2012-05-24T16:54:56.470Z,1337878496.470 [NAL9601](INFO): SBD MO Status=2, MOMSN=6803, MT Status=2, MTMSN=0
2012-05-24T16:54:56.470Z,1337878496.470 [NAL9601](ERROR): Failed to initiate SBD session. Error code: 2
2012-05-24T16:55:20.330Z,1337878520.330 [NAL9601](INFO): SBD MO Status=2, MOMSN=6803, MT Status=2, MTMSN=0
2012-05-24T16:55:20.330Z,1337878520.330 [NAL9601](ERROR): Failed to initiate SBD session. Error code: 2
2012-05-24T16:56:49.320Z,1337878609.320 [NAL9601](FAULT): GPS failed to acquire within timeout.
2012-05-24T16:56:49.320Z,1337878609.320 [NAL9601] Data Fault, FailCount= 1
2012-05-24T16:56:49.320Z,1337878609.320 [NAL9601](ERROR): Data Fault
2012-05-24T16:56:49.342Z,1337878609.342 [CBIT](ERROR): Data Fault in component: NAL9601
2012-05-24T16:56:49.728Z,1337878609.728 [NAL9601](INFO): Powering down
2012-05-24T16:56:49.750Z,1337878609.750 [CBIT](INFO): Clearing failed state for component NAL9601
2012-05-24T16:56:49.751Z,1337878609.750 [NAL9601] No Fault, FailCount= 1
2012-05-24T16:56:54.956Z,1337878614.956 [NAL9601](INFO): Powering up NAL9601
2012-05-24T16:58:00.691Z,1337878680.691 [NAL9601](INFO): NAL9601 initialized
2012-05-24T16:58:29.630Z,1337878709.630 [NAL9601](INFO): SBD MO Status=1, MOMSN=6803, MT Status=0, MTMSN=0
2012-05-24T16:58:29.835Z,1337878709.835 [NAL9601](INFO): Sent 332 bytes from file Logs/20120524T162113/shore0001.lzma
2012-05-24T16:58:29.835Z,1337878709.835 [NAL9601](INFO): Packets left to send: 2
2012-05-24T16:58:29.836Z,1337878709.836 [NAL9601](INFO): Stored copy of sent data in Logs/latest/sent0000005
2012-05-24T16:58:46.118Z,1337878726.118 [NAL9601](INFO): SBD MO Status=2, MOMSN=6804, MT Status=2, MTMSN=0
2012-05-24T16:58:46.118Z,1337878726.118 [NAL9601](ERROR): Failed to initiate SBD session. Error code: 2
2012-05-24T16:59:04.382Z,1337878744.382 [NAL9601](INFO): SBD MO Status=2, MOMSN=6804, MT Status=2, MTMSN=0
2012-05-24T16:59:04.383Z,1337878744.383 [NAL9601](ERROR): Failed to initiate SBD session. Error code: 2
2012-05-24T17:00:09.574Z,1337878809.574 [NAL9601](INFO): SBD MO Status=2, MOMSN=6804, MT Status=2, MTMSN=0
2012-05-24T17:00:09.574Z,1337878809.574 [NAL9601](ERROR): Failed to initiate SBD session. Error code: 2
2012-05-24T17:00:31.036Z,1337878831.036 [NAL9601](INFO): SBD MO Status=2, MOMSN=6804, MT Status=2, MTMSN=0
2012-05-24T17:00:31.036Z,1337878831.036 [NAL9601](ERROR): Failed to initiate SBD session. Error code: 2
2012-05-24T17:01:04.009Z,1337878864.009 [NAL9601](INFO): SBD MO Status=2, MOMSN=6804, MT Status=2, MTMSN=0
2012-05-24T17:01:04.009Z,1337878864.009 [NAL9601](ERROR): Failed to initiate SBD session. Error code: 2
2012-05-24T17:02:08.525Z,1337878928.526 [NAL9601](INFO): SBD MO Status=2, MOMSN=6804, MT Status=2, MTMSN=0
2012-05-24T17:02:08.526Z,1337878928.526 [NAL9601](ERROR): Failed to initiate SBD session. Error code: 2
2012-05-24T17:02:51.778Z,1337878971.778 [NAL9601](INFO): SBD MO Status=2, MOMSN=6804, MT Status=2, MTMSN=0
2012-05-24T17:02:51.778Z,1337878971.778 [NAL9601](ERROR): Failed to initiate SBD session. Error code: 2
2012-05-24T17:03:16.279Z,1337878996.279 [CommandLine](IMPORTANT): got command configSet VerticalControl.buoyancyNeutral 750.000000 cubic_centimeter
2012-05-24T17:03:27.903Z,1337879007.903 [CommandLine](IMPORTANT): got command configSet VerticalControl.stopDepthExcursion 3.000000 meter
2012-05-24T17:03:35.699Z,1337879015.699 [CommandLine](IMPORTANT): got command load ./Missions/Maintenance/ballast_and_trim.xml
2012-05-24T17:03:35.699Z,1337879015.699 [MissionManager](INFO): Loading Mission: ./Missions/Maintenance/ballast_and_trim.xml
2012-05-24T17:03:35.756Z,1337879015.756 [MissionManager](INFO): DefineArg ballast_and_trim.BallastDepth = 25.000000 m
2012-05-24T17:03:35.762Z,1337879015.762 [MissionManager](INFO): DefineArg ballast_and_trim.HoldDuration = 25.000000 min
2012-05-24T17:03:35.765Z,1337879015.764 [MissionManager](INFO): DefineArg ballast_and_trim.Speed = 1.000000 m/s
2012-05-24T17:03:35.771Z,1337879015.771 [MissionManager](INFO): DefineArg ballast_and_trim.DepthDeadband = 4.000000 m
2012-05-24T17:03:35.773Z,1337879015.773 [MissionManager](INFO): DefineArg ballast_and_trim.BuoyPeriod = 0.400000 s
2012-05-24T17:03:35.780Z,1337879015.780 [MissionManager](INFO): DefineArg ballast_and_trim.BuoyancyDefault = 0.000945 n/a
2012-05-24T17:03:35.793Z,1337879015.793 [ballast_and_trim:D.SetSpeed](DEBUG): Construct.
2012-05-24T17:03:35.796Z,1337879015.796 [ballast_and_trim:ballast:A.SetSpeed](DEBUG): Construct.
2012-05-24T17:03:35.804Z,1337879015.804 [ballast_and_trim:ballast:C.Pitch](DEBUG): Construct.
2012-05-24T17:03:35.810Z,1337879015.810 [ballast_and_trim:ballast:D.Wait](DEBUG): Construct Wait.
2012-05-24T17:03:35.819Z,1337879015.819 [ballast_and_trim:ballast:ReportPositions:B.Wait](DEBUG): Construct Wait.
2012-05-24T17:03:35.822Z,1337879015.822 [ballast_and_trim:ballast:Float_Up:A.SetSpeed](DEBUG): Construct.
2012-05-24T17:03:35.829Z,1337879015.829 [ballast_and_trim:ballast:Float_Up:B.Buoyancy](DEBUG): Construct Buoyancy.
2012-05-24T17:03:35.833Z,1337879015.833 [ballast_and_trim:ballast:Float_Up:C.Wait](DEBUG): Construct Wait.
2012-05-24T17:03:35.850Z,1337879015.850 [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>


2012-05-24T17:03:35.851Z,1337879015.851 [CommandLine](IMPORTANT): Loaded ./Missions/Maintenance/ballast_and_trim.xml
2012-05-24T17:03:36.107Z,1337879016.107 [CommandLine](IMPORTANT): got command set ballast_and_trim.BallastDepth 5.000000 meter
2012-05-24T17:03:36.259Z,1337879016.259 [CommandLine](IMPORTANT): got command set ballast_and_trim.HoldDuration 10.000000 minute
2012-05-24T17:03:40.059Z,1337879020.059 [CommandLine](IMPORTANT): got command set ballast_and_trim.DepthDeadband 1.000000 meter
2012-05-24T17:03:45.095Z,1337879025.095 [CommandLine](IMPORTANT): got command run
2012-05-24T17:03:45.095Z,1337879025.095 [CommandLine](IMPORTANT): Running 
2012-05-24T17:03:45.494Z,1337879025.494 [Default] Stopped
2012-05-24T17:03:45.494Z,1337879025.494 [Default](INFO): Aggregate::uninitialize Default
2012-05-24T17:03:45.494Z,1337879025.494 [Default:GPS] Stopped
2012-05-24T17:03:45.494Z,1337879025.494 [Default:GPS](INFO): Aggregate::uninitialize Default:GPS
2012-05-24T17:03:45.495Z,1337879025.494 [Default:GPS:A.SetSpeed] Stopped
2012-05-24T17:03:45.495Z,1337879025.495 [Default:GPS:A.SetSpeed](DEBUG): Uninitialize.
2012-05-24T17:03:45.495Z,1337879025.495 [Default:GPS:Read_GPS] Stopped
2012-05-24T17:03:45.495Z,1337879025.495 [Default:Iridium] Stopped
2012-05-24T17:03:45.495Z,1337879025.495 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2012-05-24T17:03:45.495Z,1337879025.495 [Default:Iridium:A.SetSpeed] Stopped
2012-05-24T17:03:45.495Z,1337879025.495 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2012-05-24T17:03:45.495Z,1337879025.495 [Default:Iridium:Read_Iridium] Stopped
2012-05-24T17:03:45.495Z,1337879025.495 [Default:CallIridium] Stopped
2012-05-24T17:03:45.495Z,1337879025.495 [Default:CallIridium](INFO): Aggregate::uninitialize Default:CallIridium
2012-05-24T17:03:45.495Z,1337879025.495 [Default:CallIridium:B] Stopped
2012-05-24T17:03:45.495Z,1337879025.496 [Default:CallIridium:B](INFO): Aggregate::uninitialize Default:CallIridium:B
2012-05-24T17:03:45.496Z,1337879025.496 [Default:D.SetSpeed] Stopped
2012-05-24T17:03:45.496Z,1337879025.496 [Default:D.SetSpeed](DEBUG): Uninitialize.
2012-05-24T17:03:45.496Z,1337879025.496 [Default:E.GoToSurface] Stopped
2012-05-24T17:03:45.496Z,1337879025.496 [Default:E.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-05-24T17:03:45.496Z,1337879025.496 [Default:F.Wait] Stopped
2012-05-24T17:03:45.496Z,1337879025.496 [Default:F.Wait](DEBUG): Uninitialize Wait Component.
2012-05-24T17:03:45.496Z,1337879025.496 [MissionManager](IMPORTANT): Started mission ballast_and_trim
2012-05-24T17:03:45.496Z,1337879025.496 [ballast_and_trim] Running Loop=1
2012-05-24T17:03:45.496Z,1337879025.496 [ballast_and_trim](INFO): Aggregate::initialize ballast_and_trim
2012-05-24T17:03:45.496Z,1337879025.496 [ballast_and_trim:A] Running Loop=1
2012-05-24T17:03:45.496Z,1337879025.496 [ballast_and_trim:B] Running Loop=1
2012-05-24T17:03:45.496Z,1337879025.496 [ballast_and_trim:C] Running Loop=1
2012-05-24T17:03:45.496Z,1337879025.497 [ballast_and_trim:D.SetSpeed] Running Loop=1
2012-05-24T17:03:45.497Z,1337879025.497 [ballast_and_trim:D.SetSpeed](DEBUG): Initialize.
2012-05-24T17:03:45.497Z,1337879025.497 [ballast_and_trim:ballast] Running Loop=1
2012-05-24T17:03:45.497Z,1337879025.497 [ballast_and_trim:ballast](INFO): Aggregate::initialize ballast_and_trim:ballast
2012-05-24T17:03:45.497Z,1337879025.497 [ballast_and_trim:ballast:A.SetSpeed] Running Loop=1
2012-05-24T17:03:45.497Z,1337879025.497 [ballast_and_trim:ballast:A.SetSpeed](DEBUG): Initialize.
2012-05-24T17:03:45.497Z,1337879025.497 [ballast_and_trim:ballast:B] Running Loop=1
2012-05-24T17:03:45.497Z,1337879025.497 [ballast_and_trim:ballast:C.Pitch] Running Loop=1
2012-05-24T17:03:45.497Z,1337879025.497 [ballast_and_trim:ballast:C.Pitch](DEBUG): Initialize.
2012-05-24T17:03:45.498Z,1337879025.497 [ballast_and_trim:ballast:D.Wait] Running Loop=1
2012-05-24T17:03:45.498Z,1337879025.498 [ballast_and_trim:ballast:D.Wait](DEBUG): Initialize Wait Component.
2012-05-24T17:03:45.499Z,1337879025.499 [ballast_and_trim:ballast:C.Pitch] Running Loop=1
2012-05-24T17:03:45.500Z,1337879025.500 [ballast_and_trim:ballast:B] Running Loop=1
2012-05-24T17:03:45.501Z,1337879025.501 [ballast_and_trim:ballast:A.SetSpeed] Running Loop=1
2012-05-24T17:03:45.502Z,1337879025.502 [ballast_and_trim:D.SetSpeed] Running Loop=1
2012-05-24T17:03:45.503Z,1337879025.503 [ballast_and_trim:C] Running Loop=1
2012-05-24T17:03:45.503Z,1337879025.503 [ballast_and_trim:B] Running Loop=1
2012-05-24T17:03:45.504Z,1337879025.504 [ballast_and_trim:A] Running Loop=1
2012-05-24T17:05:46.822Z,1337879146.822 [Radio_Freewave](INFO): Powering down
2012-05-24T17:08:01.520Z,1337879281.520 [NAL9601](FAULT): GPS failed to acquire within timeout.
2012-05-24T17:08:01.521Z,1337879281.520 [NAL9601] Data Fault, FailCount= 2
2012-05-24T17:08:01.521Z,1337879281.521 [NAL9601](ERROR): Data Fault
2012-05-24T17:08:01.566Z,1337879281.566 [CBIT](ERROR): Data Fault in component: NAL9601
2012-05-24T17:08:01.567Z,1337879281.567 [CBIT](CRITICAL): Data Fault in component: NAL9601
2012-05-24T17:08:01.924Z,1337879281.924 [NAL9601](INFO): Powering down
2012-05-24T17:08:02.616Z,1337879282.616 [ballast_and_trim] Stopped
2012-05-24T17:08:02.616Z,1337879282.616 [ballast_and_trim](INFO): Aggregate::uninitialize ballast_and_trim
2012-05-24T17:08:02.616Z,1337879282.616 [ballast_and_trim:A] Stopped
2012-05-24T17:08:02.617Z,1337879282.616 [ballast_and_trim:B] Stopped
2012-05-24T17:08:02.617Z,1337879282.616 [ballast_and_trim:C] Stopped
2012-05-24T17:08:02.617Z,1337879282.617 [ballast_and_trim:D.SetSpeed] Stopped
2012-05-24T17:08:02.617Z,1337879282.617 [ballast_and_trim:D.SetSpeed](DEBUG): Uninitialize.
2012-05-24T17:08:02.617Z,1337879282.617 [ballast_and_trim:ballast] Stopped
2012-05-24T17:08:02.617Z,1337879282.617 [ballast_and_trim:ballast](INFO): Aggregate::uninitialize ballast_and_trim:ballast
2012-05-24T17:08:02.617Z,1337879282.617 [ballast_and_trim:ballast:A.SetSpeed] Stopped
2012-05-24T17:08:02.617Z,1337879282.617 [ballast_and_trim:ballast:A.SetSpeed](DEBUG): Uninitialize.
2012-05-24T17:08:02.617Z,1337879282.617 [ballast_and_trim:ballast:B] Stopped
2012-05-24T17:08:02.617Z,1337879282.617 [ballast_and_trim:ballast:C.Pitch] Stopped
2012-05-24T17:08:02.617Z,1337879282.617 [ballast_and_trim:ballast:D.Wait] Stopped
2012-05-24T17:08:02.617Z,1337879282.617 [ballast_and_trim:ballast:D.Wait](DEBUG): Uninitialize Wait Component.
2012-05-24T17:08:02.992Z,1337879282.992 [MissionManager](IMPORTANT): Started mission Default
2012-05-24T17:08:02.992Z,1337879282.992 [Default] Running Loop=1
2012-05-24T17:08:02.992Z,1337879282.992 [Default](INFO): Aggregate::initialize Default
2012-05-24T17:08:02.992Z,1337879282.992 [Default:D.SetSpeed] Running Loop=1
2012-05-24T17:08:02.992Z,1337879282.992 [Default:D.SetSpeed](DEBUG): Initialize.
2012-05-24T17:08:02.992Z,1337879282.992 [Default:E.GoToSurface] Running Loop=1
2012-05-24T17:08:02.992Z,1337879282.992 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-05-24T17:08:02.993Z,1337879282.993 [Default:Iridium] Running Loop=1
2012-05-24T17:08:02.993Z,1337879282.993 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2012-05-24T17:08:02.993Z,1337879282.993 [Default:Iridium:A.SetSpeed] Running Loop=1
2012-05-24T17:08:02.993Z,1337879282.993 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2012-05-24T17:08:02.993Z,1337879282.993 [Default:Iridium:B.GoToSurface] Running Loop=1
2012-05-24T17:08:02.993Z,1337879282.993 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-05-24T17:08:02.995Z,1337879282.995 [Default:CallIridium] Running Loop=1
2012-05-24T17:08:02.995Z,1337879282.995 [Default:CallIridium](INFO): Aggregate::initialize Default:CallIridium
2012-05-24T17:08:02.995Z,1337879282.995 [Default:CallIridium:A] Running Loop=1
2012-05-24T17:08:02.996Z,1337879282.996 [Default:CallIridium:A] Stopped
2012-05-24T17:08:02.996Z,1337879282.996 [Default:CallIridium:B] Running Loop=1
2012-05-24T17:08:02.996Z,1337879282.996 [Default:CallIridium:B](INFO): Aggregate::initialize Default:CallIridium:B
2012-05-24T17:08:02.997Z,1337879282.997 [Default:GPS] Running Loop=1
2012-05-24T17:08:02.997Z,1337879282.997 [Default:GPS](INFO): Aggregate::initialize Default:GPS
2012-05-24T17:08:02.997Z,1337879282.997 [Default:GPS:A.SetSpeed] Running Loop=1
2012-05-24T17:08:02.997Z,1337879282.997 [Default:GPS:A.SetSpeed](DEBUG): Initialize.
2012-05-24T17:08:02.997Z,1337879282.997 [Default:GPS:B.GoToSurface] Running Loop=1
2012-05-24T17:08:02.997Z,1337879282.997 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-05-24T17:08:04.322Z,1337879284.322 [ThrusterServo](ERROR): Thruster uart error: serial timeout
2012-05-24T17:08:04.323Z,1337879284.323 [ThrusterServo] Communications Fault, FailCount= 1
2012-05-24T17:08:04.323Z,1337879284.323 [ThrusterServo](ERROR): Communications Fault
2012-05-24T17:08:04.325Z,1337879284.325 [CBIT](ERROR): Communications Fault in component: ThrusterServo
2012-05-24T17:08:04.484Z,1337879284.484 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-05-24T17:08:04.485Z,1337879284.485 [ThrusterServo](INFO): Powering down
2012-05-24T17:08:04.487Z,1337879284.487 [CBIT](INFO): Clearing failed state for component ThrusterServo
2012-05-24T17:08:04.487Z,1337879284.487 [ThrusterServo] No Fault, FailCount= 1
2012-05-24T17:08:05.660Z,1337879285.660 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-05-24T17:08:05.780Z,1337879285.780 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-05-24T17:10:01.633Z,1337879401.633 [CBIT](INFO): Clearing failed count for component NAL9601
2012-05-24T17:10:01.633Z,1337879401.633 [NAL9601] No Fault, FailCount= 2
2012-05-24T17:10:01.890Z,1337879401.890 [NAL9601](INFO): Powering up NAL9601
2012-05-24T17:10:17.845Z,1337879417.845 [Radio_Freewave](INFO): Powering up
2012-05-24T17:10:17.853Z,1337879417.853 [Default:Iridium:B.GoToSurface] Stopped
2012-05-24T17:10:17.853Z,1337879417.853 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-05-24T17:10:17.854Z,1337879417.853 [Default:Iridium:Read_Iridium] Running Loop=1
2012-05-24T17:10:17.855Z,1337879417.855 [Default:GPS:B.GoToSurface] Stopped
2012-05-24T17:10:17.855Z,1337879417.855 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-05-24T17:10:17.855Z,1337879417.855 [Default:GPS:Read_GPS] Running Loop=1
2012-05-24T17:11:07.535Z,1337879467.535 [NAL9601](INFO): NAL9601 initialized
2012-05-24T17:13:23.666Z,1337879603.666 [NAL9601](INFO): SBD MO Status=2, MOMSN=6804, MT Status=2, MTMSN=0
2012-05-24T17:13:23.666Z,1337879603.666 [NAL9601](ERROR): Failed to initiate SBD session. Error code: 2
2012-05-24T17:15:59.190Z,1337879759.190 [NAL9601](INFO): SBD MO Status=2, MOMSN=6804, MT Status=2, MTMSN=0
2012-05-24T17:15:59.190Z,1337879759.190 [NAL9601](ERROR): Failed to initiate SBD session. Error code: 2
2012-05-24T17:16:23.831Z,1337879783.831 [NAL9601](INFO): SBD MO Status=2, MOMSN=6804, MT Status=2, MTMSN=0
2012-05-24T17:16:23.831Z,1337879783.831 [NAL9601](ERROR): Failed to initiate SBD session. Error code: 2
2012-05-24T17:16:50.710Z,1337879810.710 [NAL9601](INFO): SBD MO Status=2, MOMSN=6804, MT Status=2, MTMSN=0
2012-05-24T17:16:50.710Z,1337879810.710 [NAL9601](ERROR): Failed to initiate SBD session. Error code: 2
2012-05-24T17:17:15.583Z,1337879835.583 [NAL9601](INFO): SBD MO Status=2, MOMSN=6804, MT Status=2, MTMSN=0
2012-05-24T17:17:15.583Z,1337879835.583 [NAL9601](ERROR): Failed to initiate SBD session. Error code: 2
2012-05-24T17:18:21.350Z,1337879901.350 [NAL9601](INFO): SBD MO Status=2, MOMSN=6804, MT Status=2, MTMSN=0
2012-05-24T17:18:21.350Z,1337879901.350 [NAL9601](ERROR): Failed to initiate SBD session. Error code: 2
2012-05-24T17:21:08.670Z,1337880068.670 [NAL9601](FAULT): GPS failed to acquire within timeout.
2012-05-24T17:21:08.670Z,1337880068.670 [NAL9601] Data Fault, FailCount= 1
2012-05-24T17:21:08.670Z,1337880068.670 [NAL9601](ERROR): Data Fault
2012-05-24T17:21:08.694Z,1337880068.694 [CBIT](ERROR): Data Fault in component: NAL9601
2012-05-24T17:21:09.056Z,1337880069.056 [NAL9601](INFO): Powering down
2012-05-24T17:21:09.078Z,1337880069.078 [CBIT](INFO): Clearing failed state for component NAL9601
2012-05-24T17:21:09.078Z,1337880069.078 [NAL9601] No Fault, FailCount= 1
2012-05-24T17:21:14.254Z,1337880074.253 [NAL9601](INFO): Powering up NAL9601
2012-05-24T17:22:19.891Z,1337880139.891 [NAL9601](INFO): NAL9601 initialized
2012-05-24T17:22:20.730Z,1337880140.730 [NAL9601](ERROR): getFix uart error: serial timeout
2012-05-24T17:24:29.994Z,1337880269.994 [NAL9601](INFO): SBD MO Status=2, MOMSN=6804, MT Status=2, MTMSN=0
2012-05-24T17:24:29.994Z,1337880269.994 [NAL9601](ERROR): Failed to initiate SBD session. Error code: 2
2012-05-24T17:24:48.710Z,1337880288.710 [NAL9601](INFO): SBD MO Status=2, MOMSN=6804, MT Status=2, MTMSN=0
2012-05-24T17:24:48.710Z,1337880288.710 [NAL9601](ERROR): Failed to initiate SBD session. Error code: 2
2012-05-24T17:25:34.470Z,1337880334.470 [NAL9601](INFO): SBD MO Status=2, MOMSN=6804, MT Status=2, MTMSN=0
2012-05-24T17:25:34.470Z,1337880334.470 [NAL9601](ERROR): Failed to initiate SBD session. Error code: 2
2012-05-24T17:27:21.810Z,1337880441.810 [NAL9601](INFO): SBD MO Status=2, MOMSN=6804, MT Status=2, MTMSN=0
2012-05-24T17:27:21.810Z,1337880441.810 [NAL9601](ERROR): Failed to initiate SBD session. Error code: 2
2012-05-24T17:27:47.254Z,1337880467.254 [NAL9601](INFO): SBD MO Status=2, MOMSN=6804, MT Status=2, MTMSN=0
2012-05-24T17:27:47.254Z,1337880467.254 [NAL9601](ERROR): Failed to initiate SBD session. Error code: 2
2012-05-24T17:29:12.602Z,1337880552.602 [NAL9601](INFO): SBD MO Status=2, MOMSN=6804, MT Status=2, MTMSN=0
2012-05-24T17:29:12.602Z,1337880552.602 [NAL9601](ERROR): Failed to initiate SBD session. Error code: 2
2012-05-24T17:30:03.202Z,1337880603.202 [NAL9601](INFO): SBD MO Status=2, MOMSN=6804, MT Status=2, MTMSN=0
2012-05-24T17:30:03.202Z,1337880603.202 [NAL9601](ERROR): Failed to initiate SBD session. Error code: 2
2012-05-24T17:30:12.059Z,1337880612.059 [CommandLine](IMPORTANT): got command restart logs