2012-05-24T16:21:13.595Z,1337876473.595 [Supervisor](DEBUG): Initializing supervisor.
2012-05-24T16:21:13.597Z,1337876473.597 [SyncHandler](DEBUG): Created PCaller Thread at 1077138656
2012-05-24T16:21:13.598Z,1337876473.598 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2012-05-24T16:21:13.599Z,1337876473.599 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 1077335264
2012-05-24T16:21:13.600Z,1337876473.600 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2012-05-24T16:21:13.611Z,1337876473.611 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2012-05-24T16:21:13.612Z,1337876473.612 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 1077531872
2012-05-24T16:21:13.613Z,1337876473.613 [ComponentRegistry](DEBUG): SyncComponent "logger" handled in the control thread.
2012-05-24T16:21:13.613Z,1337876473.613 [Supervisor](INFO): Looking for Config files in directory: Config/
2012-05-24T16:21:13.614Z,1337876473.614 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2012-05-24T16:21:13.883Z,1337876473.883 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2012-05-24T16:21:13.883Z,1337876473.884 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2012-05-24T16:21:14.064Z,1337876474.064 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2012-05-24T16:21:14.064Z,1337876474.064 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2012-05-24T16:21:14.148Z,1337876474.148 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2012-05-24T16:21:14.148Z,1337876474.148 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2012-05-24T16:21:14.334Z,1337876474.334 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2012-05-24T16:21:14.335Z,1337876474.335 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2012-05-24T16:21:14.458Z,1337876474.458 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2012-05-24T16:21:14.459Z,1337876474.459 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2012-05-24T16:21:14.677Z,1337876474.677 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2012-05-24T16:21:14.677Z,1337876474.677 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2012-05-24T16:21:14.823Z,1337876474.823 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2012-05-24T16:21:14.824Z,1337876474.824 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2012-05-24T16:21:15.089Z,1337876475.089 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2012-05-24T16:21:15.089Z,1337876475.089 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2012-05-24T16:21:15.186Z,1337876475.186 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2012-05-24T16:21:15.186Z,1337876475.186 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2012-05-24T16:21:15.563Z,1337876475.563 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2012-05-24T16:21:15.564Z,1337876475.564 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2012-05-24T16:21:15.674Z,1337876475.674 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2012-05-24T16:21:15.675Z,1337876475.675 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2012-05-24T16:21:15.759Z,1337876475.759 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2012-05-24T16:21:15.760Z,1337876475.760 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2012-05-24T16:21:15.862Z,1337876475.862 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2012-05-24T16:21:15.993Z,1337876475.993 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2012-05-24T16:21:16.093Z,1337876476.093 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2012-05-24T16:21:16.188Z,1337876476.188 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2012-05-24T16:21:16.296Z,1337876476.296 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2012-05-24T16:21:16.387Z,1337876476.387 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2012-05-24T16:21:16.472Z,1337876476.472 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2012-05-24T16:21:16.714Z,1337876476.714 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2012-05-24T16:21:16.842Z,1337876476.842 [InternalSim] Loaded
2012-05-24T16:21:16.842Z,1337876476.842 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2012-05-24T16:21:16.843Z,1337876476.843 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2012-05-24T16:21:16.843Z,1337876476.843 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2012-05-24T16:21:16.887Z,1337876476.887 [SBIT](DEBUG): Construct Startup Built In Test.
2012-05-24T16:21:16.899Z,1337876476.899 [SBIT] Loaded
2012-05-24T16:21:16.899Z,1337876476.899 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2012-05-24T16:21:16.900Z,1337876476.900 [IBIT](DEBUG): Construct Initiated Built In Test.
2012-05-24T16:21:16.923Z,1337876476.923 [IBIT] Loaded
2012-05-24T16:21:16.924Z,1337876476.924 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2012-05-24T16:21:16.931Z,1337876476.931 [CBIT](DEBUG): Construct CBIT Built In Test.
2012-05-24T16:21:17.038Z,1337876477.038 [CBIT] Loaded
2012-05-24T16:21:17.038Z,1337876477.038 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2012-05-24T16:21:17.039Z,1337876477.039 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2012-05-24T16:21:17.039Z,1337876477.039 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2012-05-24T16:21:17.169Z,1337876477.169 [BuoyancyServo] Loaded
2012-05-24T16:21:17.169Z,1337876477.169 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2012-05-24T16:21:17.176Z,1337876477.176 [ElevatorServo] Loaded
2012-05-24T16:21:17.176Z,1337876477.176 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2012-05-24T16:21:17.183Z,1337876477.183 [MassServo] Loaded
2012-05-24T16:21:17.183Z,1337876477.183 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2012-05-24T16:21:17.190Z,1337876477.190 [RudderServo] Loaded
2012-05-24T16:21:17.190Z,1337876477.190 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2012-05-24T16:21:17.197Z,1337876477.197 [ThrusterServo] Loaded
2012-05-24T16:21:17.197Z,1337876477.197 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2012-05-24T16:21:17.198Z,1337876477.198 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2012-05-24T16:21:17.198Z,1337876477.198 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2012-05-24T16:21:17.213Z,1337876477.213 [DepthRateCalculator] Loaded
2012-05-24T16:21:17.213Z,1337876477.213 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2012-05-24T16:21:17.229Z,1337876477.229 [NavChart] Loaded
2012-05-24T16:21:17.230Z,1337876477.230 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2012-05-24T16:21:17.235Z,1337876477.235 [PitchRateCalculator] Loaded
2012-05-24T16:21:17.236Z,1337876477.236 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2012-05-24T16:21:17.241Z,1337876477.241 [SpeedCalculator] Loaded
2012-05-24T16:21:17.242Z,1337876477.242 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2012-05-24T16:21:17.256Z,1337876477.256 [TempGradientCalculator] Loaded
2012-05-24T16:21:17.257Z,1337876477.257 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2012-05-24T16:21:17.262Z,1337876477.262 [YawRateCalculator] Loaded
2012-05-24T16:21:17.262Z,1337876477.262 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2012-05-24T16:21:17.292Z,1337876477.292 [Navigation] Loaded
2012-05-24T16:21:17.293Z,1337876477.293 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2012-05-24T16:21:17.293Z,1337876477.293 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2012-05-24T16:21:17.294Z,1337876477.294 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2012-05-24T16:21:17.506Z,1337876477.506 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2012-05-24T16:21:17.506Z,1337876477.506 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2012-05-24T16:21:17.527Z,1337876477.527 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2012-05-24T16:21:17.528Z,1337876477.528 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2012-05-24T16:21:17.567Z,1337876477.567 [VerticalControl](DEBUG): Construct VerticalControl.
2012-05-24T16:21:17.610Z,1337876477.610 [VerticalControl] Loaded
2012-05-24T16:21:17.610Z,1337876477.610 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2012-05-24T16:21:17.611Z,1337876477.611 [HorizontalControl](DEBUG): Construct HorizontalControl.
2012-05-24T16:21:17.631Z,1337876477.631 [HorizontalControl] Loaded
2012-05-24T16:21:17.631Z,1337876477.631 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2012-05-24T16:21:17.632Z,1337876477.632 [SpeedControl](DEBUG): Construct SpeedControl.
2012-05-24T16:21:17.634Z,1337876477.634 [SpeedControl] Loaded
2012-05-24T16:21:17.634Z,1337876477.634 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2012-05-24T16:21:17.635Z,1337876477.635 [LoopControl](DEBUG): Construct LoopControl.
2012-05-24T16:21:17.635Z,1337876477.635 [LoopControl] Loaded
2012-05-24T16:21:17.636Z,1337876477.635 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2012-05-24T16:21:17.636Z,1337876477.636 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2012-05-24T16:21:17.637Z,1337876477.636 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2012-05-24T16:21:17.642Z,1337876477.642 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2012-05-24T16:21:17.646Z,1337876477.647 [AsyncPiEstimator] Loaded
2012-05-24T16:21:17.647Z,1337876477.647 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2012-05-24T16:21:17.648Z,1337876477.648 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 1078994144
2012-05-24T16:21:17.649Z,1337876477.649 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2012-05-24T16:21:17.649Z,1337876477.649 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2012-05-24T16:21:17.741Z,1337876477.741 [AHRS_sp3003D] Loaded
2012-05-24T16:21:17.742Z,1337876477.742 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2012-05-24T16:21:17.988Z,1337876477.988 [Batt_Ocean_Server] Loaded
2012-05-24T16:21:17.988Z,1337876477.988 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2012-05-24T16:21:18.000Z,1337876478.000 [Depth_Keller] Loaded
2012-05-24T16:21:18.000Z,1337876478.000 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2012-05-24T16:21:18.006Z,1337876478.006 [DropWeight] Loaded
2012-05-24T16:21:18.006Z,1337876478.006 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2012-05-24T16:21:18.100Z,1337876478.100 [DVL_micro] Loaded
2012-05-24T16:21:18.100Z,1337876478.100 [ComponentRegistry](DEBUG): SyncComponent "DVL_micro" handled in the control thread.
2012-05-24T16:21:18.178Z,1337876478.178 [NAL9601] Loaded
2012-05-24T16:21:18.178Z,1337876478.178 [ComponentRegistry](DEBUG): SyncComponent "NAL9601" handled in the control thread.
2012-05-24T16:21:18.227Z,1337876478.227 [Onboard] Loaded
2012-05-24T16:21:18.227Z,1337876478.227 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2012-05-24T16:21:18.233Z,1337876478.233 [Radio_Freewave] Loaded
2012-05-24T16:21:18.233Z,1337876478.233 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2012-05-24T16:21:18.234Z,1337876478.234 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2012-05-24T16:21:18.235Z,1337876478.235 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2012-05-24T16:21:18.279Z,1337876478.279 [CTD_NeilBrown] Loaded
2012-05-24T16:21:18.280Z,1337876478.280 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2012-05-24T16:21:18.281Z,1337876478.281 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 1079645408
2012-05-24T16:21:18.311Z,1337876478.311 [WetLabsBB2FL] Loaded
2012-05-24T16:21:18.311Z,1337876478.311 [ComponentRegistry](DEBUG): SyncComponent "WetLabsBB2FL" handled in the control thread.
2012-05-24T16:21:18.311Z,1337876478.311 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2012-05-24T16:21:18.314Z,1337876478.314 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2012-05-24T16:21:18.315Z,1337876478.315 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2012-05-24T16:21:18.320Z,1337876478.320 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2012-05-24T16:21:18.321Z,1337876478.321 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 1079842016
2012-05-24T16:21:18.321Z,1337876478.321 [Supervisor](DEBUG): Running supervisor.
2012-05-24T16:21:18.325Z,1337876478.325 [controlThread](DEBUG): Initializing ControlThread
2012-05-24T16:21:18.326Z,1337876478.326 [InternalSim](DEBUG):  InternalSim initializing...
2012-05-24T16:21:18.359Z,1337876478.359 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2012-05-24T16:21:18.369Z,1337876478.369 [SBIT](INFO): Initialize SBIT Component.
2012-05-24T16:21:18.370Z,1337876478.370 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 9636 $
2012-05-24T16:21:18.370Z,1337876478.370 [IBIT](INFO): Initialize IBIT Component.
2012-05-24T16:21:18.373Z,1337876478.373 [CBIT](DEBUG): Initialize CBIT Component.
2012-05-24T16:21:18.374Z,1337876478.374 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2012-05-24T16:21:18.375Z,1337876478.375 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2012-05-24T16:21:18.400Z,1337876478.400 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-05-24T16:21:18.400Z,1337876478.400 [NavChart](DEBUG): Initialize NavChart Derivation.
2012-05-24T16:21:18.400Z,1337876478.401 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2012-05-24T16:21:18.401Z,1337876478.401 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2012-05-24T16:21:18.401Z,1337876478.401 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2012-05-24T16:21:18.403Z,1337876478.403 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2012-05-24T16:21:18.403Z,1337876478.403 [Navigation](DEBUG): Initializing Navigation.
2012-05-24T16:21:18.403Z,1337876478.404 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2012-05-24T16:21:18.406Z,1337876478.406 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2012-05-24T16:21:18.406Z,1337876478.406 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2012-05-24T16:21:18.407Z,1337876478.407 [LoopControl](DEBUG): Initialize LoopControlComponent.
2012-05-24T16:21:18.479Z,1337876478.479 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2012-05-24T16:21:18.484Z,1337876478.484 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2012-05-24T16:21:18.488Z,1337876478.488 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2012-05-24T16:21:18.492Z,1337876478.492 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2012-05-24T16:21:18.496Z,1337876478.496 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2012-05-24T16:21:18.497Z,1337876478.497 [NavChartDb](INFO): Creating index for Soundings
2012-05-24T16:21:18.501Z,1337876478.501 [NavChartDb](INFO): Creating index for Contour 0p0
2012-05-24T16:21:18.503Z,1337876478.503 [NavChartDb](INFO): Creating index for Contour 1p8
2012-05-24T16:21:18.504Z,1337876478.504 [NavChartDb](INFO): Creating index for Contour 3p6
2012-05-24T16:21:18.507Z,1337876478.507 [NavChartDb](INFO): Creating index for Contour 5p4
2012-05-24T16:21:18.509Z,1337876478.509 [NavChartDb](INFO): Creating index for Contour 9p1
2012-05-24T16:21:18.511Z,1337876478.511 [NavChartDb](INFO): Creating index for Contour 10p9
2012-05-24T16:21:18.512Z,1337876478.512 [NavChartDb](INFO): Creating index for Contour 18p2
2012-05-24T16:21:18.515Z,1337876478.514 [NavChartDb](INFO): Creating index for Contour 36p5
2012-05-24T16:21:18.516Z,1337876478.516 [NavChartDb](INFO): Creating index for Contour 54p8
2012-05-24T16:21:18.518Z,1337876478.518 [NavChartDb](INFO): Creating index for Contour 73p1
2012-05-24T16:21:18.520Z,1337876478.520 [NavChartDb](INFO): Creating index for Contour 91p4
2012-05-24T16:21:18.522Z,1337876478.522 [NavChartDb](INFO): Creating index for Contour 182p8
2012-05-24T16:21:18.524Z,1337876478.524 [NavChartDb](INFO): Creating index for Contour 365p7
2012-05-24T16:21:18.526Z,1337876478.526 [NavChartDb](INFO): Creating index for Contour 548p6
2012-05-24T16:21:18.528Z,1337876478.528 [NavChartDb](INFO): Creating index for Contour 731p5
2012-05-24T16:21:18.530Z,1337876478.530 [NavChartDb](INFO): Creating index for Contour 914p4
2012-05-24T16:21:18.532Z,1337876478.532 [NavChartDb](INFO): Creating index for Contour 1097p2
2012-05-24T16:21:18.534Z,1337876478.534 [NavChartDb](INFO): Creating index for Contour 1280p1
2012-05-24T16:21:18.536Z,1337876478.536 [NavChartDb](INFO): Creating index for Contour 1463p0
2012-05-24T16:21:18.538Z,1337876478.538 [NavChartDb](INFO): Creating index for Contour 1645p9
2012-05-24T16:21:18.540Z,1337876478.540 [NavChartDb](INFO): Creating index for Contour 1828p8
2012-05-24T16:21:18.542Z,1337876478.542 [NavChartDb](INFO): Creating index for Contour 2011p6
2012-05-24T16:21:18.544Z,1337876478.544 [NavChartDb](INFO): Creating index for Contour 2194p5
2012-05-24T16:21:18.546Z,1337876478.546 [NavChartDb](INFO): Creating index for Contour 2377p4
2012-05-24T16:21:18.548Z,1337876478.548 [NavChartDb](INFO): Creating index for Contour 2560p3
2012-05-24T16:21:18.550Z,1337876478.550 [NavChartDb](INFO): Creating index for Contour 2743p2
2012-05-24T16:21:18.552Z,1337876478.552 [NavChartDb](INFO): Creating index for Contour 2926p0
2012-05-24T16:21:18.553Z,1337876478.553 [NavChartDb](INFO): Creating index for Contour 3108p9
2012-05-24T16:21:18.555Z,1337876478.556 [NavChartDb](INFO): Creating index for Contour 3291p8
2012-05-24T16:21:18.557Z,1337876478.557 [NavChartDb](INFO): Creating index for Contour 3474p7
2012-05-24T16:21:18.559Z,1337876478.559 [NavChartDb](INFO): Creating index for Contour 3657p6
2012-05-24T16:21:20.015Z,1337876480.015 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2012-05-24T16:21:20.020Z,1337876480.020 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2012-05-24T16:21:20.033Z,1337876480.033 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-05-24T16:21:20.043Z,1337876480.043 [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>


2012-05-24T16:21:20.043Z,1337876480.043 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2012-05-24T16:21:20.070Z,1337876480.070 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2012-05-24T16:21:20.072Z,1337876480.072 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2012-05-24T16:21:20.075Z,1337876480.075 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-05-24T16:21:20.082Z,1337876480.082 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2012-05-24T16:21:20.085Z,1337876480.085 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-05-24T16:21:20.091Z,1337876480.091 [Default:Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2012-05-24T16:21:20.101Z,1337876480.101 [Default:D.SetSpeed](DEBUG): Construct.
2012-05-24T16:21:20.104Z,1337876480.104 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2012-05-24T16:21:20.108Z,1337876480.108 [Default:F.Wait](DEBUG): Construct Wait.
2012-05-24T16:21:20.112Z,1337876480.112 [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>


2012-05-24T16:21:20.117Z,1337876480.117 [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,
2012-05-24T16:21:20.136Z,1337876480.136 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-05-24T16:21:20.245Z,1337876480.245 [DVL_micro](DEBUG): Initializing DVL_micro.
2012-05-24T16:21:20.267Z,1337876480.267 [Radio_Freewave](INFO): Powering up
2012-05-24T16:21:20.272Z,1337876480.272 [WetLabsBB2FL](INFO): Powering down
2012-05-24T16:21:20.340Z,1337876480.340 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2012-05-24T16:21:20.341Z,1337876480.341 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2012-05-24T16:21:20.350Z,1337876480.350 [ElevatorServo](DEBUG): Initializing EZServoServo.
2012-05-24T16:21:20.351Z,1337876480.351 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2012-05-24T16:21:20.359Z,1337876480.359 [MassServo](DEBUG): Initializing EZServoServo.
2012-05-24T16:21:20.360Z,1337876480.360 [MassServo](DEBUG): Initializing MassServo.
2012-05-24T16:21:20.370Z,1337876480.370 [RudderServo](DEBUG): Initializing EZServoServo.
2012-05-24T16:21:20.371Z,1337876480.371 [RudderServo](DEBUG): Initializing RudderServo.
2012-05-24T16:21:20.379Z,1337876480.379 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-05-24T16:21:20.380Z,1337876480.380 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-05-24T16:21:23.390Z,1337876483.390 [NAL9601](INFO): Powering up NAL9601
2012-05-24T16:21:34.036Z,1337876494.036 [SBIT](IMPORTANT): Beginning Startup BIT
2012-05-24T16:21:34.038Z,1337876494.038 [CBIT](IMPORTANT): Beginning GF scan
2012-05-24T16:22:00.199Z,1337876520.199 [CBIT](IMPORTANT): No ground fault detected
2012-05-24T16:22:04.997Z,1337876524.997 [SBIT](FAULT): Rudder: EXPECTED:-15.000000 ACTUAL:-14.718497
2012-05-24T16:22:04.997Z,1337876524.997 [SBIT](FAULT): Control surface position failure.
2012-05-24T16:22:16.107Z,1337876536.107 [SBIT](CRITICAL): SBIT FAILED
2012-05-24T16:22:16.439Z,1337876536.439 [MissionManager](IMPORTANT): Started mission Startup
2012-05-24T16:22:16.439Z,1337876536.439 [Startup] Running Loop=1
2012-05-24T16:22:16.440Z,1337876536.440 [Startup](INFO): Aggregate::initialize Startup
2012-05-24T16:22:16.440Z,1337876536.440 [Startup:A.GoToSurface] Running Loop=1
2012-05-24T16:22:16.440Z,1337876536.440 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-05-24T16:22:16.445Z,1337876536.445 [Startup:StartupSatComms] Running Loop=1
2012-05-24T16:22:16.445Z,1337876536.445 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2012-05-24T16:22:16.446Z,1337876536.446 [Startup:StartupSatComms:A] Running Loop=1
2012-05-24T16:22:16.840Z,1337876536.840 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2012-05-24T16:22:28.927Z,1337876548.927 [NAL9601](INFO): NAL9601 initialized
2012-05-24T16:23:16.874Z,1337876596.874 [Startup:StartupSatComms:A](INFO): Timed out from 2012-05-24T16:22:16.4Z
2012-05-24T16:23:16.874Z,1337876596.874 [Startup:StartupSatComms:A_Timeout] Running Loop=1
2012-05-24T16:23:16.874Z,1337876596.875 [Startup:StartupSatComms:A_Timeout](INFO): Aggregate::initialize Startup:StartupSatComms:A_Timeout
2012-05-24T16:23:16.875Z,1337876596.875 [Startup:StartupSatComms:A_Timeout](INFO): Completed Startup:StartupSatComms:A_Timeout
2012-05-24T16:23:16.875Z,1337876596.875 [Startup:StartupSatComms:A] Stopped
2012-05-24T16:23:16.875Z,1337876596.875 [Startup:StartupSatComms:B] Running Loop=1
2012-05-24T16:23:17.240Z,1337876597.240 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2012-05-24T16:23:39.890Z,1337876619.890 [NAL9601](INFO): SBD MO Status=2, MOMSN=6797, MT Status=2, MTMSN=0
2012-05-24T16:23:39.890Z,1337876619.890 [NAL9601](ERROR): Failed to initiate SBD session. Error code: 2
2012-05-24T16:24:09.726Z,1337876649.726 [NAL9601](INFO): SBD MO Status=2, MOMSN=6797, MT Status=2, MTMSN=0
2012-05-24T16:24:09.726Z,1337876649.726 [NAL9601](ERROR): Failed to initiate SBD session. Error code: 2
2012-05-24T16:24:17.526Z,1337876657.526 [Startup:StartupSatComms:B](INFO): Timed out from 2012-05-24T16:23:16.9Z
2012-05-24T16:24:17.526Z,1337876657.526 [Startup:StartupSatComms:A_Timeout] Running Loop=1
2012-05-24T16:24:17.526Z,1337876657.526 [Startup:StartupSatComms:A_Timeout](INFO): Aggregate::initialize Startup:StartupSatComms:A_Timeout
2012-05-24T16:24:17.526Z,1337876657.526 [Startup:StartupSatComms:A_Timeout](INFO): Completed Startup:StartupSatComms:A_Timeout
2012-05-24T16:24:17.527Z,1337876657.527 [Startup:StartupSatComms:B] Stopped
2012-05-24T16:24:17.527Z,1337876657.527 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2012-05-24T16:24:17.527Z,1337876657.527 [Startup:StartupSatComms] Stopped
2012-05-24T16:24:17.527Z,1337876657.527 [Startup:StartupSatComms](INFO): Aggregate::uninitialize Startup:StartupSatComms
2012-05-24T16:24:17.528Z,1337876657.528 [Startup](INFO): Completed Startup
2012-05-24T16:24:17.528Z,1337876657.528 [Startup] Stopped
2012-05-24T16:24:17.528Z,1337876657.528 [Startup](INFO): Aggregate::uninitialize Startup
2012-05-24T16:24:17.528Z,1337876657.528 [Startup:A.GoToSurface] Stopped
2012-05-24T16:24:17.528Z,1337876657.528 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-05-24T16:24:17.670Z,1337876657.670 [MissionManager](IMPORTANT): Started mission Default
2012-05-24T16:24:17.670Z,1337876657.670 [Default] Running Loop=1
2012-05-24T16:24:17.670Z,1337876657.670 [Default](INFO): Aggregate::initialize Default
2012-05-24T16:24:17.670Z,1337876657.670 [Default:D.SetSpeed] Running Loop=1
2012-05-24T16:24:17.670Z,1337876657.670 [Default:D.SetSpeed](DEBUG): Initialize.
2012-05-24T16:24:17.671Z,1337876657.671 [Default:E.GoToSurface] Running Loop=1
2012-05-24T16:24:17.671Z,1337876657.671 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-05-24T16:24:17.671Z,1337876657.671 [Default:Iridium] Running Loop=1
2012-05-24T16:24:17.671Z,1337876657.671 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2012-05-24T16:24:17.671Z,1337876657.671 [Default:Iridium:A.SetSpeed] Running Loop=1
2012-05-24T16:24:17.671Z,1337876657.671 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2012-05-24T16:24:17.672Z,1337876657.672 [Default:Iridium:B.GoToSurface] Running Loop=1
2012-05-24T16:24:17.672Z,1337876657.672 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-05-24T16:24:17.672Z,1337876657.672 [Default:E.GoToSurface] Running Loop=1
2012-05-24T16:24:17.678Z,1337876657.678 [Default:D.SetSpeed] Running Loop=1
2012-05-24T16:24:17.683Z,1337876657.683 [Default:CallIridium] Running Loop=1
2012-05-24T16:24:17.683Z,1337876657.683 [Default:CallIridium](INFO): Aggregate::initialize Default:CallIridium
2012-05-24T16:24:17.683Z,1337876657.683 [Default:CallIridium:A] Running Loop=1
2012-05-24T16:24:17.685Z,1337876657.685 [Default:CallIridium:A] Stopped
2012-05-24T16:24:17.685Z,1337876657.685 [Default:CallIridium:B] Running Loop=1
2012-05-24T16:24:17.685Z,1337876657.685 [Default:CallIridium:B](INFO): Aggregate::initialize Default:CallIridium:B
2012-05-24T16:24:17.691Z,1337876657.691 [Default:Iridium:B.GoToSurface] Stopped
2012-05-24T16:24:17.691Z,1337876657.691 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-05-24T16:24:17.691Z,1337876657.691 [Default:Iridium:Read_Iridium] Running Loop=1
2012-05-24T16:24:17.691Z,1337876657.691 [Default:Iridium:A.SetSpeed] Running Loop=1
2012-05-24T16:24:17.700Z,1337876657.700 [Default:GPS] Running Loop=1
2012-05-24T16:24:17.700Z,1337876657.700 [Default:GPS](INFO): Aggregate::initialize Default:GPS
2012-05-24T16:24:17.700Z,1337876657.700 [Default:GPS:A.SetSpeed] Running Loop=1
2012-05-24T16:24:17.700Z,1337876657.700 [Default:GPS:A.SetSpeed](DEBUG): Initialize.
2012-05-24T16:24:17.700Z,1337876657.700 [Default:GPS:B.GoToSurface] Running Loop=1
2012-05-24T16:24:17.700Z,1337876657.700 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-05-24T16:24:17.706Z,1337876657.706 [Default:GPS:B.GoToSurface] Stopped
2012-05-24T16:24:17.706Z,1337876657.706 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-05-24T16:24:17.707Z,1337876657.707 [Default:GPS:Read_GPS] Running Loop=1
2012-05-24T16:24:17.707Z,1337876657.707 [Default:GPS:A.SetSpeed] Running Loop=1
2012-05-24T16:24:18.070Z,1337876658.070 [Default:Iridium:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2012-05-24T16:24:18.073Z,1337876658.073 [Default:GPS:Read_GPS](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2012-05-24T16:24:32.422Z,1337876672.422 [NAL9601](INFO): SBD MO Status=1, MOMSN=6797, MT Status=0, MTMSN=0
2012-05-24T16:24:32.627Z,1337876672.627 [NAL9601](INFO): Sent 332 bytes from file Logs/20120524T145439/shore0003.lzma
2012-05-24T16:24:32.627Z,1337876672.627 [NAL9601](INFO): Packets left to send: 2
2012-05-24T16:24:32.628Z,1337876672.628 [NAL9601](INFO): Stored copy of sent data in Logs/latest/sent0000000
2012-05-24T16:24:46.055Z,1337876686.055 [CommandLine](IMPORTANT): got command configSet VerticalControl.stopDepthExcursion 3.000000 meter
2012-05-24T16:24:54.502Z,1337876694.502 [NAL9601](INFO): SBD MO Status=2, MOMSN=6798, MT Status=0, MTMSN=0
2012-05-24T16:24:54.502Z,1337876694.502 [NAL9601](ERROR): Failed to initiate SBD session. Error code: 2
2012-05-24T16:25:16.403Z,1337876716.403 [NAL9601](INFO): SBD MO Status=2, MOMSN=6798, MT Status=2, MTMSN=0
2012-05-24T16:25:16.403Z,1337876716.404 [NAL9601](ERROR): Failed to initiate SBD session. Error code: 2
2012-05-24T16:25:33.850Z,1337876733.850 [NAL9601](INFO): SBD MO Status=2, MOMSN=6798, MT Status=2, MTMSN=0
2012-05-24T16:25:33.850Z,1337876733.850 [NAL9601](ERROR): Failed to initiate SBD session. Error code: 2
2012-05-24T16:25:46.154Z,1337876746.154 [NAL9601](INFO): SBD MO Status=1, MOMSN=6798, MT Status=0, MTMSN=0
2012-05-24T16:25:46.311Z,1337876746.311 [NAL9601](INFO): Sent 332 bytes from file Logs/20120524T145439/shore0003.lzma
2012-05-24T16:25:46.311Z,1337876746.311 [NAL9601](INFO): Packets left to send: 1
2012-05-24T16:25:46.312Z,1337876746.312 [NAL9601](INFO): Stored copy of sent data in Logs/latest/sent0000001
2012-05-24T16:25:53.834Z,1337876753.834 [NAL9601](INFO): SBD MO Status=1, MOMSN=6799, MT Status=0, MTMSN=0
2012-05-24T16:25:53.999Z,1337876753.999 [NAL9601](INFO): Sent 113 bytes from file Logs/20120524T145439/shore0003.lzma
2012-05-24T16:25:53.999Z,1337876753.999 [NAL9601](INFO): Packets left to send: 0
2012-05-24T16:25:54.000Z,1337876754.000 [NAL9601](INFO): Stored copy of sent data in Logs/latest/sent0000002
2012-05-24T16:26:03.514Z,1337876763.514 [NAL9601](INFO): SBD MO Status=1, MOMSN=6800, MT Status=0, MTMSN=0
2012-05-24T16:26:03.687Z,1337876763.687 [NAL9601](INFO): Sent 332 bytes from file Logs/20120524T162113/shore0000.lzma
2012-05-24T16:26:03.687Z,1337876763.687 [NAL9601](INFO): Packets left to send: 1
2012-05-24T16:26:03.688Z,1337876763.688 [NAL9601](INFO): Stored copy of sent data in Logs/latest/sent0000003
2012-05-24T16:26:14.757Z,1337876774.757 [CommandLine](IMPORTANT): got command load ./Missions/Maintenance/ballast_and_trim.xml
2012-05-24T16:26:14.757Z,1337876774.757 [MissionManager](INFO): Loading Mission: ./Missions/Maintenance/ballast_and_trim.xml
2012-05-24T16:26:14.795Z,1337876774.795 [MissionManager](INFO): DefineArg ballast_and_trim.BallastDepth = 25.000000 m
2012-05-24T16:26:14.798Z,1337876774.798 [MissionManager](INFO): DefineArg ballast_and_trim.HoldDuration = 25.000000 min
2012-05-24T16:26:14.801Z,1337876774.801 [MissionManager](INFO): DefineArg ballast_and_trim.Speed = 1.000000 m/s
2012-05-24T16:26:14.815Z,1337876774.815 [MissionManager](INFO): DefineArg ballast_and_trim.DepthDeadband = 4.000000 m
2012-05-24T16:26:14.820Z,1337876774.820 [MissionManager](INFO): DefineArg ballast_and_trim.BuoyPeriod = 0.400000 s
2012-05-24T16:26:14.825Z,1337876774.825 [MissionManager](INFO): DefineArg ballast_and_trim.BuoyancyDefault = 0.000945 n/a
2012-05-24T16:26:14.849Z,1337876774.849 [ballast_and_trim:D.SetSpeed](DEBUG): Construct.
2012-05-24T16:26:14.858Z,1337876774.858 [ballast_and_trim:ballast:A.SetSpeed](DEBUG): Construct.
2012-05-24T16:26:14.887Z,1337876774.887 [ballast_and_trim:ballast:C.Pitch](DEBUG): Construct.
2012-05-24T16:26:14.893Z,1337876774.893 [ballast_and_trim:ballast:D.Wait](DEBUG): Construct Wait.
2012-05-24T16:26:14.915Z,1337876774.915 [ballast_and_trim:ballast:ReportPositions:B.Wait](DEBUG): Construct Wait.
2012-05-24T16:26:14.919Z,1337876774.919 [ballast_and_trim:ballast:Float_Up:A.SetSpeed](DEBUG): Construct.
2012-05-24T16:26:14.922Z,1337876774.922 [ballast_and_trim:ballast:Float_Up:B.Buoyancy](DEBUG): Construct Buoyancy.
2012-05-24T16:26:14.938Z,1337876774.938 [ballast_and_trim:ballast:Float_Up:C.Wait](DEBUG): Construct Wait.
2012-05-24T16:26:14.964Z,1337876774.964 [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>


2012-05-24T16:26:14.964Z,1337876774.964 [CommandLine](IMPORTANT): Loaded ./Missions/Maintenance/ballast_and_trim.xml
2012-05-24T16:26:15.114Z,1337876775.114 [CommandLine](IMPORTANT): got command set ballast_and_trim.BallastDepth 5.000000 meter
2012-05-24T16:26:15.281Z,1337876775.281 [CommandLine](IMPORTANT): got command set ballast_and_trim.HoldDuration 10.000000 minute
2012-05-24T16:26:17.238Z,1337876777.238 [NAL9601](INFO): SBD MO Status=2, MOMSN=6801, MT Status=2, MTMSN=0
2012-05-24T16:26:17.238Z,1337876777.238 [NAL9601](ERROR): Failed to initiate SBD session. Error code: 2
2012-05-24T16:26:24.095Z,1337876784.095 [CommandLine](IMPORTANT): got command set ballast_and_trim.DepthDeadband 1.000000 meter
2012-05-24T16:26:33.515Z,1337876793.515 [CommandLine](IMPORTANT): got command run
2012-05-24T16:26:33.515Z,1337876793.515 [CommandLine](IMPORTANT): Running 
2012-05-24T16:26:33.538Z,1337876793.538 [Default] Stopped
2012-05-24T16:26:33.538Z,1337876793.538 [Default](INFO): Aggregate::uninitialize Default
2012-05-24T16:26:33.539Z,1337876793.539 [Default:GPS] Stopped
2012-05-24T16:26:33.539Z,1337876793.539 [Default:GPS](INFO): Aggregate::uninitialize Default:GPS
2012-05-24T16:26:33.539Z,1337876793.539 [Default:GPS:A.SetSpeed] Stopped
2012-05-24T16:26:33.539Z,1337876793.539 [Default:GPS:A.SetSpeed](DEBUG): Uninitialize.
2012-05-24T16:26:33.539Z,1337876793.539 [Default:GPS:Read_GPS] Stopped
2012-05-24T16:26:33.539Z,1337876793.539 [Default:Iridium] Stopped
2012-05-24T16:26:33.539Z,1337876793.539 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2012-05-24T16:26:33.539Z,1337876793.539 [Default:Iridium:A.SetSpeed] Stopped
2012-05-24T16:26:33.539Z,1337876793.539 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2012-05-24T16:26:33.539Z,1337876793.539 [Default:Iridium:Read_Iridium] Stopped
2012-05-24T16:26:33.539Z,1337876793.539 [Default:CallIridium] Stopped
2012-05-24T16:26:33.539Z,1337876793.539 [Default:CallIridium](INFO): Aggregate::uninitialize Default:CallIridium
2012-05-24T16:26:33.539Z,1337876793.539 [Default:CallIridium:B] Stopped
2012-05-24T16:26:33.540Z,1337876793.540 [Default:CallIridium:B](INFO): Aggregate::uninitialize Default:CallIridium:B
2012-05-24T16:26:33.540Z,1337876793.540 [Default:D.SetSpeed] Stopped
2012-05-24T16:26:33.540Z,1337876793.540 [Default:D.SetSpeed](DEBUG): Uninitialize.
2012-05-24T16:26:33.540Z,1337876793.540 [Default:E.GoToSurface] Stopped
2012-05-24T16:26:33.540Z,1337876793.540 [Default:E.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-05-24T16:26:33.540Z,1337876793.540 [MissionManager](IMPORTANT): Started mission ballast_and_trim
2012-05-24T16:26:33.540Z,1337876793.540 [ballast_and_trim] Running Loop=1
2012-05-24T16:26:33.540Z,1337876793.540 [ballast_and_trim](INFO): Aggregate::initialize ballast_and_trim
2012-05-24T16:26:33.540Z,1337876793.540 [ballast_and_trim:A] Running Loop=1
2012-05-24T16:26:33.540Z,1337876793.540 [ballast_and_trim:B] Running Loop=1
2012-05-24T16:26:33.540Z,1337876793.540 [ballast_and_trim:C] Running Loop=1
2012-05-24T16:26:33.540Z,1337876793.540 [ballast_and_trim:D.SetSpeed] Running Loop=1
2012-05-24T16:26:33.541Z,1337876793.541 [ballast_and_trim:D.SetSpeed](DEBUG): Initialize.
2012-05-24T16:26:33.541Z,1337876793.541 [ballast_and_trim:ballast] Running Loop=1
2012-05-24T16:26:33.541Z,1337876793.541 [ballast_and_trim:ballast](INFO): Aggregate::initialize ballast_and_trim:ballast
2012-05-24T16:26:33.541Z,1337876793.541 [ballast_and_trim:ballast:A.SetSpeed] Running Loop=1
2012-05-24T16:26:33.541Z,1337876793.541 [ballast_and_trim:ballast:A.SetSpeed](DEBUG): Initialize.
2012-05-24T16:26:33.541Z,1337876793.541 [ballast_and_trim:ballast:B] Running Loop=1
2012-05-24T16:26:33.541Z,1337876793.541 [ballast_and_trim:ballast:C.Pitch] Running Loop=1
2012-05-24T16:26:33.541Z,1337876793.541 [ballast_and_trim:ballast:C.Pitch](DEBUG): Initialize.
2012-05-24T16:26:33.542Z,1337876793.542 [ballast_and_trim:ballast:D.Wait] Running Loop=1
2012-05-24T16:26:33.542Z,1337876793.542 [ballast_and_trim:ballast:D.Wait](DEBUG): Initialize Wait Component.
2012-05-24T16:26:33.547Z,1337876793.547 [ballast_and_trim:ballast:C.Pitch] Running Loop=1
2012-05-24T16:26:33.552Z,1337876793.552 [ballast_and_trim:ballast:B] Running Loop=1
2012-05-24T16:26:33.553Z,1337876793.553 [ballast_and_trim:ballast:A.SetSpeed] Running Loop=1
2012-05-24T16:26:33.558Z,1337876793.558 [ballast_and_trim:D.SetSpeed] Running Loop=1
2012-05-24T16:26:33.562Z,1337876793.562 [ballast_and_trim:C] Running Loop=1
2012-05-24T16:26:33.564Z,1337876793.564 [ballast_and_trim:B] Running Loop=1
2012-05-24T16:26:33.565Z,1337876793.565 [ballast_and_trim:A] Running Loop=1
2012-05-24T16:26:50.884Z,1337876810.884 [NAL9601](INFO): SBD MO Status=2, MOMSN=6801, MT Status=0, MTMSN=0
2012-05-24T16:26:50.885Z,1337876810.885 [NAL9601](ERROR): Failed to initiate SBD session. Error code: 2
2012-05-24T16:28:40.922Z,1337876920.922 [Radio_Freewave](INFO): Powering down
2012-05-24T16:32:30.225Z,1337877150.225 [NAL9601](FAULT): GPS failed to acquire within timeout.
2012-05-24T16:32:30.225Z,1337877150.225 [NAL9601] Data Fault, FailCount= 1
2012-05-24T16:32:30.225Z,1337877150.225 [NAL9601](ERROR): Data Fault
2012-05-24T16:32:30.271Z,1337877150.270 [CBIT](ERROR): Data Fault in component: NAL9601
2012-05-24T16:32:30.625Z,1337877150.625 [NAL9601](INFO): Powering down
2012-05-24T16:32:31.221Z,1337877151.221 [CBIT](INFO): Clearing failed state for component NAL9601
2012-05-24T16:32:31.221Z,1337877151.221 [NAL9601] No Fault, FailCount= 1
2012-05-24T16:32:35.681Z,1337877155.681 [NAL9601](INFO): Powering up NAL9601
2012-05-24T16:33:41.315Z,1337877221.315 [NAL9601](INFO): NAL9601 initialized
2012-05-24T16:36:33.748Z,1337877393.747 [ballast_and_trim:ballast:D.Wait](INFO): Done Waiting.
2012-05-24T16:36:33.748Z,1337877393.748 [ballast_and_trim:ballast:D.Wait] Stopped
2012-05-24T16:36:33.748Z,1337877393.748 [ballast_and_trim:ballast:D.Wait](DEBUG): Uninitialize Wait Component.
2012-05-24T16:36:33.748Z,1337877393.748 [ballast_and_trim:ballast:ReportPositions] Running Loop=1
2012-05-24T16:36:33.748Z,1337877393.748 [ballast_and_trim:ballast:ReportPositions](INFO): Aggregate::initialize ballast_and_trim:ballast:ReportPositions
2012-05-24T16:36:33.748Z,1337877393.748 [ballast_and_trim:ballast:ReportPositions:A] Running Loop=1
2012-05-24T16:36:34.394Z,1337877394.394 [ballast_and_trim:ballast:ReportPositions:A](IMPORTANT): Buoyancy: 849.168806 cc Mass: -0.322237 cm Pitch: -1.431348 arcdeg 
2012-05-24T16:36:34.395Z,1337877394.395 [ballast_and_trim:ballast:ReportPositions:A] Stopped
2012-05-24T16:36:34.396Z,1337877394.395 [ballast_and_trim:ballast:ReportPositions:B.Wait] Running Loop=1
2012-05-24T16:36:34.396Z,1337877394.396 [ballast_and_trim:ballast:ReportPositions:B.Wait](DEBUG): Initialize Wait Component.
2012-05-24T16:37:34.414Z,1337877454.414 [ballast_and_trim:ballast:ReportPositions:B.Wait](INFO): Timed out from 2012-05-24T16:36:34.4Z
2012-05-24T16:37:34.414Z,1337877454.414 [ballast_and_trim:ballast:ReportPositions:A_Timeout] Running Loop=1
2012-05-24T16:37:34.415Z,1337877454.415 [ballast_and_trim:ballast:ReportPositions:A_Timeout](INFO): Aggregate::initialize ballast_and_trim:ballast:ReportPositions:A_Timeout
2012-05-24T16:37:34.415Z,1337877454.415 [ballast_and_trim:ballast:ReportPositions:A_Timeout](INFO): Completed ballast_and_trim:ballast:ReportPositions:A_Timeout
2012-05-24T16:37:34.415Z,1337877454.415 [ballast_and_trim:ballast:ReportPositions:B.Wait] Stopped
2012-05-24T16:37:34.415Z,1337877454.415 [ballast_and_trim:ballast:ReportPositions:B.Wait](DEBUG): Uninitialize Wait Component.
2012-05-24T16:37:34.415Z,1337877454.415 [ballast_and_trim:ballast:ReportPositions](INFO): Completed ballast_and_trim:ballast:ReportPositions
2012-05-24T16:37:34.415Z,1337877454.415 [ballast_and_trim:ballast:ReportPositions] Stopped
2012-05-24T16:37:34.415Z,1337877454.415 [ballast_and_trim:ballast:ReportPositions](INFO): Aggregate::uninitialize ballast_and_trim:ballast:ReportPositions
2012-05-24T16:37:34.416Z,1337877454.416 [ballast_and_trim:ballast:ReportPositions](INFO): Running loop #2
2012-05-24T16:37:34.416Z,1337877454.416 [ballast_and_trim:ballast:ReportPositions] Running Loop=2
2012-05-24T16:37:34.416Z,1337877454.416 [ballast_and_trim:ballast:ReportPositions](INFO): Aggregate::initialize ballast_and_trim:ballast:ReportPositions
2012-05-24T16:37:34.416Z,1337877454.416 [ballast_and_trim:ballast:ReportPositions:A] Running Loop=1
2012-05-24T16:37:34.794Z,1337877454.795 [ballast_and_trim:ballast:ReportPositions:A](IMPORTANT): Buoyancy: 718.092022 cc Mass: -0.278561 cm Pitch: 2.128223 arcdeg 
2012-05-24T16:37:34.795Z,1337877454.795 [ballast_and_trim:ballast:ReportPositions:A] Stopped
2012-05-24T16:37:34.795Z,1337877454.795 [ballast_and_trim:ballast:ReportPositions:B.Wait] Running Loop=1
2012-05-24T16:37:34.795Z,1337877454.795 [ballast_and_trim:ballast:ReportPositions:B.Wait](DEBUG): Initialize Wait Component.
2012-05-24T16:38:34.829Z,1337877514.829 [ballast_and_trim:ballast:ReportPositions:B.Wait](INFO): Timed out from 2012-05-24T16:37:34.8Z
2012-05-24T16:38:34.829Z,1337877514.829 [ballast_and_trim:ballast:ReportPositions:A_Timeout] Running Loop=1
2012-05-24T16:38:34.829Z,1337877514.829 [ballast_and_trim:ballast:ReportPositions:A_Timeout](INFO): Aggregate::initialize ballast_and_trim:ballast:ReportPositions:A_Timeout
2012-05-24T16:38:34.829Z,1337877514.829 [ballast_and_trim:ballast:ReportPositions:A_Timeout](INFO): Completed ballast_and_trim:ballast:ReportPositions:A_Timeout
2012-05-24T16:38:34.829Z,1337877514.829 [ballast_and_trim:ballast:ReportPositions:B.Wait] Stopped
2012-05-24T16:38:34.830Z,1337877514.829 [ballast_and_trim:ballast:ReportPositions:B.Wait](DEBUG): Uninitialize Wait Component.
2012-05-24T16:38:34.830Z,1337877514.830 [ballast_and_trim:ballast:ReportPositions](INFO): Completed ballast_and_trim:ballast:ReportPositions
2012-05-24T16:38:34.830Z,1337877514.830 [ballast_and_trim:ballast:ReportPositions] Stopped
2012-05-24T16:38:34.830Z,1337877514.830 [ballast_and_trim:ballast:ReportPositions](INFO): Aggregate::uninitialize ballast_and_trim:ballast:ReportPositions
2012-05-24T16:38:34.830Z,1337877514.830 [ballast_and_trim:ballast:ReportPositions](INFO): Running loop #3
2012-05-24T16:38:34.830Z,1337877514.830 [ballast_and_trim:ballast:ReportPositions] Running Loop=3
2012-05-24T16:38:34.830Z,1337877514.830 [ballast_and_trim:ballast:ReportPositions](INFO): Aggregate::initialize ballast_and_trim:ballast:ReportPositions
2012-05-24T16:38:34.831Z,1337877514.830 [ballast_and_trim:ballast:ReportPositions:A] Running Loop=1
2012-05-24T16:38:35.524Z,1337877515.524 [ballast_and_trim:ballast:ReportPositions:A](IMPORTANT): Buoyancy: 795.045984 cc Mass: -0.135935 cm Pitch: -1.079785 arcdeg 
2012-05-24T16:38:35.524Z,1337877515.524 [ballast_and_trim:ballast:ReportPositions:A] Stopped
2012-05-24T16:38:35.525Z,1337877515.524 [ballast_and_trim:ballast:ReportPositions:B.Wait] Running Loop=1
2012-05-24T16:38:35.525Z,1337877515.524 [ballast_and_trim:ballast:ReportPositions:B.Wait](DEBUG): Initialize Wait Component.
2012-05-24T16:39:35.832Z,1337877575.832 [ballast_and_trim:ballast:ReportPositions:B.Wait](INFO): Timed out from 2012-05-24T16:38:35.5Z
2012-05-24T16:39:35.832Z,1337877575.832 [ballast_and_trim:ballast:ReportPositions:A_Timeout] Running Loop=1
2012-05-24T16:39:35.833Z,1337877575.833 [ballast_and_trim:ballast:ReportPositions:A_Timeout](INFO): Aggregate::initialize ballast_and_trim:ballast:ReportPositions:A_Timeout
2012-05-24T16:39:35.833Z,1337877575.833 [ballast_and_trim:ballast:ReportPositions:A_Timeout](INFO): Completed ballast_and_trim:ballast:ReportPositions:A_Timeout
2012-05-24T16:39:35.833Z,1337877575.833 [ballast_and_trim:ballast:ReportPositions:B.Wait] Stopped
2012-05-24T16:39:35.833Z,1337877575.833 [ballast_and_trim:ballast:ReportPositions:B.Wait](DEBUG): Uninitialize Wait Component.
2012-05-24T16:39:35.833Z,1337877575.833 [ballast_and_trim:ballast:ReportPositions](INFO): Completed ballast_and_trim:ballast:ReportPositions
2012-05-24T16:39:35.833Z,1337877575.833 [ballast_and_trim:ballast:ReportPositions] Stopped
2012-05-24T16:39:35.833Z,1337877575.833 [ballast_and_trim:ballast:ReportPositions](INFO): Aggregate::uninitialize ballast_and_trim:ballast:ReportPositions
2012-05-24T16:39:35.834Z,1337877575.834 [ballast_and_trim:ballast:ReportPositions](INFO): Running loop #4
2012-05-24T16:39:35.834Z,1337877575.834 [ballast_and_trim:ballast:ReportPositions] Running Loop=4
2012-05-24T16:39:35.834Z,1337877575.834 [ballast_and_trim:ballast:ReportPositions](INFO): Aggregate::initialize ballast_and_trim:ballast:ReportPositions
2012-05-24T16:39:35.834Z,1337877575.834 [ballast_and_trim:ballast:ReportPositions:A] Running Loop=1
2012-05-24T16:39:36.233Z,1337877576.233 [ballast_and_trim:ballast:ReportPositions:A](IMPORTANT): Buoyancy: 827.546581 cc Mass: -0.380553 cm Pitch: -0.156934 arcdeg 
2012-05-24T16:39:36.234Z,1337877576.234 [ballast_and_trim:ballast:ReportPositions:A] Stopped
2012-05-24T16:39:36.234Z,1337877576.234 [ballast_and_trim:ballast:ReportPositions:B.Wait] Running Loop=1
2012-05-24T16:39:36.234Z,1337877576.234 [ballast_and_trim:ballast:ReportPositions:B.Wait](DEBUG): Initialize Wait Component.
2012-05-24T16:40:36.600Z,1337877636.600 [ballast_and_trim:ballast:ReportPositions:B.Wait](INFO): Timed out from 2012-05-24T16:39:36.2Z
2012-05-24T16:40:36.600Z,1337877636.600 [ballast_and_trim:ballast:ReportPositions:A_Timeout] Running Loop=1
2012-05-24T16:40:36.600Z,1337877636.600 [ballast_and_trim:ballast:ReportPositions:A_Timeout](INFO): Aggregate::initialize ballast_and_trim:ballast:ReportPositions:A_Timeout
2012-05-24T16:40:36.600Z,1337877636.600 [ballast_and_trim:ballast:ReportPositions:A_Timeout](INFO): Completed ballast_and_trim:ballast:ReportPositions:A_Timeout
2012-05-24T16:40:36.600Z,1337877636.601 [ballast_and_trim:ballast:ReportPositions:B.Wait] Stopped
2012-05-24T16:40:36.600Z,1337877636.601 [ballast_and_trim:ballast:ReportPositions:B.Wait](DEBUG): Uninitialize Wait Component.
2012-05-24T16:40:36.601Z,1337877636.601 [ballast_and_trim:ballast:ReportPositions](INFO): Completed ballast_and_trim:ballast:ReportPositions
2012-05-24T16:40:36.601Z,1337877636.601 [ballast_and_trim:ballast:ReportPositions] Stopped
2012-05-24T16:40:36.601Z,1337877636.601 [ballast_and_trim:ballast:ReportPositions](INFO): Aggregate::uninitialize ballast_and_trim:ballast:ReportPositions
2012-05-24T16:40:36.601Z,1337877636.601 [ballast_and_trim:ballast:ReportPositions](INFO): Running loop #5
2012-05-24T16:40:36.601Z,1337877636.601 [ballast_and_trim:ballast:ReportPositions] Running Loop=5
2012-05-24T16:40:36.601Z,1337877636.601 [ballast_and_trim:ballast:ReportPositions](INFO): Aggregate::initialize ballast_and_trim:ballast:ReportPositions
2012-05-24T16:40:36.601Z,1337877636.602 [ballast_and_trim:ballast:ReportPositions:A] Running Loop=1
2012-05-24T16:40:37.296Z,1337877637.296 [ballast_and_trim:ballast:ReportPositions:A](IMPORTANT): Buoyancy: 705.199200 cc Mass: -0.187965 cm Pitch: 2.040332 arcdeg 
2012-05-24T16:40:37.296Z,1337877637.296 [ballast_and_trim:ballast:ReportPositions:A] Stopped
2012-05-24T16:40:37.296Z,1337877637.296 [ballast_and_trim:ballast:ReportPositions:B.Wait] Running Loop=1
2012-05-24T16:40:37.296Z,1337877637.296 [ballast_and_trim:ballast:ReportPositions:B.Wait](DEBUG): Initialize Wait Component.
2012-05-24T16:41:37.640Z,1337877697.639 [ballast_and_trim:ballast:ReportPositions:B.Wait](INFO): Timed out from 2012-05-24T16:40:37.3Z
2012-05-24T16:41:37.640Z,1337877697.640 [ballast_and_trim:ballast:ReportPositions:A_Timeout] Running Loop=1
2012-05-24T16:41:37.640Z,1337877697.640 [ballast_and_trim:ballast:ReportPositions:A_Timeout](INFO): Aggregate::initialize ballast_and_trim:ballast:ReportPositions:A_Timeout
2012-05-24T16:41:37.640Z,1337877697.640 [ballast_and_trim:ballast:ReportPositions:A_Timeout](INFO): Completed ballast_and_trim:ballast:ReportPositions:A_Timeout
2012-05-24T16:41:37.640Z,1337877697.640 [ballast_and_trim:ballast:ReportPositions:B.Wait] Stopped
2012-05-24T16:41:37.640Z,1337877697.640 [ballast_and_trim:ballast:ReportPositions:B.Wait](DEBUG): Uninitialize Wait Component.
2012-05-24T16:41:37.640Z,1337877697.640 [ballast_and_trim:ballast:ReportPositions](INFO): Completed ballast_and_trim:ballast:ReportPositions
2012-05-24T16:41:37.640Z,1337877697.640 [ballast_and_trim:ballast:ReportPositions] Stopped
2012-05-24T16:41:37.641Z,1337877697.641 [ballast_and_trim:ballast:ReportPositions](INFO): Aggregate::uninitialize ballast_and_trim:ballast:ReportPositions
2012-05-24T16:41:37.641Z,1337877697.641 [ballast_and_trim:ballast:Float_Up] Running Loop=1
2012-05-24T16:41:37.641Z,1337877697.641 [ballast_and_trim:ballast:Float_Up](INFO): Aggregate::initialize ballast_and_trim:ballast:Float_Up
2012-05-24T16:41:37.641Z,1337877697.641 [ballast_and_trim:ballast:Float_Up:A.SetSpeed] Running Loop=1
2012-05-24T16:41:37.641Z,1337877697.641 [ballast_and_trim:ballast:Float_Up:A.SetSpeed](DEBUG): Initialize.
2012-05-24T16:41:37.641Z,1337877697.641 [ballast_and_trim:ballast:Float_Up:B.Buoyancy] Running Loop=1
2012-05-24T16:41:37.641Z,1337877697.641 [ballast_and_trim:ballast:Float_Up:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2012-05-24T16:41:37.642Z,1337877697.642 [ballast_and_trim:ballast:Float_Up:C.Wait] Running Loop=1
2012-05-24T16:41:37.642Z,1337877697.642 [ballast_and_trim:ballast:Float_Up:C.Wait](DEBUG): Initialize Wait Component.
2012-05-24T16:41:38.048Z,1337877698.048 [ballast_and_trim:ballast:Float_Up:B.Buoyancy] Running Loop=1
2012-05-24T16:41:38.052Z,1337877698.052 [ballast_and_trim:ballast:Float_Up:A.SetSpeed] Running Loop=1
2012-05-24T16:43:42.492Z,1337877822.492 [NAL9601](FAULT): GPS failed to acquire within timeout.
2012-05-24T16:43:42.492Z,1337877822.492 [NAL9601] Data Fault, FailCount= 2
2012-05-24T16:43:42.493Z,1337877822.493 [NAL9601](ERROR): Data Fault
2012-05-24T16:43:42.613Z,1337877822.613 [CBIT](ERROR): Data Fault in component: NAL9601
2012-05-24T16:43:42.614Z,1337877822.614 [CBIT](CRITICAL): Data Fault in component: NAL9601
2012-05-24T16:43:42.896Z,1337877822.896 [NAL9601](INFO): Powering down
2012-05-24T16:43:43.307Z,1337877823.307 [ballast_and_trim] Stopped
2012-05-24T16:43:43.307Z,1337877823.307 [ballast_and_trim](INFO): Aggregate::uninitialize ballast_and_trim
2012-05-24T16:43:43.307Z,1337877823.307 [ballast_and_trim:A] Stopped
2012-05-24T16:43:43.307Z,1337877823.307 [ballast_and_trim:B] Stopped
2012-05-24T16:43:43.307Z,1337877823.307 [ballast_and_trim:C] Stopped
2012-05-24T16:43:43.307Z,1337877823.307 [ballast_and_trim:D.SetSpeed] Stopped
2012-05-24T16:43:43.307Z,1337877823.307 [ballast_and_trim:D.SetSpeed](DEBUG): Uninitialize.
2012-05-24T16:43:43.307Z,1337877823.307 [ballast_and_trim:ballast] Stopped
2012-05-24T16:43:43.307Z,1337877823.307 [ballast_and_trim:ballast](INFO): Aggregate::uninitialize ballast_and_trim:ballast
2012-05-24T16:43:43.308Z,1337877823.307 [ballast_and_trim:ballast:A.SetSpeed] Stopped
2012-05-24T16:43:43.308Z,1337877823.308 [ballast_and_trim:ballast:A.SetSpeed](DEBUG): Uninitialize.
2012-05-24T16:43:43.308Z,1337877823.308 [ballast_and_trim:ballast:B] Stopped
2012-05-24T16:43:43.308Z,1337877823.308 [ballast_and_trim:ballast:C.Pitch] Stopped
2012-05-24T16:43:43.308Z,1337877823.308 [ballast_and_trim:ballast:Float_Up] Stopped
2012-05-24T16:43:43.308Z,1337877823.308 [ballast_and_trim:ballast:Float_Up](INFO): Aggregate::uninitialize ballast_and_trim:ballast:Float_Up
2012-05-24T16:43:43.308Z,1337877823.308 [ballast_and_trim:ballast:Float_Up:A.SetSpeed] Stopped
2012-05-24T16:43:43.308Z,1337877823.308 [ballast_and_trim:ballast:Float_Up:A.SetSpeed](DEBUG): Uninitialize.
2012-05-24T16:43:43.308Z,1337877823.308 [ballast_and_trim:ballast:Float_Up:B.Buoyancy] Stopped
2012-05-24T16:43:43.308Z,1337877823.308 [ballast_and_trim:ballast:Float_Up:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2012-05-24T16:43:43.308Z,1337877823.308 [ballast_and_trim:ballast:Float_Up:C.Wait] Stopped
2012-05-24T16:43:43.308Z,1337877823.308 [ballast_and_trim:ballast:Float_Up:C.Wait](DEBUG): Uninitialize Wait Component.
2012-05-24T16:43:43.706Z,1337877823.706 [MissionManager](IMPORTANT): Started mission Default
2012-05-24T16:43:43.706Z,1337877823.706 [Default] Running Loop=1
2012-05-24T16:43:43.706Z,1337877823.706 [Default](INFO): Aggregate::initialize Default
2012-05-24T16:43:43.706Z,1337877823.706 [Default:D.SetSpeed] Running Loop=1
2012-05-24T16:43:43.706Z,1337877823.706 [Default:D.SetSpeed](DEBUG): Initialize.
2012-05-24T16:43:43.706Z,1337877823.707 [Default:E.GoToSurface] Running Loop=1
2012-05-24T16:43:43.706Z,1337877823.707 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-05-24T16:43:43.707Z,1337877823.707 [Default:Iridium] Running Loop=1
2012-05-24T16:43:43.707Z,1337877823.707 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2012-05-24T16:43:43.707Z,1337877823.707 [Default:Iridium:A.SetSpeed] Running Loop=1
2012-05-24T16:43:43.707Z,1337877823.707 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2012-05-24T16:43:43.707Z,1337877823.707 [Default:Iridium:B.GoToSurface] Running Loop=1
2012-05-24T16:43:43.707Z,1337877823.707 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-05-24T16:43:43.709Z,1337877823.709 [Default:CallIridium] Running Loop=1
2012-05-24T16:43:43.709Z,1337877823.709 [Default:CallIridium](INFO): Aggregate::initialize Default:CallIridium
2012-05-24T16:43:43.709Z,1337877823.709 [Default:CallIridium:A] Running Loop=1
2012-05-24T16:43:43.710Z,1337877823.710 [Default:CallIridium:A] Stopped
2012-05-24T16:43:43.710Z,1337877823.710 [Default:CallIridium:B] Running Loop=1
2012-05-24T16:43:43.710Z,1337877823.710 [Default:CallIridium:B](INFO): Aggregate::initialize Default:CallIridium:B
2012-05-24T16:43:43.711Z,1337877823.711 [Default:GPS] Running Loop=1
2012-05-24T16:43:43.711Z,1337877823.711 [Default:GPS](INFO): Aggregate::initialize Default:GPS
2012-05-24T16:43:43.711Z,1337877823.711 [Default:GPS:A.SetSpeed] Running Loop=1
2012-05-24T16:43:43.711Z,1337877823.711 [Default:GPS:A.SetSpeed](DEBUG): Initialize.
2012-05-24T16:43:43.711Z,1337877823.711 [Default:GPS:B.GoToSurface] Running Loop=1
2012-05-24T16:43:43.711Z,1337877823.711 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-05-24T16:44:10.525Z,1337877850.525 [Radio_Freewave](INFO): Powering up
2012-05-24T16:44:10.533Z,1337877850.533 [Default:Iridium:B.GoToSurface] Stopped
2012-05-24T16:44:10.533Z,1337877850.533 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-05-24T16:44:10.533Z,1337877850.533 [Default:Iridium:Read_Iridium] Running Loop=1
2012-05-24T16:44:10.534Z,1337877850.534 [Default:GPS:B.GoToSurface] Stopped
2012-05-24T16:44:10.534Z,1337877850.534 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-05-24T16:44:10.535Z,1337877850.534 [Default:GPS:Read_GPS] Running Loop=1
2012-05-24T16:45:42.537Z,1337877942.537 [CBIT](INFO): Clearing failed count for component NAL9601
2012-05-24T16:45:42.537Z,1337877942.537 [NAL9601] No Fault, FailCount= 2
2012-05-24T16:45:42.922Z,1337877942.921 [NAL9601](INFO): Powering up NAL9601
2012-05-24T16:46:48.563Z,1337878008.563 [NAL9601](INFO): NAL9601 initialized
2012-05-24T16:47:01.198Z,1337878021.198 [NAL9601](INFO): SBD MO Status=2, MOMSN=6801, MT Status=2, MTMSN=0
2012-05-24T16:47:01.198Z,1337878021.198 [NAL9601](ERROR): Failed to initiate SBD session. Error code: 2
2012-05-24T16:47:23.902Z,1337878043.902 [NAL9601](INFO): SBD MO Status=2, MOMSN=6801, MT Status=2, MTMSN=0
2012-05-24T16:47:23.902Z,1337878043.902 [NAL9601](ERROR): Failed to initiate SBD session. Error code: 2
2012-05-24T16:48:46.090Z,1337878126.090 [NAL9601](INFO): SBD MO Status=1, MOMSN=6801, MT Status=0, MTMSN=0
2012-05-24T16:48:46.267Z,1337878126.267 [NAL9601](INFO): Sent 186 bytes from file Logs/20120524T162113/shore0000.lzma
2012-05-24T16:48:46.267Z,1337878126.267 [NAL9601](INFO): Packets left to send: 0
2012-05-24T16:48:46.268Z,1337878126.268 [NAL9601](INFO): Stored copy of sent data in Logs/latest/sent0000004
2012-05-24T16:48:53.686Z,1337878133.686 [NAL9601](INFO): SBD MO Status=0, MOMSN=6802, MT Status=0, MTMSN=0
2012-05-24T16:48:53.867Z,1337878133.867 [Default:Iridium:Read_Iridium] Stopped
2012-05-24T16:48:53.868Z,1337878133.868 [Default:Iridium](INFO): Completed Default:Iridium
2012-05-24T16:48:53.868Z,1337878133.868 [Default:Iridium] Stopped
2012-05-24T16:48:53.868Z,1337878133.868 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2012-05-24T16:48:53.868Z,1337878133.868 [Default:Iridium:A.SetSpeed] Stopped
2012-05-24T16:48:53.868Z,1337878133.868 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2012-05-24T16:48:53.868Z,1337878133.868 [Default:F.Wait] Running Loop=1
2012-05-24T16:48:53.868Z,1337878133.868 [Default:F.Wait](DEBUG): Initialize Wait Component.
2012-05-24T16:48:54.101Z,1337878134.102 [Default:CallIridium:B](INFO): Completed Default:CallIridium:B
2012-05-24T16:48:54.101Z,1337878134.102 [Default:CallIridium:B] Stopped
2012-05-24T16:48:54.102Z,1337878134.102 [Default:CallIridium:B](INFO): Aggregate::uninitialize Default:CallIridium:B
2012-05-24T16:48:54.102Z,1337878134.102 [Default:CallIridium](INFO): Completed Default:CallIridium
2012-05-24T16:48:54.102Z,1337878134.102 [Default:CallIridium] Stopped
2012-05-24T16:48:54.102Z,1337878134.102 [Default:CallIridium](INFO): Aggregate::uninitialize Default:CallIridium
2012-05-24T16:53:54.097Z,1337878434.096 [Default:CallIridium] Running Loop=1
2012-05-24T16:53:54.097Z,1337878434.097 [Default:CallIridium](INFO): Aggregate::initialize Default:CallIridium
2012-05-24T16:53:54.097Z,1337878434.097 [Default:CallIridium:A] Running Loop=1
2012-05-24T16:53:54.097Z,1337878434.097 [Default:CallIridium:A] Stopped
2012-05-24T16:53:54.097Z,1337878434.097 [Default:CallIridium:B] Running Loop=1
2012-05-24T16:53:54.097Z,1337878434.097 [Default:CallIridium:B](INFO): Aggregate::initialize Default:CallIridium:B
2012-05-24T16:53:54.497Z,1337878434.497 [Default:Iridium] Running Loop=1
2012-05-24T16:53:54.497Z,1337878434.497 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2012-05-24T16:53:54.497Z,1337878434.497 [Default:Iridium:A.SetSpeed] Running Loop=1
2012-05-24T16:53:54.497Z,1337878434.497 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2012-05-24T16:53:54.497Z,1337878434.497 [Default:Iridium:B.GoToSurface] Running Loop=1
2012-05-24T16:53:54.498Z,1337878434.497 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-05-24T16:53:54.499Z,1337878434.499 [Default:Iridium:B.GoToSurface] Stopped
2012-05-24T16:53:54.500Z,1337878434.500 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-05-24T16:53:54.500Z,1337878434.500 [Default:Iridium:Read_Iridium] Running Loop=1
2012-05-24T16:54:16.382Z,1337878456.382 [NAL9601](INFO): SBD MO Status=2, MOMSN=6803, MT Status=2, MTMSN=0
2012-05-24T16:54:16.383Z,1337878456.383 [NAL9601](ERROR): Failed to initiate SBD session. Error code: 2
2012-05-24T16:54:46.303Z,1337878486.303 [CommandLine](IMPORTANT): got command restart logs