Supervisor::createCoreTasks() Supervisor::createTask() - eventLogServer Supervisor::createTask() - workSite Supervisor::createTask() - vehicleConfigurationServer S: Initializing worksiteServer upervisor: WorkSite::WorkSite -- Adding attributes ::: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv/altex/onboard/config/multibeam/workSite.cfg createTask() - externalCommsServer: Using default vehicle config file "/home/dorado1/auv/altex/onboard/config/multibeam/vehicle.cfg" Supervisor::createTask() - navigationServer Supervisor::createTask() - layeredControlServer Supervisor::createTask() - dynamicControlServer : WorkSite::WorkSite -- Finished loading parameters : 0: 1 600674.187500E 4067388.750000N 73.699997 m 10.000000 ms channel:2 : 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 : 3: 4 600848.125000E 4069389.500000N 80.199997 m 10.000000 ms channel:6 : 4: 5 602732.187500E 4067093.000000N 57.299999 m 10.000000 ms channel:7 : WorkSite server: 0x21e6c Supervisor::createTask() - dropWeightServer Supervisor::createTask() - newTailConeServer Supervisor::createTask() - kearfottServer Supervisor::createTask() - kearfottDvlServer Superv: SerialDevice: done... isor::createTa: creating if InsIFServer sk() - parosciServ: Preparing to fork e: DropWeight::initialize - Resetting counters. r : **** EventTriggers::add() - attaching proxy : SerialDevice: done... : I'm the child...forking : TailConeServer -- Maximum Elevator Actuator Excursion is 0 Counts Sup: TailConeServer:: -- Minimum Elevator Actuator Excursion is 0 Counts ervis: Resetting counters to default : TailConeServer -- Maximum Rudder Actuator Excursion is 0 Counts or:: TailConeServer -- Minimum Rudder Actuator Excursion is 0 Counts :creat: SerialDevice: done... eTas: SerialDevice: done... k() - fanServer Supervisor::createTask() - fastcatServer : DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize() : DynamicControlServer - Got event 1 from TailCone : SerialDevice: done... Supervisor::: SerialDevice: done... createTask() - bluefinBattDriver Supervisor::createTask() - res: SerialDevice: done... on6046Server : SerialDevice: done... : SerialDevice: done... : Parosci::init() - mode set okay Supervisor::createTask() - gpsServer : SerialDevice: done... : BluefineBatt::init() - 2 batteries on 10 second interval : SerialDevice: done... : BluefinBatt.cc - Looking for Parosci server : SerialDevice: done... : BluefinBatt::init() - querying for batt ids : BluefinBatt::init() - battery echo is !? : Launching Reson6046Server... : Setting name... : Creating server... : MessageQueue::openQueue -- mq_open access error. Is Mqueue running? : Command constructor... : Run server... : fastcatDriver RUNNING... : FastCat: constructing... : PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200 : Launching Reson6046Driver... : FastCatLog.cc -- beginning constructor... : FastCatLog.cc -- constructor succeeded : Setting name to 'reson6046'... : fastcatDriver -- constructor succeeded : Creating Reson6046Driver instance... : SerialDevice: done... : FastCat: initializing... : 3 Modules found : --> Starting Reson 6046 Driver.... : Creating connection to commands... : Creating command message queue... : MessageQueue::openQueue -- mq_open access error. Is Mqueue running? : 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 : KearfottDriver: unable to open ctd interface : Kearfott::parseGPS_GGA() GPGGA,180851.00,3650.18984,N,12151.95099,W,1,08,1.3,-4.03,M,-32.59,M,, : GpsUtils::parseFix() - GPGGA,180851.00,3650.18984,N,12151.95099,W,1,08,1.3,-4.03,M,-32.59,M,, : FastCat: data is streaming (439)... : **** EventTriggers::add() - attaching proxy matherr(); DOMAIN error from sqrt(), process "//3/home/dorado1/auv/altex/onboard/bin/fastcatDriver" matherr(); DOM: Parosci.cc -- Initial pressure = 0.068948 AIN error from pow(), process "//3/home/dorado1/auv/altex/onboard/bin/fastcatDriver" matherr(); DOMAIN error from pow(), process "//3/home/dorado1/auv/altex/onboard/bin/fastcatDriver" matherr(); DOMAIN err: AshtechGps::processRecord() - $GPGGA,180853.00,3650.18974,N,12151.95052,W,1,08,1.3,-3.21,M,-32.59,M,,*70 or : GpsUtils::parseFix() - $GPGGA,180853.00,3650.18974,N,12151.95052,W,1,08,1.3,-3.21,M,-32.59,M,,*70 from: AshtechGPS::processRecord -sample time is 1083866931 pow(), process "//3/home/dorado1/auv/altex/onboard/bin/fastcatDriver" matherr(); DOMAIN error from pow(), process "//3/home/d: Kearfott::parseGPS_GGA() GPGGA,180853.00,3650.18974,N,12151.95052,W,1,08,1.3,-3.21,M,-32.59,M,, o: GpsUtils::parseFix() - GPGGA,180853.00,3650.18974,N,12151.95052,W,1,08,1.3,-3.21,M,-32.59,M,, rado1/auv/altex/onboard/bin/fastcatDriver" : Parosci.cc -- Parosci initial pressure period = 29.898080 : Parosci.cc -- Parosci initial temp period = 5.878760 : Parosci.cc -- Paroscientific configured. : PeriodicTask::run() (Parosci) - sampleInterval=200, maxInterval=200 : PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200 : AshtechGps::processRecord() - $GPGGA,180854.00,3650.18977,N,12151.95013,W,1,08,1.3,-2.44,M,-32.59,M,,*73 : GpsUtils::parseFix() - $GPGGA,180854.00,3650.18977,N,12151.95013,W,1,08,1.3,-2.44,M,-32.59,M,,*73 : AshtechGPS::processRecord -sample time is 1083866932 : Kearfott::parseGPS_GGA() GPGGA,180854.00,3650.18977,N,12151.95013,W,1,08,1.3,-2.44,M,-32.59,M,, : GpsUtils::parseFix() - GPGGA,180854.00,3650.18977,N,12151.95013,W,1,08,1.3,-2.44,M,-32.59,M,, : KearfottDriver: updating with external sensors : AshtechGps::processRecord() - $GPGGA,180855.00,3650.18957,N,12151.94994,W,1,08,1.3,-2.80,M,-32.59,M,,*7F : GpsUtils::parseFix() - $GPGGA,180855.00,3650.18957,N,12151.94994,W,1,08,1.3,-2.80,M,-32.59,M,,*7F : AshtechGPS::processRecord -sample time is 1083866933 : Kearfott::parseGPS_GGA() GPGGA,180855.00,3650.18957,N,12151.94994,W,1,08,1.3,-2.80,M,-32.59,M,, : GpsUtils::parseFix() - GPGGA,180855.00,3650.18957,N,12151.94994,W,1,08,1.3,-2.80,M,-32.59,M,, : AshtechGps::processRecord() - $GPGGA,180856.00,3650.18958,N,12151.94962,W,1,08,1.3,-2.02,M,-32.59,M,,*70 : GpsUtils::parseFix() - $GPGGA,180856.00,3650.18958,N,12151.94962,W,1,08,1.3,-2.02,M,-32.59,M,,*70 : AshtechGPS::processRecord -sample time is 1083866934 : Kearfott::parseGPS_GGA() GPGGA,180856.00,3650.18958,N,12151.94962,W,1,08,1.3,-2.02,M,-32.59,M,, : GpsUtils::parseFix() - GPGGA,180856.00,3650.18958,N,12151.94962,W,1,08,1.3,-2.02,M,-32.59,M,, : KearfottDriver: updating with external sensors : BluefinBatt::init() - battery ids are 56 84 : BluefinBatt::init() - found battery 56 : BluefinBatt::init() - found battery 84 : BluefinBatt::init() - battery echo is #56wf : AshtechGps::processRecord() - $GPGGA,180857.00,3650.18948,N,12151.94981,W,1,08,1.3,-3.02,M,-32.59,M,,*7C : GpsUtils::parseFix() - $GPGGA,180857.00,3650.18948,N,12151.94981,W,1,08,1.3,-3.02,M,-32.59,M,,*7C : AshtechGPS::processRecord -sample time is 1083866935 : Kearfott::parseGPS_GGA() GPGGA,180857.00,3650.18948,N,12151.94981,W,1,08,1.3,-3.02,M,-32.59,M,, : GpsUtils::parseFix() - GPGGA,180857.00,3650.18948,N,12151.94981,W,1,08,1.3,-3.02,M,-32.59,M,, : AshtechGps::processRecord() - $GPGGA,180858.00,3650.18933,N,12151.94935,W,1,08,1.3,-1.68,M,-32.59,M,,*7E : GpsUtils::parseFix() - $GPGGA,180858.00,3650.18933,N,12151.94935,W,1,08,1.3,-1.68,M,-32.59,M,,*7E : AshtechGPS::processRecord -sample time is 1083866936 : Kearfott::parseGPS_GGA() GPGGA,180858.00,3650.18933,N,12151.94935,W,1,08,1.3,-1.68,M,-32.59,M,, : GpsUtils::parseFix() - GPGGA,180858.00,3650.18933,N,12151.94935,W,1,08,1.3,-1.68,M,-32.59,M,, : KearfottDriver: updating with external sensors : AshtechGps::processRecord() - $GPGGA,180859.00,3650.18927,N,12151.94933,W,1,08,1.3,-2.10,M,-32.59,M,,*70 : GpsUtils::parseFix() - $GPGGA,180859.00,3650.18927,N,12151.94933,W,1,08,1.3,-2.10,M,-32.59,M,,*70 : AshtechGPS::processRecord -sample time is 1083866937 : Kearfott::parseGPS_GGA() GPGGA,180859.00,3650.18927,N,12151.94933,W,1,08,1.3,-2.10,M,-32.59,M,, : GpsUtils::parseFix() - GPGGA,180859.00,3650.18927,N,12151.94933,W,1,08,1.3,-2.10,M,-32.59,M,, : AshtechGps::processRecord() - $GPGGA,180900.00,3650.18917,N,12151.94885,W,1,08,1.3,-1.15,M,-32.59,M,,*74 : GpsUtils::parseFix() - $GPGGA,180900.00,3650.18917,N,12151.94885,W,1,08,1.3,-1.15,M,-32.59,M,,*74 : AshtechGPS::processRecord -sample time is 1083866938 : Kearfott::parseGPS_GGA() GPGGA,180900.00,3650.18917,N,12151.94885,W,1,08,1.3,-1.15,M,-32.59,M,, : GpsUtils::parseFix() - GPGGA,180900.00,3650.18917,N,12151.94885,W,1,08,1.3,-1.15,M,-32.59,M,, : KearfottDriver: updating with external sensors : AshtechGps::processRecord() - $GPGGA,180901.00,3650.18917,N,12151.94890,W,1,08,1.3,-2.06,M,-32.59,M,,*70 : GpsUtils::parseFix() - $GPGGA,180901.00,3650.18917,N,12151.94890,W,1,08,1.3,-2.06,M,-32.59,M,,*70 : AshtechGPS::processRecord -sample time is 1083866939 : Kearfott::parseGPS_GGA() GPGGA,180901.00,3650.18917,N,12151.94890,W,1,08,1.3,-2.06,M,-32.59,M,, : GpsUtils::parseFix() - GPGGA,180901.00,3650.18917,N,12151.94890,W,1,08,1.3,-2.06,M,-32.59,M,, : Navigation: Server for aux sensor "Altimeter" not found : BluefinBatt::init() - battery watchdog state is R“Ó—¤¦C : BluefinBatt::init() - battery echo is #84wf : AshtechGps::processRecord() - $GPGGA,180902.00,3650.18899,N,12151.94881,W,1,08,1.3,-2.39,M,-32.59,M,,*78 : GpsUtils::parseFix() - $GPGGA,180902.00,3650.18899,N,12151.94881,W,1,08,1.3,-2.39,M,-32.59,M,,*78 : AshtechGPS::processRecord -sample time is 1083866940 : Kearfott::parseGPS_GGA() GPGGA,180902.00,3650.18899,N,12151.94881,W,1,08,1.3,-2.39,M,-32.59,M,, : GpsUtils::parseFix() - GPGGA,180902.00,3650.18899,N,12151.94881,W,1,08,1.3,-2.39,M,-32.59,M,, : KearfottDriver: updating with external sensors : AshtechGps::processRecord() - $GPGGA,180903.00,3650.18866,N,12151.94853,W,1,08,1.3,-3.12,M,-32.59,M,,*7E : GpsUtils::parseFix() - $GPGGA,180903.00,3650.18866,N,12151.94853,W,1,08,1.3,-3.12,M,-32.59,M,,*7E : AshtechGPS::processRecord -sample time is 1083866941 : Kearfott::parseGPS_GGA() GPGGA,180903.00,3650.18866,N,12151.94853,W,1,08,1.3,-3.12,M,-32.59,M,, : GpsUtils::parseFix() - GPGGA,180903.00,3650.18866,N,12151.94853,W,1,08,1.3,-3.12,M,-32.59,M,, : AshtechGps::processRecord() - $GPGGA,180904.00,3650.18885,N,12151.94842,W,1,08,1.3,-2.41,M,-32.59,M,,*73 : GpsUtils::parseFix() - $GPGGA,180904.00,3650.18885,N,12151.94842,W,1,08,1.3,-2.41,M,-32.59,M,,*73 : AshtechGPS::processRecord -sample time is 1083866942 : Kearfott::parseGPS_GGA() GPGGA,180904.00,3650.18885,N,12151.94842,W,1,08,1.3,-2.41,M,-32.59,M,, : GpsUtils::parseFix() - GPGGA,180904.00,3650.18885,N,12151.94842,W,1,08,1.3,-2.41,M,-32.59,M,, : KearfottDriver: updating with external sensors : AshtechGps::processRecord() - $GPGGA,180905.00,3650.18848,N,12151.94800,W,1,08,1.3,-2.18,M,-32.59,M,,*79 : GpsUtils::parseFix() - $GPGGA,180905.00,3650.18848,N,12151.94800,W,1,08,1.3,-2.18,M,-32.59,M,,*79 : AshtechGPS::processRecord -sample time is 1083866943 : Kearfott::parseGPS_GGA() GPGGA,180905.00,3650.18848,N,12151.94800,W,1,08,1.3,-2.18,M,-32.59,M,, : GpsUtils::parseFix() - GPGGA,180905.00,3650.18848,N,12151.94800,W,1,08,1.3,-2.18,M,-32.59,M,, : AshtechGps::processRecord() - $GPGGA,180906.00,3650.18863,N,12151.94775,W,1,08,1.3,-1.02,M,-32.59,M,,*76 : GpsUtils::parseFix() - $GPGGA,180906.00,3650.18863,N,12151.94775,W,1,08,1.3,-1.02,M,-32.59,M,,*76 : AshtechGPS::processRecord -sample time is 1083866944 : Kearfott::parseGPS_GGA() GPGGA,180906.00,3650.18863,N,12151.94775,W,1,08,1.3,-1.02,M,-32.59,M,, : GpsUtils::parseFix() - GPGGA,180906.00,3650.18863,N,12151.94775,W,1,08,1.3,-1.02,M,-32.59,M,, : KearfottDriver: updating with external sensors : BluefinBatt::init() - battery watchdog state is $84wf 1 : PeriodicTask::run() (BluefinBatt) - sampleInterval=10000, maxInterval=10000 : AshtechGps::processRecord() - $GPGGA,180907.00,3650.18843,N,12151.94762,W,1,08,1.3,-1.78,M,-32.59,M,,*7E : GpsUtils::parseFix() - $GPGGA,180907.00,3650.18843,N,12151.94762,W,1,08,1.3,-1.78,M,-32.59,M,,*7E : AshtechGPS::processRecord -sample time is 1083866945 : Kearfott::parseGPS_GGA() GPGGA,180907.00,3650.18843,N,12151.94762,W,1,08,1.3,-1.78,M,-32.59,M,, : GpsUtils::parseFix() - GPGGA,180907.00,3650.18843,N,12151.94762,W,1,08,1.3,-1.78,M,-32.59,M,, : AshtechGps::processRecord() - $GPGGA,180908.00,3650.18860,N,12151.94763,W,1,08,1.3,-0.87,M,-32.59,M,,*70 : GpsUtils::parseFix() - $GPGGA,180908.00,3650.18860,N,12151.94763,W,1,08,1.3,-0.87,M,-32.59,M,,*70 : AshtechGPS::processRecord -sample time is 1083866946 : Kearfott::parseGPS_GGA() GPGGA,180908.00,3650.18860,N,12151.94763,W,1,08,1.3,-0.87,M,-32.59,M,, : GpsUtils::parseFix() - GPGGA,180908.00,3650.18860,N,12151.94763,W,1,08,1.3,-0.87,M,-32.59,M,, : KearfottDriver: updating with external sensors : AshtechGps::processRecord() - $GPGGA,180909.00,3650.18850,N,12151.94772,W,1,09,1.0,-2.00,M,-32.59,M,,*7D : GpsUtils::parseFix() - $GPGGA,180909.00,3650.18850,N,12151.94772,W,1,09,1.0,-2.00,M,-32.59,M,,*7D : AshtechGPS::processRecord -sample time is 1083866947 : Kearfott::parseGPS_GGA() GPGGA,180909.00,3650.18850,N,12151.94772,W,1,09,1.0,-2.00,M,-32.59,M,, : GpsUtils::parseFix() - GPGGA,180909.00,3650.18850,N,12151.94772,W,1,09,1.0,-2.00,M,-32.59,M,, : AshtechGps::processRecord() - $GPGGA,180910.00,3650.18836,N,12151.94747,W,1,09,1.0,-1.72,M,-32.59,M,,*75 : GpsUtils::parseFix() - $GPGGA,180910.00,3650.18836,N,12151.94747,W,1,09,1.0,-1.72,M,-32.59,M,,*75 : AshtechGPS::processRecord -sample time is 1083866948 : Kearfott::parseGPS_GGA() GPGGA,180910.00,3650.18836,N,12151.94747,W,1,09,1.0,-1.72,M,-32.59,M,, : GpsUtils::parseFix() - GPGGA,180910.00,3650.18836,N,12151.94747,W,1,09,1.0,-1.72,M,-32.59,M,, : KearfottDriver: updating with external sensors : AshtechGps::processRecord() - $GPGGA,180911.00,3650.18818,N,12151.94738,W,1,09,1.0,-1.75,M,-32.59,M,,*77 : GpsUtils::parseFix() - $GPGGA,180911.00,3650.18818,N,12151.94738,W,1,09,1.0,-1.75,M,-32.59,M,,*77 : AshtechGPS::processRecord -sample time is 1083866949 : Kearfott::parseGPS_GGA() GPGGA,180911.00,3650.18818,N,12151.94738,W,1,09,1.0,-1.75,M,-32.59,M,, : GpsUtils::parseFix() - GPGGA,180911.00,3650.18818,N,12151.94738,W,1,09,1.0,-1.75,M,-32.59,M,, : AshtechGps::processRecord() - $GPGGA,180912.00,3650.18810,N,12151.94740,W,1,09,1.0,-2.69,M,-32.59,M,,*7D : GpsUtils::parseFix() - $GPGGA,180912.00,3650.18810,N,12151.94740,W,1,09,1.0,-2.69,M,-32.59,M,,*7D : AshtechGPS::processRecord -sample time is 1083866950 : Kearfott::parseGPS_GGA() GPGGA,180912.00,3650.18810,N,12151.94740,W,1,09,1.0,-2.69,M,-32.59,M,, : GpsUtils::parseFix() - GPGGA,180912.00,3650.18810,N,12151.94740,W,1,09,1.0,-2.69,M,-32.59,M,, : KearfottDriver: updating with external sensors : AshtechGps::processRecord() - $GPGGA,180913.00,3650.18818,N,12151.94707,W,1,09,1.0,-2.17,M,-32.59,M,,*7E : GpsUtils::parseFix() - $GPGGA,180913.00,3650.18818,N,12151.94707,W,1,09,1.0,-2.17,M,-32.59,M,,*7E : AshtechGPS::processRecord -sample time is 1083866951 : Kearfott::parseGPS_GGA() GPGGA,180913.00,3650.18818,N,12151.94707,W,1,09,1.0,-2.17,M,-32.59,M,, : GpsUtils::parseFix() - GPGGA,180913.00,3650.18818,N,12151.94707,W,1,09,1.0,-2.17,M,-32.59,M,, : AshtechGps::processRecord() - $GPGGA,180914.00,3650.18832,N,12151.94726,W,1,09,1.0,-2.71,M,-32.59,M,,*72 : GpsUtils::parseFix() - $GPGGA,180914.00,3650.18832,N,12151.94726,W,1,09,1.0,-2.71,M,-32.59,M,,*72 : AshtechGPS::processRecord -sample time is 1083866952 : Kearfott::parseGPS_GGA() GPGGA,180914.00,3650.18832,N,12151.94726,W,1,09,1.0,-2.71,M,-32.59,M,, : GpsUtils::parseFix() - GPGGA,180914.00,3650.18832,N,12151.94726,W,1,09,1.0,-2.71,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 : **** EventTriggers::add() - attaching proxy : GetGPS - time is 1083866952 : GetGPS::execute() -- Got a new GPS hit: 1 of 30 needed : LayeredControl::execute() -- (t = 0.000000) Behavior getgps has changed to state Active : LayeredControl::execute() -- (t = 0.000000) Behavior depthEnvelope 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,180915.00,3650.18773,N,12151.94672,W,1,09,1.0,-3.55,M,-32.59,M,,*7E : GpsUtils::parseFix() - $GPGGA,180915.00,3650.18773,N,12151.94672,W,1,09,1.0,-3.55,M,-32.59,M,,*7E : AshtechGPS::processRecord -sample time is 1083866953 : Kearfott::parseGPS_GGA() GPGGA,180915.00,3650.18773,N,12151.94672,W,1,09,1.0,-3.55,M,-32.59,M,, : GpsUtils::parseFix() - GPGGA,180915.00,3650.18773,N,12151.94672,W,1,09,1.0,-3.55,M,-32.59,M,, : GetGPS - time is 1083866953 : GetGPS::execute() -- Got a new GPS hit: 2 of 30 needed : GetGPS - time is 1083866953 : GetGPS - time is 1083866953 : GetGPS - time is 1083866953 : GetGPS - time is 1083866953 : AshtechGps::processRecord() - $GPGGA,180916.00,3650.18766,N,12151.94662,W,1,09,1.0,-3.92,M,-32.59,M,,*73 : GpsUtils::parseFix() - $GPGGA,180916.00,3650.18766,N,12151.94662,W,1,09,1.0,-3.92,M,-32.59,M,,*73 : AshtechGPS::processRecord -sample time is 1083866954 : Kearfott::parseGPS_GGA() GPGGA,180916.00,3650.18766,N,12151.94662,W,1,09,1.0,-3.92,M,-32.59,M,, : GpsUtils::parseFix() - GPGGA,180916.00,3650.18766,N,12151.94662,W,1,09,1.0,-3.92,M,-32.59,M,, : GetGPS - time is 1083866954 : GetGPS::execute() -- Got a new GPS hit: 3 of 30 needed : DepthEnvelope -- Measured altitude 4.673297 over allowable altitude 10.000000. Aborting! : Abort request issued by behavior "depthEnvelope" : *** LayeredControl - initiating mission abort... *** : Initiating Mission Abort! : **** EventTriggers::add() - attaching proxy : KearfottDriver: updating with external sensors : LayeredControl::execute() -- (t = 1.399904) Behavior setpoint has changed to state Active : LayeredControl::execute() -- (t = 1.399904) Behavior missionTimer has changed to state Active : BluefinBatt::init() - battery echo is #56q0 : AshtechGps::processRecord() - $GPGGA,180917.00,3650.18773,N,12151.94660,W,1,09,1.0,-3.69,M,-32.59,M,,*70 : GpsUtils::parseFix() - $GPGGA,180917.00,3650.18773,N,12151.94660,W,1,09,1.0,-3.69,M,-32.59,M,,*70 : AshtechGPS::processRecord -sample time is 1083866955 : Kearfott::parseGPS_GGA() GPGGA,180917.00,3650.18773,N,12151.94660,W,1,09,1.0,-3.69,M,-32.59,M,, : GpsUtils::parseFix() - GPGGA,180917.00,3650.18773,N,12151.94660,W,1,09,1.0,-3.69,M,-32.59,M,, : AshtechGps::processRecord() - $GPGGA,180918.00,3650.18744,N,12151.94629,W,1,10,0.9,-3.85,M,-32.59,M,,*74 : GpsUtils::parseFix() - $GPGGA,180918.00,3650.18744,N,12151.94629,W,1,10,0.9,-3.85,M,-32.59,M,,*74 : AshtechGPS::processRecord -sample time is 1083866956 : Bluefin::sample() Parsed voltage 32.439999 from reply : BluefinBatt Reply: $56q0 fv 32.44 0.00 13.28 4.03 4.09 0 3777.31 04:06:07 m : Kearfott::parseGPS_GGA() GPGGA,180918.00,3650.18744,N,12151.94629,W,1,10,0.9,-3.85,M,-32.59,M,, : GpsUtils::parseFix() - GPGGA,180918.00,3650.18744,N,12151.94629,W,1,10,0.9,-3.85,M,-32.59,M,, : KearfottDriver: updating with external sensors : AshtechGps::processRecord() - $GPGGA,180919.00,3650.18739,N,12151.94620,W,1,09,1.0,-3.69,M,-32.59,M,,*74 : GpsUtils::parseFix() - $GPGGA,180919.00,3650.18739,N,12151.94620,W,1,09,1.0,-3.69,M,-32.59,M,,*74 : AshtechGPS::processRecord -sample time is 1083866957 : BluefinBatt::init() - battery echo is #84q0 : Kearfott::parseGPS_GGA() GPGGA,180919.00,3650.18739,N,12151.94620,W,1,09,1.0,-3.69,M,-32.59,M,, : GpsUtils::parseFix() - GPGGA,180919.00,3650.18739,N,12151.94620,W,1,09,1.0,-3.69,M,-32.59,M,, : AshtechGps::processRecord() - $GPGGA,180920.00,3650.18722,N,12151.94626,W,1,10,0.9,-3.81,M,-32.59,M,,*74 : GpsUtils::parseFix() - $GPGGA,180920.00,3650.18722,N,12151.94626,W,1,10,0.9,-3.81,M,-32.59,M,,*74 : AshtechGPS::processRecord -sample time is 1083866958 : Kearfott::parseGPS_GGA() GPGGA,180920.00,3650.18722,N,12151.94626,W,1,10,0.9,-3.81,M,-32.59,M,, : GpsUtils::parseFix() - GPGGA,180920.00,3650.18722,N,12151.94626,W,1,10,0.9,-3.81,M,-32.59,M,, : Bluefin::sample() Parsed voltage 32.070000 from reply : BluefinBatt Reply: $84q0 d- 32.07 6.37 14.64 4.00 4.03 0 6779.83 04:06:09 m : KearfottDriver: updating with external sensors : AshtechGps::processRecord() - $GPGGA,180921.00,3650.18722,N,12151.94655,W,1,10,0.9,-4.24,M,-32.59,M,,*79 : GpsUtils::parseFix() - $GPGGA,180921.00,3650.18722,N,12151.94655,W,1,10,0.9,-4.24,M,-32.59,M,,*79 : AshtechGPS::processRecord -sample time is 1083866959 : Kearfott::parseGPS_GGA() GPGGA,180921.00,3650.18722,N,12151.94655,W,1,10,0.9,-4.24,M,-32.59,M,, : GpsUtils::parseFix() - GPGGA,180921.00,3650.18722,N,12151.94655,W,1,10,0.9,-4.24,M,-32.59,M,, : batts online 1, min cell voltage 4.000000, mean min cell voltage 4.000000 : AshtechGps::processRecord() - $GPGGA,180922.00,3650.18720,N,12151.94634,W,1,10,0.9,-3.03,M,-32.59,M,,*7D : GpsUtils::parseFix() - $GPGGA,180922.00,3650.18720,N,12151.94634,W,1,10,0.9,-3.03,M,-32.59,M,,*7D : AshtechGPS::processRecord -sample time is 1083866960 : Kearfott::parseGPS_GGA() GPGGA,180922.00,3650.18720,N,12151.94634,W,1,10,0.9,-3.03,M,-32.59,M,, : GpsUtils::parseFix() - GPGGA,180922.00,3650.18720,N,12151.94634,W,1,10,0.9,-3.03,M,-32.59,M,, : KearfottDriver: updating with external sensors : AshtechGps::processRecord() - $GPGGA,180923.00,3650.18700,N,12151.94608,W,1,10,0.9,-2.63,M,-32.59,M,,*76 : GpsUtils::parseFix() - $GPGGA,180923.00,3650.18700,N,12151.94608,W,1,10,0.9,-2.63,M,-32.59,M,,*76 : AshtechGPS::processRecord -sample time is 1083866961 : Kearfott::parseGPS_GGA() GPGGA,180923.00,3650.18700,N,12151.94608,W,1,10,0.9,-2.63,M,-32.59,M,, : GpsUtils::parseFix() - GPGGA,180923.00,3650.18700,N,12151.94608,W,1,10,0.9,-2.63,M,-32.59,M,, : AshtechGps::processRecord() - $GPGGA,180924.00,3650.18678,N,12151.94577,W,1,10,0.9,-3.67,M,-32.59,M,,*71 : GpsUtils::parseFix() - $GPGGA,180924.00,3650.18678,N,12151.94577,W,1,10,0.9,-3.67,M,-32.59,M,,*71 : AshtechGPS::processRecord -sample time is 1083866962 : Kearfott::parseGPS_GGA() GPGGA,180924.00,3650.18678,N,12151.94577,W,1,10,0.9,-3.67,M,-32.59,M,, : GpsUtils::parseFix() - GPGGA,180924.00,3650.18678,N,12151.94577,W,1,10,0.9,-3.67,M,-32.59,M,, : KearfottDriver: updating with external sensors : AshtechGps::processRecord() - $GPGGA,180925.00,3650.18666,N,12151.94535,W,1,10,0.9,-3.33,M,-32.59,M,,*78 : GpsUtils::parseFix() - $GPGGA,180925.00,3650.18666,N,12151.94535,W,1,10,0.9,-3.33,M,-32.59,M,,*78 : AshtechGPS::processRecord -sample time is 1083866963 : Kearfott::parseGPS_GGA() GPGGA,180925.00,3650.18666,N,12151.94535,W,1,10,0.9,-3.33,M,-32.59,M,, : GpsUtils::parseFix() - GPGGA,180925.00,3650.18666,N,12151.94535,W,1,10,0.9,-3.33,M,-32.59,M,, : AshtechGps::processRecord() - $GPGGA,180926.00,3650.18655,N,12151.94501,W,1,10,0.9,-2.83,M,-32.59,M,,*76 : GpsUtils::parseFix() - $GPGGA,180926.00,3650.18655,N,12151.94501,W,1,10,0.9,-2.83,M,-32.59,M,,*76 : AshtechGPS::processRecord -sample time is 1083866964 : Kearfott::parseGPS_GGA() GPGGA,180926.00,3650.18655,N,12151.94501,W,1,10,0.9,-2.83,M,-32.59,M,, : GpsUtils::parseFix() - GPGGA,180926.00,3650.18655,N,12151.94501,W,1,10,0.9,-2.83,M,-32.59,M,, : KearfottDriver: updating with external sensors : BluefinBatt::init() - battery echo is #56q0 : AshtechGps::processRecord() - $GPGGA,180927.00,3650.18660,N,12151.94503,W,1,10,0.9,-2.99,M,-32.59,M,,*78 : GpsUtils::parseFix() - $GPGGA,180927.00,3650.18660,N,12151.94503,W,1,10,0.9,-2.99,M,-32.59,M,,*78 : AshtechGPS::processRecord -sample time is 1083866965 : Kearfott::parseGPS_GGA() GPGGA,180927.00,3650.18660,N,12151.94503,W,1,10,0.9,-2.99,M,-32.59,M,, : GpsUtils::parseFix() - GPGGA,180927.00,3650.18660,N,12151.94503,W,1,10,0.9,-2.99,M,-32.59,M,, : AshtechGps::processRecord() - $GPGGA,180928.00,3650.18649,N,12151.94430,W,1,10,0.9,0.08,M,-32.59,M,,*5A : GpsUtils::parseFix() - $GPGGA,180928.00,3650.18649,N,12151.94430,W,1,10,0.9,0.08,M,-32.59,M,,*5A : AshtechGPS::processRecord -sample time is 1083866966 : Bluefin::sample() Parsed voltage 32.480000 from reply : BluefinBatt Reply: $56q0 fv 32.48 0.00 13.28 4.03 4.09 0 3777.31 04:06:17 m : Kearfott::parseGPS_GGA() GPGGA,180928.00,3650.18649,N,12151.94430,W,1,10,0.9,0.08,M,-32.59,M,, : GpsUtils::parseFix() - GPGGA,180928.00,3650.18649,N,12151.94430,W,1,10,0.9,0.08,M,-32.59,M,, : KearfottDriver: updating with external sensors : AshtechGps::processRecord() - $GPGGA,180929.00,3650.18662,N,12151.94469,W,1,10,0.9,-2.94,M,-32.59,M,,*74 : GpsUtils::parseFix() - $GPGGA,180929.00,3650.18662,N,12151.94469,W,1,10,0.9,-2.94,M,-32.59,M,,*74 : AshtechGPS::processRecord -sample time is 1083866967 : BluefinBatt::init() - battery echo is #84q0 : Kearfott::parseGPS_GGA() GPGGA,180929.00,3650.18662,N,12151.94469,W,1,10,0.9,-2.94,M,-32.59,M,, : GpsUtils::parseFix() - GPGGA,180929.00,3650.18662,N,12151.94469,W,1,10,0.9,-2.94,M,-32.59,M,, : AshtechGps::processRecord() - $GPGGA,180930.00,3650.18699,N,12151.94506,W,1,10,0.9,-3.07,M,-32.59,M,,*7B : GpsUtils::parseFix() - $GPGGA,180930.00,3650.18699,N,12151.94506,W,1,10,0.9,-3.07,M,-32.59,M,,*7B : AshtechGPS::processRecord -sample time is 1083866968 : Kearfott::parseGPS_GGA() GPGGA,180930.00,3650.18699,N,12151.94506,W,1,10,0.9,-3.07,M,-32.59,M,, : GpsUtils::parseFix() - GPGGA,180930.00,3650.18699,N,12151.94506,W,1,10,0.9,-3.07,M,-32.59,M,, : Bluefin::sample() Parsed voltage 32.070000 from reply : BluefinBatt Reply: $84q0 d- 32.07 5.95 14.64 4.00 4.03 0 6779.41 04:06:19 m : KearfottDriver: updating with external sensors : AshtechGps::processRecord() - $GPGGA,180931.00,3650.18602,N,12151.94422,W,1,10,0.9,-2.90,M,-32.59,M,,*70 : GpsUtils::parseFix() - $GPGGA,180931.00,3650.18602,N,12151.94422,W,1,10,0.9,-2.90,M,-32.59,M,,*70 : AshtechGPS::processRecord -sample time is 1083866969 : Kearfott::parseGPS_GGA() GPGGA,180931.00,3650.18602,N,12151.94422,W,1,10,0.9,-2.90,M,-32.59,M,, : GpsUtils::parseFix() - GPGGA,180931.00,3650.18602,N,12151.94422,W,1,10,0.9,-2.90,M,-32.59,M,, : batts online 1, min cell voltage 4.000000, mean min cell voltage 4.000000 : AshtechGps::processRecord() - $GPGGA,180932.00,3650.18636,N,12151.94455,W,1,10,0.9,-3.23,M,-32.59,M,,*7D : GpsUtils::parseFix() - $GPGGA,180932.00,3650.18636,N,12151.94455,W,1,10,0.9,-3.23,M,-32.59,M,,*7D : AshtechGPS::processRecord -sample time is 1083866970 : Kearfott::parseGPS_GGA() GPGGA,180932.00,3650.18636,N,12151.94455,W,1,10,0.9,-3.23,M,-32.59,M,, : GpsUtils::parseFix() - GPGGA,180932.00,3650.18636,N,12151.94455,W,1,10,0.9,-3.23,M,-32.59,M,, : KearfottDriver: updating with external sensors : AshtechGps::processRecord() - $GPGGA,180933.00,3650.18604,N,12151.94399,W,1,10,0.9,-2.83,M,-32.59,M,,*71 : GpsUtils::parseFix() - $GPGGA,180933.00,3650.18604,N,12151.94399,W,1,10,0.9,-2.83,M,-32.59,M,,*71 : AshtechGPS::processRecord -sample time is 1083866971 : Kearfott::parseGPS_GGA() GPGGA,180933.00,3650.18604,N,12151.94399,W,1,10,0.9,-2.83,M,-32.59,M,, : GpsUtils::parseFix() - GPGGA,180933.00,3650.18604,N,12151.94399,W,1,10,0.9,-2.83,M,-32.59,M,, : AshtechGps::processRecord() - $GPGGA,180934.00,3650.18584,N,12151.94383,W,1,10,0.9,-2.82,M,-32.59,M,,*77 : GpsUtils::parseFix() - $GPGGA,180934.00,3650.18584,N,12151.94383,W,1,10,0.9,-2.82,M,-32.59,M,,*77 : AshtechGPS::processRecord -sample time is 1083866972 : Kearfott::parseGPS_GGA() GPGGA,180934.00,3650.18584,N,12151.94383,W,1,10,0.9,-2.82,M,-32.59,M,, : GpsUtils::parseFix() - GPGGA,180934.00,3650.18584,N,12151.94383,W,1,10,0.9,-2.82,M,-32.59,M,, matherr(); DOMAIN error from sqrt(), process "//3/home/dorado1/auv/altex/onboard/bin/navigation" : KearfottDriver: updating with external sensors : AshtechGps::processRecord() - $GPGGA,180935.00,3650.18628,N,12151.94451,W,1,10,0.9,-3.50,M,-32.59,M,,*75 : GpsUtils::parseFix() - $GPGGA,180935.00,3650.18628,N,12151.94451,W,1,10,0.9,-3.50,M,-32.59,M,,*75 : AshtechGPS::processRecord -sample time is 1083866973 : Kearfott::parseGPS_GGA() GPGGA,180935.00,3650.18628,N,12151.94451,W,1,10,0.9,-3.50,M,-32.59,M,, : GpsUtils::parseFix() - GPGGA,180935.00,3650.18628,N,12151.94451,W,1,10,0.9,-3.50,M,-32.59,M,, : Supervisor::signalHandler(); caught signal 15 : Supervisor::signalHandler(); Do NOT drop the weight. : Supervisor::cleanup() - delete _theSupervisor : Supervisor::shutdown() : **** SharedData destructor for object ParosciOutput_ShmemName **** : **** SharedData destructor for object GarfottOutput **** : 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 WorkSiteIFServer - exit() : TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit() : NavigationOutput::~NavigationOutput() : **** SharedData destructor for object LayeredControlInput_ShmemName **** : TaskServer::signalHandler() for task TailConeIFServer - exit() : TaskServer::signalHandler() for task NavigationIFServer - exit() : TaskServer::signalHandler() for task LayeredControlIFServer - exit() : TaskServer::signalHandler() for task DynamicControlIFServer - exit() : Supervisor::shutdown() - done() : **** SharedData destructor for object FastCat **** : TaskServer::signalHandler() for task DropWeightIFServer - exit() : TaskServer::signalHandler() for task FanIFServer - exit() : TaskServer::signalHandler() for task FastCat - exit() : **** SharedData destructor for object BluefinBattOutput **** : Fan Destructor Executing. : TaskServer::signalHandler() for task Reson6046IFServer - exit() : Entering Reson 6046 Driver destructor... : TaskServer::signalHandler() for task EventLogIFServer - exit() : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() : DropWeight Destructor Executing. : **** SharedData destructor for object GpsOutput_ShmemName **** : **** SharedData destructor for object kearfottOutput **** : **** SharedData destructor for object DvlOutput_ShmemName **** : **** SharedData destructor for object ParosciOutput_ShmemName **** : **** SharedData destructor for object GpsOutput_ShmemName **** : **** SharedData destructor for object navigationOutput **** : **** SharedData destructor for object LayeredControlOutput_ShmemName **** : **** SharedData destructor for object TailConeInput_ShmemName **** : NavigationOutput::~NavigationOutput() //3/home/dorado1/auv/altex/onboard/bin/kearfott terminated (SIGSEGV) at 0007:000287CC. : TaskServer::signalHandler() for task DepthSensorIFServer - exit() : **** SharedData destructor for object TailConeInput_ShmemName **** : TaskServer::signalHandler() for task InsIFServer - exit() : TaskServer::signalHandler() for task LayeredControlIFServer - exit() : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() Supervisor::: **** SharedData destructor for object reson6046Output **** create: **** SharedData destructor for object fanOutput **** : Command destructor... Task: TaskServer::signalHandler() for task FastCat - exit() : **** SharedData destructor for object dropWeightOutput **** () -: **** SharedData destructor for object fanOutput **** : **** SharedData destructor for object dropWeightOutput **** dropWeightSe: TaskServer::signalHandler() for task NavigationIFServer - exit() r: **** SharedData destructor for object TailConeOutput_ShmemName **** ver : **** SharedData destructor for object TailConeOutput_ShmemName **** : **** SharedData destructor for object LayeredControlInput_ShmemName **** : **** SharedData destructor for object FastCat **** : Leaving driver destructor. : TaskServer::signalHandler() for task FanIFServer - exit() : **** SharedData destructor for object LayeredControlOutput_ShmemName **** : SerialDevice: done... : DropWeight::initialize - Resetting counters. : **** EventTriggers::add() - attaching proxy : Resetting counters to default : TaskServer::signalHandler() for task DropWeightIFServer - exit() : **** SharedData destructor for object dropWeightOutput **** : DropWeight Destructor Executing. : **** SharedData destructor for object dropWeightOutput ****