Supervisor::createCoreTasks() Supervisor::createTask() - eventLogServer Supervisor::createTask() - workSite Supervisor::createTask() - vehicleConfigurationServer Supervisor::createTask() - externalCommsServer S: Initializing worksiteServer upervisor: WorkSite::WorkSite -- Adding attributes ::: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv/altex/onboard/config/multibeam/workSite.cfg createTask(): Using default vehicle config file "/home/dorado1/auv/altex/onboard/config/multibeam/vehicle.cfg" - navigationServer Supervisor::createTask() - layeredControlServer Supervisor::create: WorkSite::WorkSite -- Finished loading parameters Tas: 0: 1 600674.187500E 4067388.750000N 73.699997 m 10.000000 ms channel:2 k(): 1: 2 600531.687500E 4065156.000000N 73.199997 m 10.000000 ms channel:4 - : 2: 3 598447.000000E 4067412.250000N 91.400002 m 10.000000 ms channel:5 dyna: 3: 4 600848.125000E 4069389.500000N 80.199997 m 10.000000 ms channel:6 mic: 4: 5 602732.187500E 4067093.000000N 57.299999 m 10.000000 ms channel:7 Cont: WorkSite server: 0x21ec8 rolServer Supervisor::createTask() - dropWeightServer Supervisor::createTask() - newTailConeServer Supervisor::createTask() - kearfottServer Supervisor::createTask() - kearfottDvlServer Supervisor::createTask() - parosc: SerialDevice: done... iServer Supervis: creating if InsIFServer or::createTask() : DropWeight::initialize - Resetting counters. - : Preparing to fork f: **** EventTriggers::add() - attaching proxy anSe: I'm the child...forking rver Supervisor::createTask(: SerialDevice: done... ): TailConeServer -- Maximum Elevator Actuator Excursion is 0 Counts - : TailConeServer:: -- Minimum Elevator Actuator Excursion is 0 Counts : unters to default fas: TailConeServer -- Maximum Rudder Actuator Excursion is 0 Counts tcatSer: TailConeServer -- Minimum Rudder Actuator Excursion is 0 Counts ver: SerialDevice: done... : SerialDevice: done... Supervisor::createTask() - bluefinBatt: SerialDevice: done... Driver : SerialDevice: done... Supervisor::createTask() - reson6046Server : DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize() : DynamicControlServer - Got event 1 from TailCone : PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200 Supe: SerialDevice: done... rvisor::createTask(): SerialDevice: done... : SerialDevice: done... - gpsServer : Parosci::init() - mode set okay : SerialDevice: done... : BluefineBatt::init() - 2 batteries on 10 second interval : BluefinBatt.cc - Looking for Parosci server : SerialDevice: done... : BluefinBatt::init() - querying for batt ids : Launching Reson6046Server... : BluefinBatt::init() - battery echo is !? : Setting name... : Creating server... : Command constructor... : Run server... : SerialDevice: done... : fastcatDriver RUNNING... : FastCat: constructing... : FastCatLog.cc -- beginning constructor... : FastCatLog.cc -- constructor succeeded : fastcatDriver -- constructor succeeded : FastCat: initializing... : Launching Reson6046Driver... : SerialDevice: done... : 3 Modules found : Setting name to 'reson6046'... : Creating Reson6046Driver instance... : --> Starting Reson 6046 Driver.... : Creating connection to commands... : Creating command message queue... : Command constructor... : SerialDevice: done... : Reson driver - attempting to connect...(0) : Reson Driver - socket ready : Setting up the periodic callback to 40 ms... : Leaving driver constructor. : Running Reson6046Driver... : PeriodicTask::run() (reson6046) - sampleInterval=2000, maxInterval=2000 : Gps: initializing : SerialDevice: done... : Gps: done initializing... : **** EventTriggers::add() - attaching proxy : AshtechGps::processRecord() - $PASHR,ACK*3D : GpsUtils::parseFix() - $PASHR,ACK*3D : AshtechGps::processRecord() - GpsUtils::parseFix() - incomplete GGA sentence? $PASHR,ACK*3D : **** EventTriggers::add() - attaching proxy : AshtechGps::processRecord() - $PASHR,ACK*3D : GpsUtils::parseFix() - $PASHR,ACK*3D : AshtechGps::processRecord() - GpsUtils::parseFix() - incomplete GGA sentence? $PASHR,ACK*3D : PeriodicTask::run() (fanDriver) - sampleInterval=1000, maxInterval=1000 : FastCat: data is streaming (419)... : **** EventTriggers::add() - attaching proxy matherr(); DOMAIN error from log(), process "//3/home/dorado1/auv/altex/onboard/bin/fastcatDriver" matherr(); OVERFLOW error from pow(), process "//3/ho: AshtechGps::processRecord() - $GPGGA,174516.00,3650.26528,N,12152.17863,W,1,10,0.8,-1.01,M,-32.59,M,,*7F me/: GpsUtils::parseFix() - $GPGGA,174516.00,3650.26528,N,12152.17863,W,1,10,0.8,-1.01,M,-32.59,M,,*7F dorad: AshtechGPS::processRecord -sample time is 1083865516 o1/auv/altex/onboard/bin: KearfottDriver: unable to open ctd interface /f: Kearfott::parseGPS_GGA() GPGGA,174514.00,3650.26508,N,12152.17864,W,1,10,0.8,-2.73,M,-32.59,M,, as: GpsUtils::parseFix() - GPGGA,174514.00,3650.26508,N,12152.17864,W,1,10,0.8,-2.73,M,-32.59,M,, tcatD: Kearfott::parseGPS_GGA() GPGGA,174516.00,3650.26528,N,12152.17863,W,1,10,0.8,-1.01,M,-32.59,M,, r: GpsUtils::parseFix() - GPGGA,174516.00,3650.26528,N,12152.17863,W,1,10,0.8,-1.01,M,-32.59,M,, iver" matherr(); OVERFLOW error from pow(), process "//3/home/dorado1/auv/altex/onboard/bin/fastcatDriver" matherr(); DOMAIN error from sqrt(), process "//3: Parosci.cc -- Initial pressure = 0.068948 /home/dorado1/auv/altex/onboard/bin/fastcatDriver" : Parosci.cc -- Parosci initial pressure period = 29.897940 : Parosci.cc -- Parosci initial temp period = 5.878726 : Parosci.cc -- Paroscientific configured. : PeriodicTask::run() (Parosci) - sampleInterval=200, maxInterval=200 : AshtechGps::processRecord() - $GPGGA,174517.00,3650.26533,N,12152.17842,W,1,10,0.8,-0.61,M,-32.59,M,,*70 : GpsUtils::parseFix() - $GPGGA,174517.00,3650.26533,N,12152.17842,W,1,10,0.8,-0.61,M,-32.59,M,,*70 : AshtechGPS::processRecord -sample time is 1083865517 : Kearfott::parseGPS_GGA() GPGGA,174517.00,3650.26533,N,12152.17842,W,1,10,0.8,-0.61,M,-32.59,M,, : GpsUtils::parseFix() - GPGGA,174517.00,3650.26533,N,12152.17842,W,1,10,0.8,-0.61,M,-32.59,M,, : KearfottDriver: updating with external sensors : PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200 : AshtechGps::processRecord() - $GPGGA,174518.00,3650.26502,N,12152.17798,W,1,10,0.8,-0.89,M,-32.59,M,,*73 : GpsUtils::parseFix() - $GPGGA,174518.00,3650.26502,N,12152.17798,W,1,10,0.8,-0.89,M,-32.59,M,,*73 : AshtechGPS::processRecord -sample time is 1083865518 : Kearfott::parseGPS_GGA() GPGGA,174518.00,3650.26502,N,12152.17798,W,1,10,0.8,-0.89,M,-32.59,M,, : GpsUtils::parseFix() - GPGGA,174518.00,3650.26502,N,12152.17798,W,1,10,0.8,-0.89,M,-32.59,M,, : AshtechGps::processRecord() - $GPGGA,174519.00,3650.26483,N,12152.17780,W,1,10,0.8,-1.17,M,-32.59,M,,*75 : GpsUtils::parseFix() - $GPGGA,174519.00,3650.26483,N,12152.17780,W,1,10,0.8,-1.17,M,-32.59,M,,*75 : AshtechGPS::processRecord -sample time is 1083865519 : Kearfott::parseGPS_GGA() GPGGA,174519.00,3650.26483,N,12152.17780,W,1,10,0.8,-1.17,M,-32.59,M,, : GpsUtils::parseFix() - GPGGA,174519.00,3650.26483,N,12152.17780,W,1,10,0.8,-1.17,M,-32.59,M,, : KearfottDriver: updating with external sensors : AshtechGps::processRecord() - $GPGGA,174520.00,3650.26487,N,12152.17769,W,1,10,0.8,-1.80,M,-32.59,M,,*72 : GpsUtils::parseFix() - $GPGGA,174520.00,3650.26487,N,12152.17769,W,1,10,0.8,-1.80,M,-32.59,M,,*72 : AshtechGPS::processRecord -sample time is 1083865520 : BluefinBatt::init() - battery ids are 56 84 : BluefinBatt::init() - found battery 56 : BluefinBatt::init() - found battery 84 : BluefinBatt::init() - battery echo is #56wf : Kearfott::parseGPS_GGA() GPGGA,174520.00,3650.26487,N,12152.17769,W,1,10,0.8,-1.80,M,-32.59,M,, : GpsUtils::parseFix() - GPGGA,174520.00,3650.26487,N,12152.17769,W,1,10,0.8,-1.80,M,-32.59,M,, : AshtechGps::processRecord() - $GPGGA,174521.00,3650.26467,N,12152.17717,W,1,10,0.8,-0.74,M,-32.59,M,,*7E : GpsUtils::parseFix() - $GPGGA,174521.00,3650.26467,N,12152.17717,W,1,10,0.8,-0.74,M,-32.59,M,,*7E : AshtechGPS::processRecord -sample time is 1083865521 : Kearfott::parseGPS_GGA() GPGGA,174521.00,3650.26467,N,12152.17717,W,1,10,0.8,-0.74,M,-32.59,M,, : GpsUtils::parseFix() - GPGGA,174521.00,3650.26467,N,12152.17717,W,1,10,0.8,-0.74,M,-32.59,M,, : KearfottDriver: updating with external sensors : AshtechGps::processRecord() - $GPGGA,174522.00,3650.26468,N,12152.17696,W,1,10,0.8,-1.05,M,-32.59,M,,*7D : GpsUtils::parseFix() - $GPGGA,174522.00,3650.26468,N,12152.17696,W,1,10,0.8,-1.05,M,-32.59,M,,*7D : AshtechGPS::processRecord -sample time is 1083865522 : Kearfott::parseGPS_GGA() GPGGA,174522.00,3650.26468,N,12152.17696,W,1,10,0.8,-1.05,M,-32.59,M,, : GpsUtils::parseFix() - GPGGA,174522.00,3650.26468,N,12152.17696,W,1,10,0.8,-1.05,M,-32.59,M,, : AshtechGps::processRecord() - $GPGGA,174523.00,3650.26490,N,12152.17726,W,1,10,0.8,-2.74,M,-32.59,M,,*74 : GpsUtils::parseFix() - $GPGGA,174523.00,3650.26490,N,12152.17726,W,1,10,0.8,-2.74,M,-32.59,M,,*74 : AshtechGPS::processRecord -sample time is 1083865523 : Kearfott::parseGPS_GGA() GPGGA,174523.00,3650.26490,N,12152.17726,W,1,10,0.8,-2.74,M,-32.59,M,, : GpsUtils::parseFix() - GPGGA,174523.00,3650.26490,N,12152.17726,W,1,10,0.8,-2.74,M,-32.59,M,, : KearfottDriver: updating with external sensors : AshtechGps::processRecord() - $GPGGA,174524.00,3650.26479,N,12152.17720,W,1,10,0.8,-1.87,M,-32.59,M,,*7D : GpsUtils::parseFix() - $GPGGA,174524.00,3650.26479,N,12152.17720,W,1,10,0.8,-1.87,M,-32.59,M,,*7D : AshtechGPS::processRecord -sample time is 1083865524 : Kearfott::parseGPS_GGA() GPGGA,174524.00,3650.26479,N,12152.17720,W,1,10,0.8,-1.87,M,-32.59,M,, : GpsUtils::parseFix() - GPGGA,174524.00,3650.26479,N,12152.17720,W,1,10,0.8,-1.87,M,-32.59,M,, : Navigation: Server for aux sensor "Altimeter" not found : AshtechGps::processRecord() - $GPGGA,174525.00,3650.26473,N,12152.17739,W,1,10,0.8,-1.41,M,-32.59,M,,*74 : GpsUtils::parseFix() - $GPGGA,174525.00,3650.26473,N,12152.17739,W,1,10,0.8,-1.41,M,-32.59,M,,*74 : AshtechGPS::processRecord -sample time is 1083865525 : BluefinBatt::init() - battery watchdog state is $56wf 1 : Kearfott::parseGPS_GGA() GPGGA,174525.00,3650.26473,N,12152.17739,W,1,10,0.8,-1.41,M,-32.59,M,, : GpsUtils::parseFix() - GPGGA,174525.00,3650.26473,N,12152.17739,W,1,10,0.8,-1.41,M,-32.59,M,, : BluefinBatt::init() - battery echo is #84wf : KearfottDriver: updating with external sensors : AshtechGps::processRecord() - $GPGGA,174526.00,3650.26485,N,12152.17733,W,1,10,0.8,-1.87,M,-32.59,M,,*7E : GpsUtils::parseFix() - $GPGGA,174526.00,3650.26485,N,12152.17733,W,1,10,0.8,-1.87,M,-32.59,M,,*7E : AshtechGPS::processRecord -sample time is 1083865526 : Kearfott::parseGPS_GGA() GPGGA,174526.00,3650.26485,N,12152.17733,W,1,10,0.8,-1.87,M,-32.59,M,, : GpsUtils::parseFix() - GPGGA,174526.00,3650.26485,N,12152.17733,W,1,10,0.8,-1.87,M,-32.59,M,, : AshtechGps::processRecord() - $GPGGA,174527.00,3650.26467,N,12152.17712,W,1,10,0.8,-1.08,M,-32.59,M,,*77 : GpsUtils::parseFix() - $GPGGA,174527.00,3650.26467,N,12152.17712,W,1,10,0.8,-1.08,M,-32.59,M,,*77 : AshtechGPS::processRecord -sample time is 1083865527 : Kearfott::parseGPS_GGA() GPGGA,174527.00,3650.26467,N,12152.17712,W,1,10,0.8,-1.08,M,-32.59,M,, : GpsUtils::parseFix() - GPGGA,174527.00,3650.26467,N,12152.17712,W,1,10,0.8,-1.08,M,-32.59,M,, : KearfottDriver: updating with external sensors : AshtechGps::processRecord() - $GPGGA,174528.00,3650.26456,N,12152.17683,W,1,10,0.8,-0.57,M,-32.59,M,,*78 : GpsUtils::parseFix() - $GPGGA,174528.00,3650.26456,N,12152.17683,W,1,10,0.8,-0.57,M,-32.59,M,,*78 : AshtechGPS::processRecord -sample time is 1083865528 : Kearfott::parseGPS_GGA() GPGGA,174528.00,3650.26456,N,12152.17683,W,1,10,0.8,-0.57,M,-32.59,M,, : GpsUtils::parseFix() - GPGGA,174528.00,3650.26456,N,12152.17683,W,1,10,0.8,-0.57,M,-32.59,M,, : AshtechGps::processRecord() - $GPGGA,174529.00,3650.26443,N,12152.17638,W,1,10,0.8,0.25,M,-32.59,M,,*55 : GpsUtils::parseFix() - $GPGGA,174529.00,3650.26443,N,12152.17638,W,1,10,0.8,0.25,M,-32.59,M,,*55 : AshtechGPS::processRecord -sample time is 1083865529 : Kearfott::parseGPS_GGA() GPGGA,174529.00,3650.26443,N,12152.17638,W,1,10,0.8,0.25,M,-32.59,M,, : GpsUtils::parseFix() - GPGGA,174529.00,3650.26443,N,12152.17638,W,1,10,0.8,0.25,M,-32.59,M,, : KearfottDriver: updating with external sensors : AshtechGps::processRecord() - $GPGGA,174530.00,3650.26404,N,12152.17597,W,1,10,0.8,0.78,M,-32.59,M,,*50 : GpsUtils::parseFix() - $GPGGA,174530.00,3650.26404,N,12152.17597,W,1,10,0.8,0.78,M,-32.59,M,,*50 : AshtechGPS::processRecord -sample time is 1083865530 : Kearfott::parseGPS_GGA() GPGGA,174530.00,3650.26404,N,12152.17597,W,1,10,0.8,0.78,M,-32.59,M,, : GpsUtils::parseFix() - GPGGA,174530.00,3650.26404,N,12152.17597,W,1,10,0.8,0.78,M,-32.59,M,, : BluefinBatt::init() - battery watchdog state is $84wf 1 : PeriodicTask::run() (BluefinBatt) - sampleInterval=10000, maxInterval=10000 : AshtechGps::processRecord() - $GPGGA,174531.00,3650.26414,N,12152.17596,W,1,10,0.8,-0.02,M,-32.59,M,,*71 : GpsUtils::parseFix() - $GPGGA,174531.00,3650.26414,N,12152.17596,W,1,10,0.8,-0.02,M,-32.59,M,,*71 : AshtechGPS::processRecord -sample time is 1083865531 : Kearfott::parseGPS_GGA() GPGGA,174531.00,3650.26414,N,12152.17596,W,1,10,0.8,-0.02,M,-32.59,M,, : GpsUtils::parseFix() - GPGGA,174531.00,3650.26414,N,12152.17596,W,1,10,0.8,-0.02,M,-32.59,M,, : KearfottDriver: updating with external sensors : AshtechGps::processRecord() - $GPGGA,174532.00,3650.26432,N,12152.17611,W,1,10,0.8,0.38,M,-32.59,M,,*5E : GpsUtils::parseFix() - $GPGGA,174532.00,3650.26432,N,12152.17611,W,1,10,0.8,0.38,M,-32.59,M,,*5E : AshtechGPS::processRecord -sample time is 1083865532 : Kearfott::parseGPS_GGA() GPGGA,174532.00,3650.26432,N,12152.17611,W,1,10,0.8,0.38,M,-32.59,M,, : GpsUtils::parseFix() - GPGGA,174532.00,3650.26432,N,12152.17611,W,1,10,0.8,0.38,M,-32.59,M,, : AshtechGps::processRecord() - $GPGGA,174533.00,3650.26450,N,12152.17645,W,1,10,0.8,-0.16,M,-32.59,M,,*7B : GpsUtils::parseFix() - $GPGGA,174533.00,3650.26450,N,12152.17645,W,1,10,0.8,-0.16,M,-32.59,M,,*7B : AshtechGPS::processRecord -sample time is 1083865533 : Kearfott::parseGPS_GGA() GPGGA,174533.00,3650.26450,N,12152.17645,W,1,10,0.8,-0.16,M,-32.59,M,, : GpsUtils::parseFix() - GPGGA,174533.00,3650.26450,N,12152.17645,W,1,10,0.8,-0.16,M,-32.59,M,, : KearfottDriver: updating with external sensors : AshtechGps::processRecord() - $GPGGA,174534.00,3650.26426,N,12152.17589,W,1,10,0.8,0.39,M,-32.59,M,,*5E : GpsUtils::parseFix() - $GPGGA,174534.00,3650.26426,N,12152.17589,W,1,10,0.8,0.39,M,-32.59,M,,*5E : AshtechGPS::processRecord -sample time is 1083865534 : Kearfott::parseGPS_GGA() GPGGA,174534.00,3650.26426,N,12152.17589,W,1,10,0.8,0.39,M,-32.59,M,, : GpsUtils::parseFix() - GPGGA,174534.00,3650.26426,N,12152.17589,W,1,10,0.8,0.39,M,-32.59,M,, : AshtechGps::processRecord() - $GPGGA,174535.00,3650.26423,N,12152.17595,W,1,10,0.8,-0.42,M,-32.59,M,,*76 : GpsUtils::parseFix() - $GPGGA,174535.00,3650.26423,N,12152.17595,W,1,10,0.8,-0.42,M,-32.59,M,,*76 : AshtechGPS::processRecord -sample time is 1083865535 : Kearfott::parseGPS_GGA() GPGGA,174535.00,3650.26423,N,12152.17595,W,1,10,0.8,-0.42,M,-32.59,M,, : GpsUtils::parseFix() - GPGGA,174535.00,3650.26423,N,12152.17595,W,1,10,0.8,-0.42,M,-32.59,M,, : KearfottDriver: updating with external sensors : AshtechGps::processRecord() - $GPGGA,174536.00,3650.26394,N,12152.17556,W,1,10,0.8,-1.10,M,-32.59,M,,*77 : GpsUtils::parseFix() - $GPGGA,174536.00,3650.26394,N,12152.17556,W,1,10,0.8,-1.10,M,-32.59,M,,*77 : AshtechGPS::processRecord -sample time is 1083865536 : Kearfott::parseGPS_GGA() GPGGA,174536.00,3650.26394,N,12152.17556,W,1,10,0.8,-1.10,M,-32.59,M,, : GpsUtils::parseFix() - GPGGA,174536.00,3650.26394,N,12152.17556,W,1,10,0.8,-1.10,M,-32.59,M,, : AshtechGps::processRecord() - $GPGGA,174537.00,3650.26377,N,12152.17509,W,1,10,0.8,-0.75,M,-32.59,M,,*73 : GpsUtils::parseFix() - $GPGGA,174537.00,3650.26377,N,12152.17509,W,1,10,0.8,-0.75,M,-32.59,M,,*73 : AshtechGPS::processRecord -sample time is 1083865537 : Kearfott::parseGPS_GGA() GPGGA,174537.00,3650.26377,N,12152.17509,W,1,10,0.8,-0.75,M,-32.59,M,, : GpsUtils::parseFix() - GPGGA,174537.00,3650.26377,N,12152.17509,W,1,10,0.8,-0.75,M,-32.59,M,, : KearfottDriver: updating with external sensors : Lbl NavSensor - could not create LBL task interface : Navigation: Server for aux sensor "Lbl" not found : Navigation: Server for aux sensor "Velocimeter" not found : PeriodicTask::run() (navigation) - sampleInterval=200, maxInterval=200 : AshtechGps::processRecord() - $GPGGA,174538.00,3650.26363,N,12152.17482,W,1,10,0.8,-0.60,M,-32.59,M,,*7F : GpsUtils::parseFix() - $GPGGA,174538.00,3650.26363,N,12152.17482,W,1,10,0.8,-0.60,M,-32.59,M,,*7F : AshtechGPS::processRecord -sample time is 1083865538 : Kearfott::parseGPS_GGA() GPGGA,174538.00,3650.26363,N,12152.17482,W,1,10,0.8,-0.60,M,-32.59,M,, : GpsUtils::parseFix() - GPGGA,174538.00,3650.26363,N,12152.17482,W,1,10,0.8,-0.60,M,-32.59,M,, : **** EventTriggers::add() - attaching proxy : LayeredControl::execute() -- (t = 0.000000) Behavior setpoint has changed to state Active : LayeredControl::execute() -- (t = 0.000000) Behavior missionTimer has changed to state Active : **** EventTriggers::add() - attaching proxy : *** Mission started *** : AshtechGps::processRecord() - $GPGGA,174539.00,3650.26361,N,12152.17466,W,1,10,0.8,-0.49,M,-32.59,M,,*7D : GpsUtils::parseFix() - $GPGGA,174539.00,3650.26361,N,12152.17466,W,1,10,0.8,-0.49,M,-32.59,M,,*7D : AshtechGPS::processRecord -sample time is 1083865539 : Kearfott::parseGPS_GGA() GPGGA,174539.00,3650.26361,N,12152.17466,W,1,10,0.8,-0.49,M,-32.59,M,, : GpsUtils::parseFix() - GPGGA,174539.00,3650.26361,N,12152.17466,W,1,10,0.8,-0.49,M,-32.59,M,, : KearfottDriver: updating with external sensors : AshtechGps::processRecord() - $GPGGA,174540.00,3650.26356,N,12152.17435,W,1,10,0.8,-0.93,M,-32.59,M,,*76 : GpsUtils::parseFix() - $GPGGA,174540.00,3650.26356,N,12152.17435,W,1,10,0.8,-0.93,M,-32.59,M,,*76 : AshtechGPS::processRecord -sample time is 1083865540 : Kearfott::parseGPS_GGA() GPGGA,174540.00,3650.26356,N,12152.17435,W,1,10,0.8,-0.93,M,-32.59,M,, : GpsUtils::parseFix() - GPGGA,174540.00,3650.26356,N,12152.17435,W,1,10,0.8,-0.93,M,-32.59,M,, : BluefinBatt::init() - battery echo is #56q0 : AshtechGps::processRecord() - $GPGGA,174541.00,3650.26370,N,12152.17455,W,1,10,0.8,-0.37,M,-32.59,M,,*7B : GpsUtils::parseFix() - $GPGGA,174541.00,3650.26370,N,12152.17455,W,1,10,0.8,-0.37,M,-32.59,M,,*7B : AshtechGPS::processRecord -sample time is 1083865541 : Kearfott::parseGPS_GGA() GPGGA,174541.00,3650.26370,N,12152.17455,W,1,10,0.8,-0.37,M,-32.59,M,, : GpsUtils::parseFix() - GPGGA,174541.00,3650.26370,N,12152.17455,W,1,10,0.8,-0.37,M,-32.59,M,, : Bluefin::sample() Parsed voltage 32.369999 from reply : BluefinBatt Reply: $56q0 fv 32.37 0.00 13.47 4.02 4.08 0 3777.31 03:42:30 m : KearfottDriver: updating with external sensors : AshtechGps::processRecord() - $GPGGA,174542.00,3650.26357,N,12152.17412,W,1,10,0.8,-0.32,M,-32.59,M,,*7B : GpsUtils::parseFix() - $GPGGA,174542.00,3650.26357,N,12152.17412,W,1,10,0.8,-0.32,M,-32.59,M,,*7B : AshtechGPS::processRecord -sample time is 1083865542 : Kearfott::parseGPS_GGA() GPGGA,174542.00,3650.26357,N,12152.17412,W,1,10,0.8,-0.32,M,-32.59,M,, : GpsUtils::parseFix() - GPGGA,174542.00,3650.26357,N,12152.17412,W,1,10,0.8,-0.32,M,-32.59,M,, : BluefinBatt::init() - battery echo is #84q0 : AshtechGps::processRecord() - $GPGGA,174543.00,3650.26369,N,12152.17412,W,1,10,0.8,-0.64,M,-32.59,M,,*74 : GpsUtils::parseFix() - $GPGGA,174543.00,3650.26369,N,12152.17412,W,1,10,0.8,-0.64,M,-32.59,M,,*74 : AshtechGPS::processRecord -sample time is 1083865543 : Kearfott::parseGPS_GGA() GPGGA,174543.00,3650.26369,N,12152.17412,W,1,10,0.8,-0.64,M,-32.59,M,, : GpsUtils::parseFix() - GPGGA,174543.00,3650.26369,N,12152.17412,W,1,10,0.8,-0.64,M,-32.59,M,, : KearfottDriver: updating with external sensors : Bluefin::sample() Parsed voltage 32.330002 from reply : BluefinBatt Reply: $84q0 d- 32.33 6.45 14.74 4.05 4.06 0 6850.28 03:42:32 m : AshtechGps::processRecord() - $GPGGA,174544.00,3650.26376,N,12152.17423,W,1,10,0.8,-1.35,M,-32.59,M,,*7A : GpsUtils::parseFix() - $GPGGA,174544.00,3650.26376,N,12152.17423,W,1,10,0.8,-1.35,M,-32.59,M,,*7A : AshtechGPS::processRecord -sample time is 1083865544 : Kearfott::parseGPS_GGA() GPGGA,174544.00,3650.26376,N,12152.17423,W,1,10,0.8,-1.35,M,-32.59,M,, : GpsUtils::parseFix() - GPGGA,174544.00,3650.26376,N,12152.17423,W,1,10,0.8,-1.35,M,-32.59,M,, : batts online 1, min cell voltage 4.050000, mean min cell voltage 4.050000 : AshtechGps::processRecord() - $GPGGA,174545.00,3650.26368,N,12152.17397,W,1,10,0.8,-1.01,M,-32.59,M,,*7B : GpsUtils::parseFix() - $GPGGA,174545.00,3650.26368,N,12152.17397,W,1,10,0.8,-1.01,M,-32.59,M,,*7B : AshtechGPS::processRecord -sample time is 1083865545 : Kearfott::parseGPS_GGA() GPGGA,174545.00,3650.26368,N,12152.17397,W,1,10,0.8,-1.01,M,-32.59,M,, : GpsUtils::parseFix() - GPGGA,174545.00,3650.26368,N,12152.17397,W,1,10,0.8,-1.01,M,-32.59,M,, : KearfottDriver: updating with external sensors : AshtechGps::processRecord() - $GPGGA,174546.00,3650.26370,N,12152.17374,W,1,10,0.8,-1.09,M,-32.59,M,,*74 : GpsUtils::parseFix() - $GPGGA,174546.00,3650.26370,N,12152.17374,W,1,10,0.8,-1.09,M,-32.59,M,,*74 : AshtechGPS::processRecord -sample time is 1083865546 : Kearfott::parseGPS_GGA() GPGGA,174546.00,3650.26370,N,12152.17374,W,1,10,0.8,-1.09,M,-32.59,M,, : GpsUtils::parseFix() - GPGGA,174546.00,3650.26370,N,12152.17374,W,1,10,0.8,-1.09,M,-32.59,M,, : AshtechGps::processRecord() - $GPGGA,174547.00,3650.26348,N,12152.17355,W,1,10,0.8,0.34,M,-32.59,M,,*5F : GpsUtils::parseFix() - $GPGGA,174547.00,3650.26348,N,12152.17355,W,1,10,0.8,0.34,M,-32.59,M,,*5F : AshtechGPS::processRecord -sample time is 1083865547 : Kearfott::parseGPS_GGA() GPGGA,174547.00,3650.26348,N,12152.17355,W,1,10,0.8,0.34,M,-32.59,M,, : GpsUtils::parseFix() - GPGGA,174547.00,3650.26348,N,12152.17355,W,1,10,0.8,0.34,M,-32.59,M,, : KearfottDriver: updating with external sensors : AshtechGps::processRecord() - $GPGGA,174548.00,3650.26311,N,12152.17292,W,1,10,0.8,0.32,M,-32.59,M,,*50 : GpsUtils::parseFix() - $GPGGA,174548.00,3650.26311,N,12152.17292,W,1,10,0.8,0.32,M,-32.59,M,,*50 : AshtechGPS::processRecord -sample time is 1083865548 : Kearfott::parseGPS_GGA() GPGGA,174548.00,3650.26311,N,12152.17292,W,1,10,0.8,0.32,M,-32.59,M,, : GpsUtils::parseFix() - GPGGA,174548.00,3650.26311,N,12152.17292,W,1,10,0.8,0.32,M,-32.59,M,, : AshtechGps::processRecord() - $GPGGA,174549.00,3650.26293,N,12152.17254,W,1,09,1.1,-0.19,M,-32.59,M,,*74 : GpsUtils::parseFix() - $GPGGA,174549.00,3650.26293,N,12152.17254,W,1,09,1.1,-0.19,M,-32.59,M,,*74 : AshtechGPS::processRecord -sample time is 1083865549 : Kearfott::parseGPS_GGA() GPGGA,174549.00,3650.26293,N,12152.17254,W,1,09,1.1,-0.19,M,-32.59,M,, : GpsUtils::parseFix() - GPGGA,174549.00,3650.26293,N,12152.17254,W,1,09,1.1,-0.19,M,-32.59,M,, : KearfottDriver: updating with external sensors : AshtechGps::processRecord() - $GPGGA,174550.00,3650.26312,N,12152.17282,W,1,09,1.1,0.03,M,-32.59,M,,*59 : GpsUtils::parseFix() - $GPGGA,174550.00,3650.26312,N,12152.17282,W,1,09,1.1,0.03,M,-32.59,M,,*59 : AshtechGPS::processRecord -sample time is 1083865550 : Kearfott::parseGPS_GGA() GPGGA,174550.00,3650.26312,N,12152.17282,W,1,09,1.1,0.03,M,-32.59,M,, : GpsUtils::parseFix() - GPGGA,174550.00,3650.26312,N,12152.17282,W,1,09,1.1,0.03,M,-32.59,M,, : BluefinBatt::init() - battery echo is #56q0 : AshtechGps::processRecord() - $GPGGA,174551.00,3650.26319,N,12152.17292,W,1,09,1.1,0.28,M,-32.59,M,,*5B : GpsUtils::parseFix() - $GPGGA,174551.00,3650.26319,N,12152.17292,W,1,09,1.1,0.28,M,-32.59,M,,*5B : AshtechGPS::processRecord -sample time is 1083865551 : Kearfott::parseGPS_GGA() GPGGA,174551.00,3650.26319,N,12152.17292,W,1,09,1.1,0.28,M,-32.59,M,, : GpsUtils::parseFix() - GPGGA,174551.00,3650.26319,N,12152.17292,W,1,09,1.1,0.28,M,-32.59,M,, : Bluefin::sample() Parsed voltage 32.330002 from reply : BluefinBatt Reply: $56q0 fv 32.33 0.00 13.47 4.02 4.08 0 3777.31 03:42:40 m : KearfottDriver: updating with external sensors : AshtechGps::processRecord() - $GPGGA,174552.00,3650.26315,N,12152.17265,W,1,09,1.1,1.06,M,-32.59,M,,*51 : GpsUtils::parseFix() - $GPGGA,174552.00,3650.26315,N,12152.17265,W,1,09,1.1,1.06,M,-32.59,M,,*51 : AshtechGPS::processRecord -sample time is 1083865552 : Kearfott::parseGPS_GGA() GPGGA,174552.00,3650.26315,N,12152.17265,W,1,09,1.1,1.06,M,-32.59,M,, : GpsUtils::parseFix() - GPGGA,174552.00,3650.26315,N,12152.17265,W,1,09,1.1,1.06,M,-32.59,M,, : BluefinBatt::init() - battery echo is #84q0 : AshtechGps::processRecord() - $GPGGA,174553.00,3650.26301,N,12152.17196,W,1,09,1.1,1.01,M,-32.59,M,,*5D : GpsUtils::parseFix() - $GPGGA,174553.00,3650.26301,N,12152.17196,W,1,09,1.1,1.01,M,-32.59,M,,*5D : AshtechGPS::processRecord -sample time is 1083865553 : Kearfott::parseGPS_GGA() GPGGA,174553.00,3650.26301,N,12152.17196,W,1,09,1.1,1.01,M,-32.59,M,, : GpsUtils::parseFix() - GPGGA,174553.00,3650.26301,N,12152.17196,W,1,09,1.1,1.01,M,-32.59,M,, : Bluefin::sample() Parsed voltage 32.330002 from reply : BluefinBatt Reply: $84q0 d- 32.33 5.61 14.74 4.05 4.06 0 6849.85 03:42:42 m : KearfottDriver: updating with external sensors : AshtechGps::processRecord() - $GPGGA,174554.00,3650.26301,N,12152.17174,W,1,09,1.1,0.99,M,-32.59,M,,*56 : GpsUtils::parseFix() - $GPGGA,174554.00,3650.26301,N,12152.17174,W,1,09,1.1,0.99,M,-32.59,M,,*56 : AshtechGPS::processRecord -sample time is 1083865554 : Kearfott::parseGPS_GGA() GPGGA,174554.00,3650.26301,N,12152.17174,W,1,09,1.1,0.99,M,-32.59,M,, : GpsUtils::parseFix() - GPGGA,174554.00,3650.26301,N,12152.17174,W,1,09,1.1,0.99,M,-32.59,M,, : batts online 1, min cell voltage 4.050000, mean min cell voltage 4.050000 : AshtechGps::processRecord() - $GPGGA,174555.00,3650.26266,N,12152.17131,W,1,09,1.1,1.14,M,-32.59,M,,*52 : GpsUtils::parseFix() - $GPGGA,174555.00,3650.26266,N,12152.17131,W,1,09,1.1,1.14,M,-32.59,M,,*52 : AshtechGPS::processRecord -sample time is 1083865555 : Kearfott::parseGPS_GGA() GPGGA,174555.00,3650.26266,N,12152.17131,W,1,09,1.1,1.14,M,-32.59,M,, : GpsUtils::parseFix() - GPGGA,174555.00,3650.26266,N,12152.17131,W,1,09,1.1,1.14,M,-32.59,M,, : KearfottDriver: updating with external sensors : AshtechGps::processRecord() - $GPGGA,174556.00,3650.26270,N,12152.17137,W,1,09,1.1,0.46,M,-32.59,M,,*56 : GpsUtils::parseFix() - $GPGGA,174556.00,3650.26270,N,12152.17137,W,1,09,1.1,0.46,M,-32.59,M,,*56 : AshtechGPS::processRecord -sample time is 1083865556 : Kearfott::parseGPS_GGA() GPGGA,174556.00,3650.26270,N,12152.17137,W,1,09,1.1,0.46,M,-32.59,M,, : GpsUtils::parseFix() - GPGGA,174556.00,3650.26270,N,12152.17137,W,1,09,1.1,0.46,M,-32.59,M,, : AshtechGps::processRecord() - $GPGGA,174557.00,3650.26298,N,12152.17174,W,1,09,1.1,0.68,M,-32.59,M,,*5A : GpsUtils::parseFix() - $GPGGA,174557.00,3650.26298,N,12152.17174,W,1,09,1.1,0.68,M,-32.59,M,,*5A : AshtechGPS::processRecord -sample time is 1083865557 : Kearfott::parseGPS_GGA() GPGGA,174557.00,3650.26298,N,12152.17174,W,1,09,1.1,0.68,M,-32.59,M,, : GpsUtils::parseFix() - GPGGA,174557.00,3650.26298,N,12152.17174,W,1,09,1.1,0.68,M,-32.59,M,, : KearfottDriver: updating with external sensors : AshtechGps::processRecord() - $GPGGA,174558.00,3650.26287,N,12152.17115,W,1,09,1.1,0.52,M,-32.59,M,,*55 : GpsUtils::parseFix() - $GPGGA,174558.00,3650.26287,N,12152.17115,W,1,09,1.1,0.52,M,-32.59,M,,*55 : AshtechGPS::processRecord -sample time is 1083865558 : Kearfott::parseGPS_GGA() GPGGA,174558.00,3650.26287,N,12152.17115,W,1,09,1.1,0.52,M,-32.59,M,, : GpsUtils::parseFix() - GPGGA,174558.00,3650.26287,N,12152.17115,W,1,09,1.1,0.52,M,-32.59,M,, : AshtechGps::processRecord() - $GPGGA,174559.00,3650.26261,N,12152.17064,W,1,09,1.1,0.31,M,-32.59,M,,*5E : GpsUtils::parseFix() - $GPGGA,174559.00,3650.26261,N,12152.17064,W,1,09,1.1,0.31,M,-32.59,M,,*5E : AshtechGPS::processRecord -sample time is 1083865559 : Kearfott::parseGPS_GGA() GPGGA,174559.00,3650.26261,N,12152.17064,W,1,09,1.1,0.31,M,-32.59,M,, : GpsUtils::parseFix() - GPGGA,174559.00,3650.26261,N,12152.17064,W,1,09,1.1,0.31,M,-32.59,M,, : KearfottDriver: updating with external sensors : AshtechGps::processRecord() - $GPGGA,174600.00,3650.26277,N,12152.17085,W,1,09,1.1,0.32,M,-32.59,M,,*5A : GpsUtils::parseFix() - $GPGGA,174600.00,3650.26277,N,12152.17085,W,1,09,1.1,0.32,M,-32.59,M,,*5A : AshtechGPS::processRecord -sample time is 1083865560 : Kearfott::parseGPS_GGA() GPGGA,174600.00,3650.26277,N,12152.17085,W,1,09,1.1,0.32,M,-32.59,M,, : GpsUtils::parseFix() - GPGGA,174600.00,3650.26277,N,12152.17085,W,1,09,1.1,0.32,M,-32.59,M,, : BluefinBatt::init() - battery echo is #56q0 : AshtechGps::processRecord() - $GPGGA,174601.00,3650.26258,N,12152.17056,W,1,09,1.1,0.47,M,-32.59,M,,*5A : GpsUtils::parseFix() - $GPGGA,174601.00,3650.26258,N,12152.17056,W,1,09,1.1,0.47,M,-32.59,M,,*5A : AshtechGPS::processRecord -sample time is 1083865561 : Kearfott::parseGPS_GGA() GPGGA,174601.00,3650.26258,N,12152.17056,W,1,09,1.1,0.47,M,-32.59,M,, : GpsUtils::parseFix() - GPGGA,174601.00,3650.26258,N,12152.17056,W,1,09,1.1,0.47,M,-32.59,M,, : Bluefin::sample() Parsed voltage 32.369999 from reply : BluefinBatt Reply: $56q0 fv 32.37 0.00 13.47 4.02 4.08 0 3777.31 03:42:50 m : KearfottDriver: updating with external sensors : AshtechGps::processRecord() - $GPGGA,174602.00,3650.26219,N,12152.16976,W,1,09,1.1,0.35,M,-32.59,M,,*53 : GpsUtils::parseFix() - $GPGGA,174602.00,3650.26219,N,12152.16976,W,1,09,1.1,0.35,M,-32.59,M,,*53 : AshtechGPS::processRecord -sample time is 1083865562 : Kearfott::parseGPS_GGA() GPGGA,174602.00,3650.26219,N,12152.16976,W,1,09,1.1,0.35,M,-32.59,M,, : GpsUtils::parseFix() - GPGGA,174602.00,3650.26219,N,12152.16976,W,1,09,1.1,0.35,M,-32.59,M,, : **** SharedData destructor for object ParosciOutput_ShmemName **** : **** SharedData destructor for object yGarfottOutput **** : TaskServer::signalHandler() for task WorkSiteIFServer - exit() : TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit() : TaskServer::signalHandler() for task InsIFServer - exit() : TaskServer::signalHandler() for task DvlIFServer - exit() : TaskServer::signalHandler() for task DepthSensorIFServer - exit() : TaskServer::signalHandler() for task GpsIFServer - exit() : TaskServer::signalHandler() for task NavigationIFServer - exit() : NavigationOutput::~NavigationOutput() : TaskServer::signalHandler() for task LayeredControlIFServer - exit() : TaskServer::signalHandler() for task DynamicControlIFServer - exit() : **** SharedData destructor for object LayeredControlInput_ShmemName **** : TaskServer::signalHandler() for task TailConeIFServer - exit() : TaskServer::signalHandler() for task DepthSensorIFServer - exit() : Fan Destructor Executing. : DropWeight Destructor Executing. : Supervisor::signalHandler(); caught signal 2 : TaskServer::signalHandler() for task EventLogIFServer - exit() : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() : TaskServer::signalHandler() for task DropWeightIFServer - exit() : TaskServer::signalHandler() for task FanIFServer - exit() : TaskServer::signalHandler() for task FastCat - exit() : **** SharedData destructor for object BluefinBattOutput **** : TaskServer::signalHandler() for task Reson6046IFServer - exit() : Entering Reson 6046 Driver destructor... : **** SharedData destructor for object FastCat **** : **** SharedData destructor for object GpsOutput_ShmemName **** //3/home/dorado1/auv/altex/onboard/bin/kearfott terminated (SIGSEGV) at 0007:000287B1. : TaskServer::signalHandler() for task InsIFServer - exit() : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() : **** SharedData destructor for object DvlOutput_ShmemName **** : **** SharedData destructor for object GpsOutput_ShmemName **** : **** SharedData destructor for object navigationOutput **** : NavigationOutput::~NavigationOutput() : **** SharedData destructor for object TailConeInput_ShmemName **** : **** SharedData destructor for object LayeredControlOutput_ShmemName **** : **** SharedData destructor for object LayeredControlInput_ShmemName **** : **** SharedData destructor for object TailConeInput_ShmemName **** : **** SharedData destructor for object ParosciOutput_ShmemName **** : **** SharedData destructor for object TailConeOutput_ShmemName **** : **** SharedData destructor for object fanOutput **** : Supervisor::signalHandler(); Never received a SIGTERM from slay, or a SIGQUIT. I WILL START BURNING THE DROP WEIGHT WIRE IN 15 MINUTES! To prevent a weight-drop, you must manually start dropWeightServer before the countdown timer expires. See devices.cfg for the syntax and serial port number. : **** SharedData destructor for object dropWeightOutput **** : **** SharedData destructor for object reson6046Output **** : Command destructor... : **** SharedData destructor for object dropWeightOutput **** : **** SharedData destructor for object fanOutput **** : TaskServer::signalHandler() for task LayeredControlIFServer - exit() : TaskServer::signalHandler() for task NavigationIFServer - exit() : **** SharedData destructor for object FastCat **** : TaskServer::signalHandler() for task FastCat - exit() : **** SharedData destructor for object kearfottOutput **** : **** SharedData destructor for object TailConeOutput_ShmemName **** : TaskServer::signalHandler() for task TailConeIFServer - exit() : Supervisor::cleanup() - delete _theSupervisor : TaskServer::signalHandler() for task FanIFServer - exit() : TaskServer::signalHandler() for task DropWeightIFServer - exit() : Leaving driver destructor. : Supervisor::shutdown() : Supervisor::shutdown() - done()