.857Z,1337806569.857 [ballast_and_trim:E.DepthEnvelope] Running Loop=1
2012-05-23T20:56:09.862Z,1337806569.862 [ballast_and_trim:D.AltitudeEnvelope] Running Loop=1
2012-05-23T20:56:09.863Z,1337806569.863 [ballast_and_trim:C] Running Loop=1
2012-05-23T20:56:09.864Z,1337806569.864 [ballast_and_trim:B] Running Loop=1
2012-05-23T20:56:09.865Z,1337806569.865 [ballast_and_trim:A] Running Loop=1
2012-05-23T20:56:10.176Z,1337806570.176 [ballast_and_trim:H.SetSpeed] Preempted
2012-05-23T20:56:10.177Z,1337806570.177 [ballast_and_trim:SurfaceComms:B:A](DEBUG): Initialize ReadDataComponent to sense time_fix
2012-05-23T20:56:12.002Z,1337806572.002 [Reporter](INFO): platform_buoyancy_position 952.176983 cc
2012-05-23T20:56:29.194Z,1337806589.194 [NAL9601](INFO): SBD MO Status=1, MOMSN=6779, MT Status=0, MTMSN=0
2012-05-23T20:56:29.411Z,1337806589.411 [NAL9601](INFO): Sent 307 bytes from file Logs/20120523T193537/shore0002.lzma
2012-05-23T20:56:29.411Z,1337806589.411 [NAL9601](INFO): Packets left to send: 0
2012-05-23T20:56:29.412Z,1337806589.412 [NAL9601](INFO): Stored copy of sent data in Logs/latest/sent0000019
2012-05-23T20:56:40.385Z,1337806600.385 [NAL9601](INFO): SBD MO Status=0, MOMSN=6780, MT Status=0, MTMSN=0
2012-05-23T20:57:21.635Z,1337806641.635 [NAL9601](FAULT): GPS failed to acquire within timeout.
2012-05-23T20:57:21.636Z,1337806641.635 [NAL9601] Data Fault, FailCount= 1
2012-05-23T20:57:21.636Z,1337806641.636 [NAL9601](ERROR): Data Fault
2012-05-23T20:57:21.693Z,1337806641.693 [CBIT](ERROR): Data Fault in component: NAL9601
2012-05-23T20:57:22.036Z,1337806642.036 [NAL9601](INFO): Powering down
2012-05-23T20:57:22.093Z,1337806642.093 [CBIT](INFO): Clearing failed state for component NAL9601
2012-05-23T20:57:22.093Z,1337806642.093 [NAL9601] No Fault, FailCount= 1
2012-05-23T20:57:27.237Z,1337806647.237 [NAL9601](INFO): Powering up NAL9601
2012-05-23T20:58:32.956Z,1337806712.956 [NAL9601](INFO): NAL9601 initialized
2012-05-23T21:01:13.346Z,1337806873.346 [Reporter](INFO): platform_buoyancy_position 952.311268 cc
2012-05-23T21:03:17.875Z,1337806997.875 [CommandLine](IMPORTANT): got command help failComponent
2012-05-23T21:03:36.059Z,1337807016.059 [CommandLine](IMPORTANT): got command failComponent
2012-05-23T21:03:36.059Z,1337807016.059 [CommandLine](IMPORTANT): Failed components:
2012-05-23T21:03:36.059Z,1337807016.059 [CommandLine](IMPORTANT): No failed Components.
2012-05-23T21:06:14.966Z,1337807174.966 [Reporter](INFO): platform_buoyancy_position 956.608914 cc
2012-05-23T21:08:34.024Z,1337807314.024 [NAL9601](FAULT): GPS failed to acquire within timeout.
2012-05-23T21:08:34.024Z,1337807314.024 [NAL9601] Data Fault, FailCount= 2
2012-05-23T21:08:34.024Z,1337807314.024 [NAL9601](ERROR): Data Fault
2012-05-23T21:08:34.097Z,1337807314.097 [CBIT](ERROR): Data Fault in component: NAL9601
2012-05-23T21:08:34.097Z,1337807314.097 [CBIT](CRITICAL): Data Fault in component: NAL9601
2012-05-23T21:08:34.424Z,1337807314.424 [NAL9601](INFO): Powering down
2012-05-23T21:08:34.890Z,1337807314.890 [ballast_and_trim] Stopped
2012-05-23T21:08:34.890Z,1337807314.890 [ballast_and_trim](INFO): Aggregate::uninitialize ballast_and_trim
2012-05-23T21:08:34.892Z,1337807314.892 [ballast_and_trim:A] Stopped
2012-05-23T21:08:34.893Z,1337807314.893 [ballast_and_trim:B] Stopped
2012-05-23T21:08:34.893Z,1337807314.893 [ballast_and_trim:C] Stopped
2012-05-23T21:08:34.893Z,1337807314.893 [ballast_and_trim:D.AltitudeEnvelope] Stopped
2012-05-23T21:08:34.893Z,1337807314.893 [ballast_and_trim:D.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2012-05-23T21:08:34.893Z,1337807314.893 [ballast_and_trim:E.DepthEnvelope] Stopped
2012-05-23T21:08:34.893Z,1337807314.893 [ballast_and_trim:E.DepthEnvelope](DEBUG): Uninitialize.
2012-05-23T21:08:34.893Z,1337807314.893 [ballast_and_trim:F.OffshoreEnvelope] Stopped
2012-05-23T21:08:34.893Z,1337807314.893 [ballast_and_trim:F.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2012-05-23T21:08:34.893Z,1337807314.893 [ballast_and_trim:SurfaceComms] Stopped
2012-05-23T21:08:34.893Z,1337807314.893 [ballast_and_trim:SurfaceComms](INFO): Aggregate::uninitialize ballast_and_trim:SurfaceComms
2012-05-23T21:08:34.893Z,1337807314.893 [ballast_and_trim:SurfaceComms:A.GoToSurface] Stopped
2012-05-23T21:08:34.893Z,1337807314.893 [ballast_and_trim:SurfaceComms:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-05-23T21:08:34.893Z,1337807314.893 [ballast_and_trim:SurfaceComms:B] Stopped
2012-05-23T21:08:34.894Z,1337807314.894 [ballast_and_trim:SurfaceComms:B](INFO): Aggregate::uninitialize ballast_and_trim:SurfaceComms:B
2012-05-23T21:08:34.894Z,1337807314.894 [ballast_and_trim:SurfaceComms:B:A] Stopped
2012-05-23T21:08:34.894Z,1337807314.894 [ballast_and_trim:H.SetSpeed] Stopped
2012-05-23T21:08:34.894Z,1337807314.894 [ballast_and_trim:H.SetSpeed](DEBUG): Uninitialize.
2012-05-23T21:08:35.232Z,1337807315.232 [MissionManager](IMPORTANT): Started mission Default
2012-05-23T21:08:35.232Z,1337807315.232 [Default] Running Loop=1
2012-05-23T21:08:35.232Z,1337807315.232 [Default](INFO): Aggregate::initialize Default
2012-05-23T21:08:35.232Z,1337807315.232 [Default:D.SetSpeed] Running Loop=1
2012-05-23T21:08:35.232Z,1337807315.232 [Default:D.SetSpeed](DEBUG): Initialize.
2012-05-23T21:08:35.233Z,1337807315.233 [Default:E.GoToSurface] Running Loop=1
2012-05-23T21:08:35.233Z,1337807315.233 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-05-23T21:08:35.233Z,1337807315.233 [Default:Iridium] Running Loop=1
2012-05-23T21:08:35.233Z,1337807315.233 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2012-05-23T21:08:35.233Z,1337807315.233 [Default:Iridium:A.SetSpeed] Running Loop=1
2012-05-23T21:08:35.233Z,1337807315.233 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2012-05-23T21:08:35.233Z,1337807315.233 [Default:Iridium:B.GoToSurface] Running Loop=1
2012-05-23T21:08:35.234Z,1337807315.234 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-05-23T21:08:35.235Z,1337807315.235 [Default:CallIridium] Running Loop=1
2012-05-23T21:08:35.235Z,1337807315.235 [Default:CallIridium](INFO): Aggregate::initialize Default:CallIridium
2012-05-23T21:08:35.235Z,1337807315.236 [Default:CallIridium:A] Running Loop=1
2012-05-23T21:08:35.236Z,1337807315.236 [Default:CallIridium:A] Stopped
2012-05-23T21:08:35.236Z,1337807315.236 [Default:CallIridium:B] Running Loop=1
2012-05-23T21:08:35.236Z,1337807315.236 [Default:CallIridium:B](INFO): Aggregate::initialize Default:CallIridium:B
2012-05-23T21:08:35.237Z,1337807315.237 [Default:Iridium:B.GoToSurface] Stopped
2012-05-23T21:08:35.237Z,1337807315.237 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-05-23T21:08:35.237Z,1337807315.237 [Default:Iridium:Read_Iridium] Running Loop=1
2012-05-23T21:08:35.237Z,1337807315.237 [Default:GPS] Running Loop=1
2012-05-23T21:08:35.237Z,1337807315.237 [Default:GPS](INFO): Aggregate::initialize Default:GPS
2012-05-23T21:08:35.238Z,1337807315.238 [Default:GPS:A.SetSpeed] Running Loop=1
2012-05-23T21:08:35.238Z,1337807315.238 [Default:GPS:A.SetSpeed](DEBUG): Initialize.
2012-05-23T21:08:35.238Z,1337807315.238 [Default:GPS:B.GoToSurface] Running Loop=1
2012-05-23T21:08:35.238Z,1337807315.238 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-05-23T21:08:35.239Z,1337807315.239 [Default:GPS:B.GoToSurface] Stopped
2012-05-23T21:08:35.239Z,1337807315.239 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-05-23T21:08:35.239Z,1337807315.239 [Default:GPS:Read_GPS] Running Loop=1
2012-05-23T21:10:34.047Z,1337807434.046 [CBIT](INFO): Clearing failed count for component NAL9601
2012-05-23T21:10:34.047Z,1337807434.047 [NAL9601] No Fault, FailCount= 2
2012-05-23T21:10:34.712Z,1337807434.712 [NAL9601](INFO): Powering up NAL9601
2012-05-23T21:11:16.332Z,1337807476.332 [Reporter](INFO): platform_buoyancy_position 958.757708 cc
2012-05-23T21:11:40.351Z,1337807500.351 [NAL9601](INFO): NAL9601 initialized
2012-05-23T21:12:40.490Z,1337807560.490 [NAL9601](INFO): SBD MO Status=2, MOMSN=6781, MT Status=2, MTMSN=0
2012-05-23T21:12:40.490Z,1337807560.490 [NAL9601](ERROR): Failed to initiate SBD session. Error code: 2
2012-05-23T21:12:58.758Z,1337807578.758 [NAL9601](INFO): SBD MO Status=2, MOMSN=6781, MT Status=2, MTMSN=0
2012-05-23T21:12:58.758Z,1337807578.758 [NAL9601](ERROR): Failed to initiate SBD session. Error code: 2
2012-05-23T21:13:24.351Z,1337807604.351 [NAL9601](INFO): SBD MO Status=2, MOMSN=6781, MT Status=2, MTMSN=0
2012-05-23T21:13:24.351Z,1337807604.351 [NAL9601](ERROR): Failed to initiate SBD session. Error code: 2
2012-05-23T21:13:54.849Z,1337807634.849 [NAL9601](INFO): SBD MO Status=2, MOMSN=6781, MT Status=2, MTMSN=0
2012-05-23T21:13:54.850Z,1337807634.849 [NAL9601](ERROR): Failed to initiate SBD session. Error code: 2
2012-05-23T21:14:20.328Z,1337807660.328 [NAL9601](INFO): SBD MO Status=2, MOMSN=6781, MT Status=2, MTMSN=0
2012-05-23T21:14:20.328Z,1337807660.328 [NAL9601](ERROR): Failed to initiate SBD session. Error code: 2
2012-05-23T21:14:37.408Z,1337807677.408 [NAL9601](INFO): SBD MO Status=2, MOMSN=6781, MT Status=2, MTMSN=0
2012-05-23T21:14:37.409Z,1337807677.409 [NAL9601](ERROR): Failed to initiate SBD session. Error code: 2
2012-05-23T21:15:22.559Z,1337807722.559 [NAL9601](INFO): SBD MO Status=1, MOMSN=6781, MT Status=0, MTMSN=0
2012-05-23T21:15:22.695Z,1337807722.695 [NAL9601](INFO): Sent 332 bytes from file Logs/20120523T193537/shore0003.lzma
2012-05-23T21:15:22.695Z,1337807722.695 [NAL9601](INFO): Packets left to send: 1
2012-05-23T21:15:22.696Z,1337807722.696 [NAL9601](INFO): Stored copy of sent data in Logs/latest/sent0000020
2012-05-23T21:15:37.476Z,1337807737.476 [NAL9601](INFO): SBD MO Status=2, MOMSN=6782, MT Status=2, MTMSN=0
2012-05-23T21:15:37.476Z,1337807737.476 [NAL9601](ERROR): Failed to initiate SBD session. Error code: 2
2012-05-23T21:16:17.588Z,1337807777.588 [Reporter](INFO): platform_buoyancy_position 958.891993 cc
2012-05-23T21:16:19.950Z,1337807779.950 [NAL9601](INFO): SBD MO Status=2, MOMSN=6782, MT Status=2, MTMSN=0
2012-05-23T21:16:19.950Z,1337807779.950 [NAL9601](ERROR): Failed to initiate SBD session. Error code: 2
2012-05-23T21:17:02.122Z,1337807822.122 [NAL9601](INFO): SBD MO Status=1, MOMSN=6782, MT Status=0, MTMSN=0
2012-05-23T21:17:02.247Z,1337807822.247 [NAL9601](INFO): Sent 201 bytes from file Logs/20120523T193537/shore0003.lzma
2012-05-23T21:17:02.247Z,1337807822.247 [NAL9601](INFO): Packets left to send: 0
2012-05-23T21:17:02.248Z,1337807822.248 [NAL9601](INFO): Stored copy of sent data in Logs/latest/sent0000021
2012-05-23T21:17:16.516Z,1337807836.516 [NAL9601](INFO): SBD MO Status=2, MOMSN=6783, MT Status=2, MTMSN=0
2012-05-23T21:17:16.517Z,1337807836.517 [NAL9601](ERROR): Failed to initiate SBD session. Error code: 2
2012-05-23T21:17:41.132Z,1337807861.132 [NAL9601](INFO): SBD MO Status=0, MOMSN=6783, MT Status=0, MTMSN=0
2012-05-23T21:17:41.293Z,1337807861.293 [Default:Iridium:Read_Iridium] Stopped
2012-05-23T21:17:41.293Z,1337807861.293 [Default:Iridium](INFO): Completed Default:Iridium
2012-05-23T21:17:41.293Z,1337807861.293 [Default:Iridium] Stopped
2012-05-23T21:17:41.293Z,1337807861.293 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2012-05-23T21:17:41.294Z,1337807861.293 [Default:Iridium:A.SetSpeed] Stopped
2012-05-23T21:17:41.294Z,1337807861.293 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2012-05-23T21:17:41.294Z,1337807861.294 [Default:F.Wait] Running Loop=1
2012-05-23T21:17:41.294Z,1337807861.294 [Default:F.Wait](DEBUG): Initialize Wait Component.
2012-05-23T21:17:41.583Z,1337807861.583 [Default:CallIridium:B](INFO): Completed Default:CallIridium:B
2012-05-23T21:17:41.583Z,1337807861.583 [Default:CallIridium:B] Stopped
2012-05-23T21:17:41.583Z,1337807861.583 [Default:CallIridium:B](INFO): Aggregate::uninitialize Default:CallIridium:B
2012-05-23T21:17:41.583Z,1337807861.583 [Default:CallIridium](INFO): Completed Default:CallIridium
2012-05-23T21:17:41.583Z,1337807861.583 [Default:CallIridium] Stopped
2012-05-23T21:17:41.583Z,1337807861.583 [Default:CallIridium](INFO): Aggregate::uninitialize Default:CallIridium
2012-05-23T21:20:30.323Z,1337808030.323 [NAL9601](IMPORTANT): GPS fix at: 1337809911.00
2012-05-23T21:20:30.337Z,1337808030.337 [Navigation](IMPORTANT): Navigation Error 95.3 %DT

2012-05-23T21:20:30.339Z,1337808030.339 [Default:GPS:Read_GPS] Stopped
2012-05-23T21:20:30.339Z,1337808030.339 [Default:GPS:D] Running Loop=1
2012-05-23T21:20:30.771Z,1337808030.771 [Default:GPS:D] Stopped
2012-05-23T21:20:30.771Z,1337808030.771 [Default:GPS](INFO): Completed Default:GPS
2012-05-23T21:20:30.771Z,1337808030.771 [Default:GPS] Stopped
2012-05-23T21:20:30.771Z,1337808030.771 [Default:GPS](INFO): Aggregate::uninitialize Default:GPS
2012-05-23T21:20:30.771Z,1337808030.772 [Default:GPS:A.SetSpeed] Stopped
2012-05-23T21:20:30.772Z,1337808030.772 [Default:GPS:A.SetSpeed](DEBUG): Uninitialize.
2012-05-23T21:20:46.243Z,1337808046.243 [NAL9601](INFO): Powering down
2012-05-23T21:21:36.474Z,1337808096.474 [Reporter](INFO): platform_buoyancy_position 958.623306 cc
2012-05-23T21:22:46.350Z,1337808166.350 [Default:CallIridium] Running Loop=1
2012-05-23T21:22:46.350Z,1337808166.350 [Default:CallIridium](INFO): Aggregate::initialize Default:CallIridium
2012-05-23T21:22:46.351Z,1337808166.351 [Default:CallIridium:A] Running Loop=1
2012-05-23T21:22:46.351Z,1337808166.351 [Default:CallIridium:A] Stopped
2012-05-23T21:22:46.351Z,1337808166.351 [Default:CallIridium:B] Running Loop=1
2012-05-23T21:22:46.351Z,1337808166.351 [Default:CallIridium:B](INFO): Aggregate::initialize Default:CallIridium:B
2012-05-23T21:22:51.238Z,1337808171.238 [Default:Iridium] Running Loop=1
2012-05-23T21:22:51.238Z,1337808171.239 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2012-05-23T21:22:51.239Z,1337808171.239 [Default:Iridium:A.SetSpeed] Running Loop=1
2012-05-23T21:22:51.239Z,1337808171.239 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2012-05-23T21:22:51.239Z,1337808171.239 [Default:Iridium:B.GoToSurface] Running Loop=1
2012-05-23T21:22:51.239Z,1337808171.239 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-05-23T21:22:51.240Z,1337808171.240 [Default:Iridium:B.GoToSurface] Stopped
2012-05-23T21:22:51.240Z,1337808171.240 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-05-23T21:22:51.240Z,1337808171.240 [Default:Iridium:Read_Iridium] Running Loop=1
2012-05-23T21:22:51.241Z,1337808171.240 [Default:GPS] Running Loop=1
2012-05-23T21:22:51.241Z,1337808171.241 [Default:GPS](INFO): Aggregate::initialize Default:GPS
2012-05-23T21:22:51.241Z,1337808171.241 [Default:GPS:A.SetSpeed] Running Loop=1
2012-05-23T21:22:51.241Z,1337808171.241 [Default:GPS:A.SetSpeed](DEBUG): Initialize.
2012-05-23T21:22:51.241Z,1337808171.241 [Default:GPS:B.GoToSurface] Running Loop=1
2012-05-23T21:22:51.241Z,1337808171.241 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-05-23T21:22:51.242Z,1337808171.242 [Default:GPS:B.GoToSurface] Stopped
2012-05-23T21:22:51.242Z,1337808171.242 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-05-23T21:22:51.242Z,1337808171.242 [Default:GPS:Read_GPS] Running Loop=1
2012-05-23T21:22:51.945Z,1337808171.945 [NAL9601](INFO): Powering up
2012-05-23T21:23:57.583Z,1337808237.583 [NAL9601](INFO): NAL9601 initialized
2012-05-23T21:24:32.341Z,1337808272.341 [NAL9601](INFO): SBD MO Status=1, MOMSN=6784, MT Status=0, MTMSN=0
2012-05-23T21:24:32.523Z,1337808272.523 [NAL9601](INFO): Sent 281 bytes from file Logs/20120523T193537/shore0004.lzma
2012-05-23T21:24:32.523Z,1337808272.523 [NAL9601](INFO): Packets left to send: 0
2012-05-23T21:24:32.524Z,1337808272.524 [NAL9601](INFO): Stored copy of sent data in Logs/latest/sent0000022
2012-05-23T21:24:47.960Z,1337808287.960 [NAL9601](INFO): SBD MO Status=2, MOMSN=6785, MT Status=2, MTMSN=0
2012-05-23T21:24:47.960Z,1337808287.960 [NAL9601](ERROR): Failed to initiate SBD session. Error code: 2
2012-05-23T21:25:07.400Z,1337808307.400 [NAL9601](INFO): SBD MO Status=0, MOMSN=6785, MT Status=0, MTMSN=0
2012-05-23T21:25:07.577Z,1337808307.577 [Default:Iridium:Read_Iridium] Stopped
2012-05-23T21:25:07.578Z,1337808307.578 [Default:Iridium](INFO): Completed Default:Iridium
2012-05-23T21:25:07.578Z,1337808307.578 [Default:Iridium] Stopped
2012-05-23T21:25:07.578Z,1337808307.578 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2012-05-23T21:25:07.578Z,1337808307.578 [Default:Iridium:A.SetSpeed] Stopped
2012-05-23T21:25:07.578Z,1337808307.578 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2012-05-23T21:25:07.789Z,1337808307.789 [Default:CallIridium:B](INFO): Completed Default:CallIridium:B
2012-05-23T21:25:07.789Z,1337808307.789 [Default:CallIridium:B] Stopped
2012-05-23T21:25:07.789Z,1337808307.789 [Default:CallIridium:B](INFO): Aggregate::uninitialize Default:CallIridium:B
2012-05-23T21:25:07.790Z,1337808307.790 [Default:CallIridium](INFO): Completed Default:CallIridium
2012-05-23T21:25:07.790Z,1337808307.790 [Default:CallIridium] Stopped
2012-05-23T21:25:07.790Z,1337808307.790 [Default:CallIridium](INFO): Aggregate::uninitialize Default:CallIridium
2012-05-23T21:26:37.852Z,1337808397.852 [Reporter](INFO): platform_buoyancy_position 959.026220 cc
2012-05-23T21:30:07.794Z,1337808607.794 [Default:CallIridium] Running Loop=1
2012-05-23T21:30:07.794Z,1337808607.795 [Default:CallIridium](INFO): Aggregate::initialize Default:CallIridium
2012-05-23T21:30:07.795Z,1337808607.795 [Default:CallIridium:A] Running Loop=1
2012-05-23T21:30:07.795Z,1337808607.795 [Default:CallIridium:A] Stopped
2012-05-23T21:30:07.795Z,1337808607.795 [Default:CallIridium:B] Running Loop=1
2012-05-23T21:30:07.795Z,1337808607.795 [Default:CallIridium:B](INFO): Aggregate::initialize Default:CallIridium:B
2012-05-23T21:30:08.189Z,1337808608.189 [Default:Iridium] Running Loop=1
2012-05-23T21:30:08.189Z,1337808608.189 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2012-05-23T21:30:08.189Z,1337808608.189 [Default:Iridium:A.SetSpeed] Running Loop=1
2012-05-23T21:30:08.189Z,1337808608.189 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2012-05-23T21:30:08.189Z,1337808608.189 [Default:Iridium:B.GoToSurface] Running Loop=1
2012-05-23T21:30:08.190Z,1337808608.190 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-05-23T21:30:08.191Z,1337808608.191 [Default:Iridium:B.GoToSurface] Stopped
2012-05-23T21:30:08.191Z,1337808608.191 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-05-23T21:30:08.191Z,1337808608.191 [Default:Iridium:Read_Iridium] Running Loop=1
2012-05-23T21:30:39.673Z,1337808639.673 [NAL9601](INFO): SBD MO Status=2, MOMSN=6786, MT Status=2, MTMSN=0
2012-05-23T21:30:39.673Z,1337808639.673 [NAL9601](ERROR): Failed to initiate SBD session. Error code: 2
2012-05-23T21:31:04.600Z,1337808664.600 [NAL9601](INFO): SBD MO Status=2, MOMSN=6786, MT Status=2, MTMSN=0
2012-05-23T21:31:04.600Z,1337808664.601 [NAL9601](ERROR): Failed to initiate SBD session. Error code: 2
2012-05-23T21:31:05.809Z,1337808665.809 [NAL9601](IMPORTANT): GPS fix at: 1337810547.00
2012-05-23T21:31:05.824Z,1337808665.824 [Default:GPS:Read_GPS] Stopped
2012-05-23T21:31:05.824Z,1337808665.824 [Default:GPS:D] Running Loop=1
2012-05-23T21:31:06.214Z,1337808666.214 [Default:GPS:D] Stopped
2012-05-23T21:31:06.215Z,1337808666.215 [Default:GPS](INFO): Completed Default:GPS
2012-05-23T21:31:06.215Z,1337808666.215 [Default:GPS] Stopped
2012-05-23T21:31:06.215Z,1337808666.215 [Default:GPS](INFO): Aggregate::uninitialize Default:GPS
2012-05-23T21:31:06.215Z,1337808666.215 [Default:GPS:A.SetSpeed] Stopped
2012-05-23T21:31:06.215Z,1337808666.215 [Default:GPS:A.SetSpeed](DEBUG): Uninitialize.
2012-05-23T21:31:34.104Z,1337808694.104 [NAL9601](INFO): SBD MO Status=2, MOMSN=6786, MT Status=2, MTMSN=0
2012-05-23T21:31:34.104Z,1337808694.104 [NAL9601](ERROR): Failed to initiate SBD session. Error code: 2
2012-05-23T21:31:41.575Z,1337808701.575 [Reporter](INFO): platform_buoyancy_position 958.623306 cc
2012-05-23T21:32:04.628Z,1337808724.628 [NAL9601](INFO): SBD MO Status=1, MOMSN=6786, MT Status=0, MTMSN=0
2012-05-23T21:32:04.819Z,1337808724.819 [NAL9601](INFO): Sent 106 bytes from file Logs/20120523T193537/shore0005.lzma
2012-05-23T21:32:04.819Z,1337808724.819 [NAL9601](INFO): Packets left to send: 0
2012-05-23T21:32:04.820Z,1337808724.820 [NAL9601](INFO): Stored copy of sent data in Logs/latest/sent0000023
2012-05-23T21:32:19.050Z,1337808739.050 [NAL9601](INFO): SBD MO Status=2, MOMSN=6787, MT Status=2, MTMSN=0
2012-05-23T21:32:19.050Z,1337808739.050 [NAL9601](ERROR): Failed to initiate SBD session. Error code: 2
2012-05-23T21:32:24.037Z,1337808744.037 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:32:26.207Z,1337808746.207 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:32:30.423Z,1337808750.423 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:32:33.061Z,1337808753.061 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:32:41.652Z,1337808761.652 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:32:46.248Z,1337808766.248 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:32:54.447Z,1337808774.447 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:32:59.032Z,1337808779.032 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:33:03.246Z,1337808783.246 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:33:07.459Z,1337808787.459 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:33:09.626Z,1337808789.626 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:33:13.860Z,1337808793.860 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:33:16.122Z,1337808796.122 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:33:20.273Z,1337808800.273 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:33:24.461Z,1337808804.461 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:33:32.252Z,1337808812.252 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:33:34.448Z,1337808814.448 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:33:38.725Z,1337808818.725 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:33:43.415Z,1337808823.415 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:33:45.661Z,1337808825.661 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:33:49.788Z,1337808829.788 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:33:52.013Z,1337808832.013 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:34:07.811Z,1337808847.811 [NAL9601](INFO): SBD MO Status=2, MOMSN=6787, MT Status=2, MTMSN=0
2012-05-23T21:34:07.811Z,1337808847.811 [NAL9601](ERROR): Failed to initiate SBD session. Error code: 2
2012-05-23T21:34:12.811Z,1337808852.811 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:34:15.025Z,1337808855.025 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:34:19.268Z,1337808859.268 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:34:42.058Z,1337808882.058 [NAL9601](INFO): SBD MO Status=2, MOMSN=6787, MT Status=2, MTMSN=0
2012-05-23T21:34:42.058Z,1337808882.059 [NAL9601](ERROR): Failed to initiate SBD session. Error code: 2
2012-05-23T21:34:47.524Z,1337808887.524 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:34:49.795Z,1337808889.795 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:34:54.038Z,1337808894.038 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:34:56.215Z,1337808896.215 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:35:00.499Z,1337808900.499 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:35:02.657Z,1337808902.657 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:35:06.872Z,1337808906.872 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:35:09.057Z,1337808909.057 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:35:13.247Z,1337808913.247 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:35:15.436Z,1337808915.436 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:35:19.759Z,1337808919.759 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:35:23.458Z,1337808923.458 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:35:32.048Z,1337808932.048 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:35:36.309Z,1337808936.309 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:35:40.565Z,1337808940.565 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:35:42.756Z,1337808942.756 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:35:46.967Z,1337808946.967 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:35:49.146Z,1337808949.146 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:35:53.339Z,1337808953.339 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:35:55.579Z,1337808955.579 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:35:59.768Z,1337808959.768 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:36:02.372Z,1337808962.372 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:36:04.564Z,1337808964.564 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:36:08.771Z,1337808968.771 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:36:11.003Z,1337808971.003 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:36:15.234Z,1337808975.234 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:36:17.491Z,1337808977.490 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:36:21.663Z,1337808981.663 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:36:23.936Z,1337808983.936 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:36:28.112Z,1337808988.112 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:36:30.319Z,1337808990.319 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:36:34.895Z,1337808994.895 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:36:37.111Z,1337808997.111 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:36:41.348Z,1337809001.348 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:36:43.622Z,1337809003.622 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:36:47.816Z,1337809007.816 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:36:50.006Z,1337809010.006 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:36:54.195Z,1337809014.195 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:36:58.377Z,1337809018.377 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:37:06.996Z,1337809026.996 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:37:11.230Z,1337809031.230 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:37:15.824Z,1337809035.824 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:37:18.011Z,1337809038.011 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:37:22.263Z,1337809042.263 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:37:24.464Z,1337809044.464 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:37:28.656Z,1337809048.656 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:37:30.857Z,1337809050.857 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:37:35.036Z,1337809055.036 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:37:37.291Z,1337809057.291 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:37:41.562Z,1337809061.562 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:37:43.732Z,1337809063.732 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:37:47.991Z,1337809067.991 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:37:50.225Z,1337809070.224 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:37:54.811Z,1337809074.811 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:37:57.033Z,1337809077.033 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:38:01.207Z,1337809081.207 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:38:03.484Z,1337809083.484 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:38:07.679Z,1337809087.679 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:38:09.868Z,1337809089.868 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:38:14.461Z,1337809094.461 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:38:16.661Z,1337809096.661 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:38:20.844Z,1337809100.843 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:38:23.123Z,1337809103.123 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:38:27.474Z,1337809107.474 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:38:29.558Z,1337809109.558 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:38:33.792Z,1337809113.792 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:38:35.968Z,1337809115.968 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:38:40.624Z,1337809120.625 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:38:42.851Z,1337809122.852 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:38:46.995Z,1337809126.995 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:38:49.207Z,1337809129.207 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:38:53.438Z,1337809133.438 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:38:55.608Z,1337809135.608 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:38:59.791Z,1337809139.791 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:39:01.984Z,1337809141.984 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:39:06.773Z,1337809146.773 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:39:08.847Z,1337809148.847 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:39:13.080Z,1337809153.080 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:39:15.271Z,1337809155.271 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:39:19.461Z,1337809159.461 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:39:21.648Z,1337809161.648 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:39:25.835Z,1337809165.835 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:39:28.028Z,1337809168.028 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:39:32.615Z,1337809172.615 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:39:34.877Z,1337809174.876 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:39:39.487Z,1337809179.487 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:39:41.680Z,1337809181.680 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:39:46.299Z,1337809186.299 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:39:48.481Z,1337809188.481 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:39:53.080Z,1337809193.080 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:39:55.268Z,1337809195.268 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:39:59.942Z,1337809199.941 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:40:02.112Z,1337809202.112 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:40:06.316Z,1337809206.316 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:40:08.565Z,1337809208.565 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:40:13.144Z,1337809213.144 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:40:15.312Z,1337809215.312 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:40:19.962Z,1337809219.962 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:40:22.132Z,1337809222.132 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:40:26.747Z,1337809226.747 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:40:28.937Z,1337809228.937 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:40:33.149Z,1337809233.149 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:40:35.356Z,1337809235.356 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:40:39.567Z,1337809239.567 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:40:41.744Z,1337809241.744 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:40:46.412Z,1337809246.412 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:40:48.539Z,1337809248.539 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:40:52.754Z,1337809252.754 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:40:54.958Z,1337809254.958 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:40:59.141Z,1337809259.141 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:41:01.311Z,1337809261.311 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:41:05.997Z,1337809265.997 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:41:08.168Z,1337809268.168 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:41:12.787Z,1337809272.787 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:41:14.984Z,1337809274.984 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:41:19.599Z,1337809279.599 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:41:21.787Z,1337809281.787 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:41:26.072Z,1337809286.072 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:41:28.251Z,1337809288.251 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:41:32.484Z,1337809292.484 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:41:34.676Z,1337809294.676 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:41:39.077Z,1337809299.077 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:41:41.194Z,1337809301.194 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:41:44.824Z,1337809304.824 [Reporter](INFO): platform_buoyancy_position 960.369245 cc
2012-05-23T21:41:45.925Z,1337809305.925 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:41:48.117Z,1337809308.117 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:41:52.303Z,1337809312.303 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:41:54.492Z,1337809314.492 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:41:59.080Z,1337809319.080 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:42:01.523Z,1337809321.523 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:42:05.656Z,1337809325.656 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:42:07.866Z,1337809327.866 [NAL9601](ERROR): Inadequate Iridium signal strength reported: 0
2012-05-23T21:42:36.872Z,1337809356.872 [NAL9601](INFO): SBD MO Status=0, MOMSN=6787, MT Status=0, MTMSN=0
2012-05-23T21:42:37.049Z,1337809357.049 [Default:Iridium:Read_Iridium] Stopped
2012-05-23T21:42:37.050Z,1337809357.050 [Default:Iridium](INFO): Completed Default:Iridium
2012-05-23T21:42:37.050Z,1337809357.050 [Default:Iridium] Stopped
2012-05-23T21:42:37.050Z,1337809357.050 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2012-05-23T21:42:37.050Z,1337809357.050 [Default:Iridium:A.SetSpeed] Stopped
2012-05-23T21:42:37.050Z,1337809357.050 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2012-05-23T21:42:37.270Z,1337809357.270 [Default:CallIridium:B](INFO): Completed Default:CallIridium:B
2012-05-23T21:42:37.270Z,1337809357.270 [Default:CallIridium:B] Stopped
2012-05-23T21:42:37.270Z,1337809357.270 [Default:CallIridium:B](INFO): Aggregate::uninitialize Default:CallIridium:B
2012-05-23T21:42:37.271Z,1337809357.270 [Default:CallIridium](INFO): Completed Default:CallIridium
2012-05-23T21:42:37.271Z,1337809357.271 [Default:CallIridium] Stopped
2012-05-23T21:42:37.271Z,1337809357.271 [Default:CallIridium](INFO): Aggregate::uninitialize Default:CallIridium
2012-05-23T21:42:47.422Z,1337809367.422 [NAL9601](INFO): Powering down
2012-05-23T21:47:02.572Z,1337809622.572 [Reporter](INFO): platform_buoyancy_position 958.623306 cc
2012-05-23T21:47:37.538Z,1337809657.538 [Default:CallIridium] Running Loop=1
2012-05-23T21:47:37.543Z,1337809657.543 [Default:CallIridium](INFO): Aggregate::initialize Default:CallIridium
2012-05-23T21:47:37.543Z,1337809657.543 [Default:CallIridium:A] Running Loop=1
2012-05-23T21:47:37.543Z,1337809657.543 [Default:CallIridium:A] Stopped
2012-05-23T21:47:37.543Z,1337809657.543 [Default:CallIridium:B] Running Loop=1
2012-05-23T21:47:37.543Z,1337809657.543 [Default:CallIridium:B](INFO): Aggregate::initialize Default:CallIridium:B
2012-05-23T21:47:42.378Z,1337809662.378 [Default:Iridium] Running Loop=1
2012-05-23T21:47:42.379Z,1337809662.379 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2012-05-23T21:47:42.379Z,1337809662.379 [Default:Iridium:A.SetSpeed] Running Loop=1
2012-05-23T21:47:42.379Z,1337809662.379 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2012-05-23T21:47:42.379Z,1337809662.379 [Default:Iridium:B.GoToSurface] Running Loop=1
2012-05-23T21:47:42.379Z,1337809662.379 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-05-23T21:47:42.380Z,1337809662.380 [Default:Iridium:B.GoToSurface] Stopped
2012-05-23T21:47:42.380Z,1337809662.380 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-05-23T21:47:42.380Z,1337809662.380 [Default:Iridium:Read_Iridium] Running Loop=1
2012-05-23T21:47:42.380Z,1337809662.381 [Default:GPS] Running Loop=1
2012-05-23T21:47:42.381Z,1337809662.381 [Default:GPS](INFO): Aggregate::initialize Default:GPS
2012-05-23T21:47:42.381Z,1337809662.381 [Default:GPS:A.SetSpeed] Running Loop=1
2012-05-23T21:47:42.381Z,1337809662.381 [Default:GPS:A.SetSpeed](DEBUG): Initialize.
2012-05-23T21:47:42.381Z,1337809662.381 [Default:GPS:B.GoToSurface] Running Loop=1
2012-05-23T21:47:42.381Z,1337809662.381 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-05-23T21:47:42.382Z,1337809662.382 [Default:GPS:B.GoToSurface] Stopped
2012-05-23T21:47:42.382Z,1337809662.382 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-05-23T21:47:42.382Z,1337809662.382 [Default:GPS:Read_GPS] Running Loop=1
2012-05-23T21:47:43.060Z,1337809663.060 [NAL9601](INFO): Powering up
2012-05-23T21:48:48.799Z,1337809728.799 [NAL9601](INFO): NAL9601 initialized
2012-05-23T21:49:29.007Z,1337809769.007 [CommandLine](IMPORTANT): got command quit
2012-05-23T21:49:29.026Z,1337809769.026 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2012-05-23T21:49:29.026Z,1337809769.026 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2012-05-23T21:49:29.349Z,1337809769.349 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2012-05-23T21:49:29.355Z,1337809769.355 [CTD_NeilBrown](INFO): Powering down
2012-05-23T21:49:29.356Z,1337809769.355 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2012-05-23T21:49:29.469Z,1337809769.469 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2012-05-23T21:49:29.469Z,1337809769.469 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2012-05-23T21:49:29.469Z,1337809769.469 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2012-05-23T21:49:29.615Z,1337809769.615 [controlThread](DEBUG): Uninitializing ControlThread
2012-05-23T21:49:29.615Z,1337809769.615 [AHRS_sp3003D](INFO): Powering down
2012-05-23T21:49:29.704Z,1337809769.704 [DVL_micro](INFO): Powering down
2012-05-23T21:49:29.704Z,1337809769.704 [NAL9601](INFO): Powering down
2012-05-23T21:49:29.705Z,1337809769.705 [WetLabsBB2FL](INFO): Powering down
2012-05-23T21:49:29.706Z,1337809769.705 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-05-23T21:49:29.706Z,1337809769.706 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2012-05-23T21:49:29.707Z,1337809769.707 [Default] Stopped
2012-05-23T21:49:29.707Z,1337809769.707 [Default](INFO): Aggregate::uninitialize Default
2012-05-23T21:49:29.707Z,1337809769.707 [Default:GPS] Stopped
2012-05-23T21:49:29.707Z,1337809769.707 [Default:GPS](INFO): Aggregate::uninitialize Default:GPS
2012-05-23T21:49:29.707Z,1337809769.707 [Default:GPS:A.SetSpeed] Stopped
2012-05-23T21:49:29.707Z,1337809769.707 [Default:GPS:A.SetSpeed](DEBUG): Uninitialize.
2012-05-23T21:49:29.708Z,1337809769.708 [Default:GPS:Read_GPS] Stopped
2012-05-23T21:49:29.708Z,1337809769.708 [Default:Iridium] Stopped
2012-05-23T21:49:29.708Z,1337809769.708 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2012-05-23T21:49:29.708Z,1337809769.708 [Default:Iridium:A.SetSpeed] Stopped
2012-05-23T21:49:29.708Z,1337809769.708 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2012-05-23T21:49:29.708Z,1337809769.708 [Default:Iridium:Read_Iridium] Stopped
2012-05-23T21:49:29.708Z,1337809769.708 [Default:CallIridium] Stopped
2012-05-23T21:49:29.708Z,1337809769.708 [Default:CallIridium](INFO): Aggregate::uninitialize Default:CallIridium
2012-05-23T21:49:29.708Z,1337809769.708 [Default:CallIridium:B] Stopped
2012-05-23T21:49:29.708Z,1337809769.708 [Default:CallIridium:B](INFO): Aggregate::uninitialize Default:CallIridium:B
2012-05-23T21:49:29.708Z,1337809769.708 [Default:D.SetSpeed] Stopped
2012-05-23T21:49:29.709Z,1337809769.708 [Default:D.SetSpeed](DEBUG): Uninitialize.
2012-05-23T21:49:29.709Z,1337809769.708 [Default:E.GoToSurface] Stopped
2012-05-23T21:49:29.709Z,1337809769.709 [Default:E.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-05-23T21:49:29.709Z,1337809769.709 [Default:F.Wait] Stopped
2012-05-23T21:49:29.709Z,1337809769.709 [Default:F.Wait](DEBUG): Uninitialize Wait Component.
2012-05-23T21:49:29.713Z,1337809769.713 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2012-05-23T21:49:29.714Z,1337809769.714 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2012-05-23T21:49:29.714Z,1337809769.714 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2012-05-23T21:49:29.714Z,1337809769.714 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2012-05-23T21:49:29.715Z,1337809769.715 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2012-05-23T21:49:29.715Z,1337809769.715 [BuoyancyServo](INFO): Powering down
2012-05-23T21:49:29.715Z,1337809769.715 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2012-05-23T21:49:29.715Z,1337809769.715 [ElevatorServo](INFO): Powering down
2012-05-23T21:49:29.716Z,1337809769.716 [MassServo](DEBUG): Uninitialize Mass Servo.
2012-05-23T21:49:29.716Z,1337809769.716 [MassServo](INFO): Powering down
2012-05-23T21:49:29.716Z,1337809769.716 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-05-23T21:49:29.716Z,1337809769.716 [RudderServo](INFO): Powering down
2012-05-23T21:49:29.717Z,1337809769.717 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-05-23T21:49:29.717Z,1337809769.717 [ThrusterServo](INFO): Powering down
2012-05-23T21:49:29.717Z,1337809769.717 [SBIT](DEBUG): Uninitialize SBIT Component.
2012-05-23T21:49:29.717Z,1337809769.717 [IBIT](DEBUG): Uninitialize IBIT Component.
2012-05-23T21:49:29.718Z,1337809769.718 [CBIT](DEBUG): Uninitialize CBIT Component.