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-qnx-dev/auv/altex/onboard/config/i2map_dmo1/workSite.cfg createTask() - navigationServer : Using default vehicle config file "/home/dorado1/auv-qnx-dev/auv/altex/onboard/config/i2map_dmo1/vehicle.cfg" : starting LC: layeredControlServer -plan Lab1.cfg -abort abortMplan.cfg Supervisor::createTask() - layeredControlServer -plan Lab1.cfg -abort abortMplan.cfg : Creating NavigationServer... S: *** NavigationServer::NavigationServer()... upervisor::createTask() - dynamicControlServer : layeredControlServer - creating non dynamic version : WorkSite::WorkSite -- Finished loading parameters : WorkSite::WorkSite -- Starting Depth is 0.000000 meters : 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: 0x231bc : *** NavigationServer::NavigationServer() - DONE : Done creating NavigationServer... : Navigation::Navigation - Setting start depth to 0.0 meters. : Navigation::Navigation _logOnly = 0 : Navigation - Using only the Dvl to compute altitude. : Navigation/EchoSounder:: epoch = (1544196405,516098496) : Navigation: Opening Acoustic Modem Interface: : Supervisor::createTasks() - spawning newTailConeServer -dev /dev/ser3 Supervisor::createTask() - newTailConeServer -dev /dev/ser3 : Supervisor::createTasks() - spawning m3dmgx1Server -dev /dev/ser5 -useForNav Supervisor::createTask() - m3dmgx1Server -dev /dev/ser5 -useForNav : Supervisor::createTasks() - spawning gpsServer -r ashtech -dev /dev/ser7 Supervisor::createTask() - gpsServer -r ashtech -dev /dev/ser7 : Supervisor::createTasks() - spawning parosciServer -dev /dev/ser9 Supervisor::createTask() - parosciServer -dev /dev/ser9 : Supervisor::createTasks() - spawning newBattServer -dev tcp:134.89.32.137:10003 -n newBatt1 Supervisor::createTask() - newBattServer -dev tcp:134.89.32.137:10003 -n newBatt1 : DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize() : Preparing to fork : Supervisor::createTasks() - spawning dropWeightServer -dev /dev/ser13 Supervisor::createTask() - dropWeightServer -dev /dev/ser13 : SerialDevice: done... : I'm the child...forking : TailConeServer -- Maximum Elevator Actuator Excursion is 0 Counts : TailConeServer:: -- Minimum Elevator Actuator Excursion is 0 Counts : TailConeServer -- Maximum Rudder Actuator Excursion is 0 Counts : TailConeServer -- Minimum Rudder Actuator Excursion is 0 Counts : SerialDevice: done... : SerialDevice: done... : Attributes::parse() - Couldn't open CrossbowConstants attributes file "/home/dorado1/auv-qnx-dev/auv/altex/onboard/config/i2map_dmo1/crossbow.cfg" : VehicleConstants -- Caught exception while loading vehicle constants : SerialDevice: done... : SerialDevice: done... : Crossbow.cc: In getSerialNumber() : SerialDevice: done... : Parosci::reson host is NULL : Parosci.cc -- parsed PR (100) and TempInterval (100) : NewBattServer: servicename=NewBattIFServer : NewBattServer::spawnAuxTasks - execlp(newBattDriver newBattDriver -dev tcp:134.89.32.137:10003 -n newBatt1 : SerialDevice: done... : SerialDevice: done... : SerialDevice: done... : DropWeight::initialize - Resetting counters. : **** EventTriggers::add() - attaching proxy : SerialDevice: done... : Battery newBatt1 initializing. : PeriodicTask::run() (layeredControl) - sampleInterval=2000, maxInterval=0 : Gps: initializing : SerialDevice: done... : Gps: done initializing... : **** EventTriggers::add() - attaching proxy : SerialDevice: done... : PeriodicTask::run() (newBatt1) - sampleInterval=10000, maxInterval=10000 : AshtechGps::processRecord() - $GPGGA,152647.00,,,,,0,02,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : **** EventTriggers::add() - attaching proxy : Crossbow.cc: device->read succeeded : m3dmgx1: Serial Number is 6548 : PeriodicTask::run() (crossbow) - sampleInterval=200, maxInterval=200 : AshtechGps::processRecord() - $GPGGA,152648.00,,,,,0,02,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Parosci.cc - mode set to standard resolution : Parosci.cc -- Serial # is 123917 : Parosci::init() - mode set okay : Parosci.cc -- PI reply = 100 : Parosci.cc -- units = 3 : no response to address set : SerialDevice: done... : 3 Modules found : PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200 : AshtechGps::processRecord() - $GPGGA,152649.00,,,,,0,02,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Parosci.cc -- Initial pressure = 0.075090 : Parosci.cc -- Parosci initial pressure period = 29.918512 : Parosci.cc -- Parosci initial temp period = 5.819975 : initial pressure is 1.086161 : Parosci.cc -- Paroscientific configured. : AshtechGps::processRecord() - $GPGGA,152650.00,,,,,0,02,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Parosci.cc - mode set to nano resolution : Parosci.cc - mode set to streaming : AshtechGps::processRecord() - $GPGGA,152651.00,,,,,0,02,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,152652.00,,,,,0,02,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,152653.00,,,,,0,02,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,152654.00,,,,,0,02,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,152655.00,,,,,0,02,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,152656.00,,,,,0,01,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,152657.00,,,,,0,01,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,152658.00,,,,,0,01,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,152659.00,,,,,0,01,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,152700.00,,,,,0,02,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,152701.00,,,,,0,02,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : newBatt::Average voltage = 29.49 V, Total current = 0.00 A : newBatt::Env:11.8 C, 12.4 C, 25.0 %rH : newBatt::packsOnline = 55 : newBatt::Charge = 0.7 V, Disch = 34.5 V : newBatt::Aux Current = 0.00 A, Discharge Current = 0.00 A Charge Current = 0.00 A : newBatt:: There are 55 packs of 3.4 A-h cells. : AshtechGps::processRecord() - $GPGGA,152702.00,,,,,0,02,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,152703.00,,,,,0,02,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,152704.00,,,,,0,02,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,152705.00,,,,,0,02,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,152706.00,,,,,0,02,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Navigation: navigation: unable to open modem interface : Navigation::connectSensors core - connecting to Nav->DepthSensor at t = 20198. : Navigation::connectSensors core - connecting to Nav->TailCone at t = 20198. : Navigation::connectSensors core - connecting to Nav->Ahrs at t = 20198. : ahrs if is Nav->Ahrs : Navigation::connectSensors core - connecting to Nav->Dvl at t = 20198. : AshtechGps::processRecord() - $GPGGA,152707.00,,,,,0,02,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,152708.00,,,,,0,02,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,152709.00,,,,,0,02,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,152710.00,,,,,0,02,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,152711.00,,,,,0,02,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : newBatt::Average voltage = 29.49 V, Total current = 0.00 A : newBatt::Env:11.8 C, 12.4 C, 25.0 %rH : newBatt::packsOnline = 55 : newBatt::Charge = 0.7 V, Disch = 34.5 V : newBatt::Aux Current = 0.00 A, Discharge Current = 0.00 A Charge Current = 0.00 A : AshtechGps::processRecord() - $GPGGA,152712.00,,,,,0,02,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,152713.00,,,,,0,02,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,152714.00,,,,,0,02,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,152715.00,,,,,0,02,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,152716.00,,,,,0,02,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Navigation: Server for core sensor "Nav->Dvl" not found : Navigation::connectSensors aux - connecting to Nav->Gps at t = 30297. : Navigation::connectSensors aux - connecting to Nav->EchoSounder at t = 30297. : AshtechGps::processRecord() - $GPGGA,152717.00,,,,,0,02,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,152718.00,,,,,0,02,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,152719.00,3647.97574,N,12150.01920,W,1,04,3.4,-24.30,M,-32.69,M,,*4C : AshtechGps::processRecord() - $GPGGA,152720.00,3647.97780,N,12150.02168,W,1,04,3.4,-34.41,M,-32.69,M,,*4F : AshtechGps::processRecord() - $GPGGA,152721.00,3647.95553,N,12150.02475,W,1,03,3.2,32.69,M,-32.69,M,,*69 : AshtechGps::processRecord() - nSats = 3; setting quality to 0 (invalid) : newBatt::Average voltage = 29.49 V, Total current = 0.00 A : newBatt::Env:11.8 C, 12.4 C, 25.0 %rH : newBatt::packsOnline = 55 : newBatt::Charge = 0.7 V, Disch = 34.6 V : newBatt::Aux Current = 0.00 A, Discharge Current = 0.00 A Charge Current = 0.00 A : AshtechGps::processRecord() - $GPGGA,152722.00,3647.95501,N,12150.02800,W,1,03,3.2,32.69,M,-32.69,M,,*63 : AshtechGps::processRecord() - nSats = 3; setting quality to 0 (invalid) : AshtechGps::processRecord() - $GPGGA,152723.00,3647.95372,N,12150.03047,W,1,03,3.2,32.69,M,-32.69,M,,*6A : AshtechGps::processRecord() - nSats = 3; setting quality to 0 (invalid) : AshtechGps::processRecord() - $GPGGA,152724.00,,,,,0,02,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,152725.00,,,,,0,02,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,152726.00,3647.95366,N,12150.04215,W,1,03,3.2,32.69,M,-32.69,M,,*68 : AshtechGps::processRecord() - nSats = 3; setting quality to 0 (invalid) : Navigation: Server for aux sensor "Nav->EchoSounder" not found : Navigation::connectSensors aux - connecting to Nav->Velocimeter at t = 40397. : Navigation: Server for aux sensor "Nav->Velocimeter" not found : Navigation::connectSensors aux - connecting to Nav->Usbl at t = 40397. : AshtechGps::processRecord() - $GPGGA,152727.00,3647.95196,N,12150.04419,W,1,03,3.2,32.69,M,-32.69,M,,*6E : AshtechGps::processRecord() - nSats = 3; setting quality to 0 (invalid) : AshtechGps::processRecord() - $GPGGA,152728.00,3647.95111,N,12150.04726,W,1,03,3.2,32.69,M,-32.69,M,,*61 : AshtechGps::processRecord() - nSats = 3; setting quality to 0 (invalid) : AshtechGps::processRecord() - $GPGGA,152729.00,,,,,0,02,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,152730.00,,,,,0,02,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,152731.00,3647.95057,N,12150.05879,W,1,03,3.2,32.69,M,-32.69,M,,*6E : AshtechGps::processRecord() - nSats = 3; setting quality to 0 (invalid) : newBatt::Average voltage = 29.49 V, Total current = 0.00 A : newBatt::Env:11.8 C, 12.4 C, 25.0 %rH : newBatt::packsOnline = 55 : newBatt::Charge = 0.7 V, Disch = 34.6 V : newBatt::Aux Current = 0.00 A, Discharge Current = 0.00 A Charge Current = 0.00 A : AshtechGps::processRecord() - $GPGGA,152732.00,3647.94907,N,12150.06116,W,1,03,3.2,32.69,M,-32.69,M,,*63 : AshtechGps::processRecord() - nSats = 3; setting quality to 0 (invalid) : AshtechGps::processRecord() - $GPGGA,152733.00,3647.94767,N,12150.06362,W,1,03,3.2,32.69,M,-32.69,M,,*6B : AshtechGps::processRecord() - nSats = 3; setting quality to 0 (invalid) : AshtechGps::processRecord() - $GPGGA,152734.00,3647.94678,N,12150.06651,W,1,03,3.2,32.69,M,-32.69,M,,*66 : AshtechGps::processRecord() - nSats = 3; setting quality to 0 (invalid) : AshtechGps::processRecord() - $GPGGA,152735.00,3647.94602,N,12150.06944,W,1,03,3.2,32.69,M,-32.69,M,,*61 : AshtechGps::processRecord() - nSats = 3; setting quality to 0 (invalid) : AshtechGps::processRecord() - $GPGGA,152736.00,3647.94522,N,12150.07241,W,1,03,3.2,32.69,M,-32.69,M,,*6C : AshtechGps::processRecord() - nSats = 3; setting quality to 0 (invalid) : Navigation: Server for aux sensor "Nav->Usbl" not found : Server for one or more core sensors not found : Navigation - aborting mission : Navigation::Navigation(). _es->valid() = 0 at t = 50496. : PeriodicTask::run() (navigation) - sampleInterval=200, maxInterval=200 : **** EventTriggers::add() - attaching proxy : LayeredControl::execute() -- (t = 0.000000) Behavior setpoint:-1 has changed to state Active : LayeredControl::execute() -- (t = 0.000000) Behavior missionTimer:-1 has changed to state Active : **** EventTriggers::add() - attaching proxy : *** Mission started *** : **** EventTriggers::add() - attaching proxy : AshtechGps::processRecord() - $GPGGA,152737.00,3647.94447,N,12150.07554,W,1,03,3.2,32.69,M,-32.69,M,,*6C : AshtechGps::processRecord() - nSats = 3; setting quality to 0 (invalid) : AshtechGps::processRecord() - $GPGGA,152738.00,3647.94292,N,12150.07777,W,1,03,3.2,32.69,M,-32.69,M,,*6E : AshtechGps::processRecord() - nSats = 3; setting quality to 0 (invalid) : AshtechGps::processRecord() - $GPGGA,152739.00,3647.94213,N,12150.08081,W,1,03,3.2,32.69,M,-32.69,M,,*67 : AshtechGps::processRecord() - nSats = 3; setting quality to 0 (invalid) : AshtechGps::processRecord() - $GPGGA,152740.00,3647.94158,N,12150.08413,W,1,03,3.2,32.69,M,-32.69,M,,*6A : AshtechGps::processRecord() - nSats = 3; setting quality to 0 (invalid) : AshtechGps::processRecord() - $GPGGA,152741.00,3647.94084,N,12150.08730,W,1,03,3.2,32.69,M,-32.69,M,,*69 : AshtechGps::processRecord() - nSats = 3; setting quality to 0 (invalid) : newBatt::Average voltage = 29.49 V, Total current = 0.00 A : newBatt::Env:11.8 C, 12.4 C, 25.0 %rH : newBatt::packsOnline = 55 : newBatt::Charge = 0.7 V, Disch = 34.5 V : newBatt::Aux Current = 0.00 A, Discharge Current = 0.00 A Charge Current = 0.00 A : AshtechGps::processRecord() - $GPGGA,152742.00,3647.95439,N,12150.09080,W,1,04,3.4,-11.32,M,-32.69,M,,*47 : AshtechGps::processRecord() - $GPGGA,152743.00,3647.95695,N,12150.09350,W,1,04,3.4,-23.14,M,-32.69,M,,*49 : AshtechGps::processRecord() - $GPGGA,152744.00,3647.93721,N,12150.09548,W,1,03,3.2,32.69,M,-32.69,M,,*6F : AshtechGps::processRecord() - nSats = 3; setting quality to 0 (invalid) : AshtechGps::processRecord() - $GPGGA,152745.00,3647.93604,N,12150.09829,W,1,03,3.2,32.69,M,-32.69,M,,*62 : AshtechGps::processRecord() - nSats = 3; setting quality to 0 (invalid) : AshtechGps::processRecord() - $GPGGA,152746.00,3647.95424,N,12150.10218,W,1,04,3.4,-24.97,M,-32.69,M,,*4D : AshtechGps::processRecord() - $GPGGA,152747.00,3647.95115,N,12150.10545,W,1,04,3.4,-17.84,M,-32.69,M,,*46 : AshtechGps::processRecord() - $GPGGA,152748.00,3647.94935,N,12150.10879,W,1,04,3.4,-14.31,M,-32.69,M,,*4D : AshtechGps::processRecord() - $GPGGA,152749.00,3647.94643,N,12150.11204,W,1,04,3.4,-7.46,M,-32.69,M,,*71 : AshtechGps::processRecord() - $GPGGA,152750.00,3647.94554,N,12150.11526,W,1,04,3.4,-6.83,M,-32.69,M,,*73 : AshtechGps::processRecord() - $GPGGA,152751.00,3647.95263,N,12150.11884,W,1,04,9.8,-30.05,M,-32.69,M,,*48 : newBatt::Average voltage = 29.49 V, Total current = 0.00 A : newBatt::Env:11.8 C, 12.4 C, 25.0 %rH : newBatt::packsOnline = 55 : newBatt::Charge = 0.7 V, Disch = 34.3 V : newBatt::Aux Current = 0.00 A, Discharge Current = 0.00 A Charge Current = 0.00 A : AshtechGps::processRecord() - $GPGGA,152752.00,3647.94864,N,12150.12133,W,1,04,9.8,-21.37,M,-32.69,M,,*40 : AshtechGps::processRecord() - $GPGGA,152753.00,3647.95842,N,12150.12506,W,1,04,9.8,-52.30,M,-32.69,M,,*45 : AshtechGps::processRecord() - $GPGGA,152754.00,3647.95774,N,12150.12839,W,1,04,9.8,-51.41,M,-32.69,M,,*4C : AshtechGps::processRecord() - $GPGGA,152755.00,3647.95586,N,12150.13086,W,1,04,9.8,-49.17,M,-32.69,M,,*45 : AshtechGps::processRecord() - $GPGGA,152756.00,3647.94947,N,12150.13380,W,1,04,9.8,-31.41,M,-32.69,M,,*4F : AshtechGps::processRecord() - $GPGGA,152757.00,3647.94678,N,12150.13710,W,1,04,9.8,-24.08,M,-32.69,M,,*49 : AshtechGps::processRecord() - $GPGGA,152758.00,3647.93820,N,12150.13903,W,1,05,2.9,3.79,M,-32.69,M,,*5B : AshtechGps::processRecord() - $GPGGA,152759.00,3647.94078,N,12150.14260,W,1,06,1.5,-6.83,M,-32.69,M,,*70 : AshtechGps::processRecord() - $GPGGA,152800.00,3647.94063,N,12150.14527,W,1,06,1.5,-6.06,M,-32.69,M,,*70 : AshtechGps::processRecord() - $GPGGA,152801.00,3647.93966,N,12150.14792,W,1,06,1.5,-3.55,M,-32.69,M,,*75 : newBatt::Average voltage = 29.49 V, Total current = 0.00 A : newBatt::Env:11.8 C, 12.4 C, 25.0 %rH : newBatt::packsOnline = 55 : newBatt::Charge = 0.7 V, Disch = 34.3 V : newBatt::Aux Current = 0.00 A, Discharge Current = 0.00 A Charge Current = 0.00 A : AshtechGps::processRecord() - $GPGGA,152802.00,3647.93847,N,12150.15078,W,1,06,1.5,-0.86,M,-32.69,M,,*7B : AshtechGps::processRecord() - $GPGGA,152803.00,3647.93602,N,12150.15338,W,1,06,1.5,6.20,M,-32.69,M,,*55 : AshtechGps::processRecord() - $GPGGA,152804.00,3647.93533,N,12150.15649,W,1,05,2.3,7.33,M,-32.69,M,,*55 : AshtechGps::processRecord() - $GPGGA,152805.00,3647.93373,N,12150.16018,W,1,06,1.5,11.25,M,-32.69,M,,*61 : AshtechGps::processRecord() - $GPGGA,152806.00,3647.93418,N,12150.16391,W,1,06,1.5,9.63,M,-32.69,M,,*51 : AshtechGps::processRecord() - $GPGGA,152807.00,3647.93483,N,12150.16684,W,1,06,1.5,7.91,M,-32.69,M,,*50 : AshtechGps::processRecord() - $GPGGA,152808.00,3647.93508,N,12150.16997,W,1,06,1.5,6.85,M,-32.69,M,,*54 : AshtechGps::processRecord() - $GPGGA,152809.00,3647.93627,N,12150.17389,W,1,06,1.5,1.38,M,-32.69,M,,*5E : AshtechGps::processRecord() - $GPGGA,152810.00,3647.93570,N,12150.17665,W,1,06,1.5,2.08,M,-32.69,M,,*50 : AshtechGps::processRecord() - $GPGGA,152811.00,3647.93493,N,12150.17948,W,1,06,1.5,3.29,M,-32.69,M,,*5F : newBatt::Average voltage = 29.49 V, Total current = 0.00 A : newBatt::Env:11.8 C, 12.4 C, 25.0 %rH : newBatt::packsOnline = 55 : newBatt::Charge = 0.7 V, Disch = 34.4 V : newBatt::Aux Current = 0.00 A, Discharge Current = 0.00 A Charge Current = 0.00 A : AshtechGps::processRecord() - $GPGGA,152812.00,3647.93314,N,12150.18248,W,1,05,2.9,-0.61,M,-32.69,M,,*7E : AshtechGps::processRecord() - $GPGGA,152813.00,3647.93377,N,12150.18646,W,1,05,2.9,-1.59,M,-32.69,M,,*7A : AshtechGps::processRecord() - $GPGGA,152814.00,3647.93375,N,12150.19006,W,1,05,2.9,-1.71,M,-32.69,M,,*76 : AshtechGps::processRecord() - $GPGGA,152815.00,3647.93408,N,12150.19375,W,1,05,2.9,-2.12,M,-32.69,M,,*7B : AshtechGps::processRecord() - $GPGGA,152816.00,3647.93453,N,12150.19757,W,1,05,2.9,-2.55,M,-32.69,M,,*71 : AshtechGps::processRecord() - $GPGGA,152817.00,3647.90859,N,12150.18656,W,1,04,26.8,28.25,M,-32.69,M,,*50 : AshtechGps::processRecord() - $GPGGA,152818.00,3647.90765,N,12150.18977,W,1,04,26.7,29.65,M,-32.69,M,,*59 : AshtechGps::processRecord() - $GPGGA,152819.00,3647.90702,N,12150.19307,W,1,04,26.7,30.22,M,-32.69,M,,*5E : AshtechGps::processRecord() - $GPGGA,152820.00,3647.90726,N,12150.19681,W,1,04,26.6,29.24,M,-32.69,M,,*56 : AshtechGps::processRecord() - $GPGGA,152821.00,3647.90670,N,12150.20003,W,1,04,26.5,29.54,M,-32.69,M,,*57 : newBatt::Average voltage = 29.49 V, Total current = 0.00 A : newBatt::Env:11.8 C, 12.4 C, 25.0 %rH : newBatt::packsOnline = 55 : newBatt::Charge = 0.7 V, Disch = 34.5 V : newBatt::Aux Current = 0.00 A, Discharge Current = 0.00 A Charge Current = 0.00 A : AshtechGps::processRecord() - $GPGGA,152822.00,3647.90622,N,12150.20330,W,1,04,26.4,29.97,M,-32.69,M,,*5E : AshtechGps::processRecord() - $GPGGA,152823.00,3647.90548,N,12150.20641,W,1,04,26.3,30.36,M,-32.69,M,,*57 : AshtechGps::processRecord() - $GPGGA,152824.00,3647.90472,N,12150.20952,W,1,04,26.3,30.63,M,-32.69,M,,*55 : AshtechGps::processRecord() - $GPGGA,152825.00,3647.90413,N,12150.21268,W,1,04,26.2,30.63,M,-32.69,M,,*51 : AshtechGps::processRecord() - $GPGGA,152826.00,3647.91848,N,12150.22282,W,1,04,26.1,3.35,M,-32.69,M,,*66 : AshtechGps::processRecord() - $GPGGA,152827.00,3647.92167,N,12150.22807,W,1,05,4.1,-1.01,M,-32.69,M,,*7E : AshtechGps::processRecord() - $GPGGA,152828.00,3647.91995,N,12150.23037,W,1,05,4.1,-0.74,M,-32.69,M,,*7E : AshtechGps::processRecord() - $GPGGA,152829.00,3647.93141,N,12150.24026,W,1,06,1.5,-13.68,M,-32.69,M,,*46 : AshtechGps::processRecord() - $GPGGA,152830.00,3647.93085,N,12150.24333,W,1,06,1.5,-14.31,M,-32.69,M,,*4B : AshtechGps::processRecord() - $GPGGA,152831.00,3647.92419,N,12150.24280,W,1,07,1.1,-3.59,M,-32.69,M,,*7E : newBatt::Average voltage = 29.49 V, Total current = 0.00 A : newBatt::Env:11.8 C, 12.4 C, 25.0 %rH : newBatt::packsOnline = 55 : newBatt::Charge = 0.7 V, Disch = 34.4 V : newBatt::Aux Current = 0.00 A, Discharge Current = 0.00 A Charge Current = 0.00 A : AshtechGps::processRecord() - $GPGGA,152832.00,3647.92381,N,12150.24609,W,1,07,1.1,-2.67,M,-32.69,M,,*72 : AshtechGps::processRecord() - $GPGGA,152833.00,3647.92358,N,12150.25018,W,1,07,1.1,0.35,M,-32.69,M,,*58 : AshtechGps::processRecord() - $GPGGA,152834.00,3647.92155,N,12150.25098,W,1,06,1.3,-6.25,M,-32.69,M,,*71 : AshtechGps::processRecord() - $GPGGA,152835.00,3647.92228,N,12150.25515,W,1,06,1.3,-1.44,M,-32.69,M,,*79 : AshtechGps::processRecord() - $GPGGA,152836.00,3647.92215,N,12150.25878,W,1,06,1.3,0.94,M,-32.69,M,,*53 : AshtechGps::processRecord() - $GPGGA,152837.00,3647.92141,N,12150.26194,W,1,07,1.1,1.25,M,-32.69,M,,*50 : AshtechGps::processRecord() - $GPGGA,152838.00,3647.92072,N,12150.26501,W,1,07,1.1,0.73,M,-32.69,M,,*54 : AshtechGps::processRecord() - $GPGGA,152839.00,3647.92022,N,12150.26808,W,1,07,1.1,0.29,M,-32.69,M,,*5B : AshtechGps::processRecord() - $GPGGA,152840.00,3647.91980,N,12150.27124,W,1,07,1.1,0.55,M,-32.69,M,,*5A : AshtechGps::processRecord() - $GPGGA,152841.00,3647.91929,N,12150.27432,W,1,07,1.1,0.65,M,-32.69,M,,*59 : newBatt::Average voltage = 29.49 V, Total current = 0.00 A : newBatt::Env:11.8 C, 12.4 C, 25.0 %rH : newBatt::packsOnline = 55 : newBatt::Charge = 0.7 V, Disch = 34.5 V : newBatt::Aux Current = 0.00 A, Discharge Current = 0.00 A Charge Current = 0.00 A : AshtechGps::processRecord() - $GPGGA,152842.00,3647.91874,N,12150.27742,W,1,07,1.1,1.01,M,-32.69,M,,*54 : AshtechGps::processRecord() - $GPGGA,152843.00,3647.91820,N,12150.28046,W,1,07,1.1,1.25,M,-32.69,M,,*5E : AshtechGps::processRecord() - $GPGGA,152844.00,3647.91779,N,12150.28354,W,1,07,1.1,-0.05,M,-32.69,M,,*74 : AshtechGps::processRecord() - $GPGGA,152845.00,3647.91690,N,12150.28670,W,1,07,1.1,-0.60,M,-32.69,M,,*73 : AshtechGps::processRecord() - $GPGGA,152846.00,3647.91718,N,12150.29082,W,1,07,1.1,-3.11,M,-32.69,M,,*7E : AshtechGps::processRecord() - $GPGGA,152847.00,3647.91564,N,12150.29307,W,1,07,1.1,-0.54,M,-32.69,M,,*7A : AshtechGps::processRecord() - $GPGGA,152848.00,3647.91459,N,12150.29573,W,1,07,1.1,0.76,M,-32.69,M,,*52 : AshtechGps::processRecord() - $GPGGA,152849.00,3647.91303,N,12150.29840,W,1,07,1.1,2.22,M,-32.69,M,,*55 : AshtechGps::processRecord() - $GPGGA,152850.00,3647.91268,N,12150.29965,W,1,07,1.1,-0.76,M,-32.69,M,,*79 : AshtechGps::processRecord() - $GPGGA,152851.00,3647.91238,N,12150.30230,W,1,07,1.1,-1.19,M,-32.69,M,,*76 : newBatt::Average voltage = 29.49 V, Total current = 0.00 A : newBatt::Env:11.8 C, 12.4 C, 25.0 %rH : newBatt::packsOnline = 55 : newBatt::Charge = 0.7 V, Disch = 34.4 V : newBatt::Aux Current = 0.00 A, Discharge Current = 0.00 A Charge Current = 0.00 A : AshtechGps::processRecord() - $GPGGA,152852.00,3647.91185,N,12150.30525,W,1,07,1.1,-1.44,M,-32.69,M,,*7B : AshtechGps::processRecord() - $GPGGA,152853.00,3647.91231,N,12150.30890,W,1,07,1.1,-4.89,M,-32.69,M,,*71 : **** SharedData destructor for object ParosciOutput_ShmemName **** : TaskServer::signalHandler() for task WorkSiteIFServer - exit() on signal 2 : TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit() on signal 2 : TaskServer::signalHandler() for task LayeredControlIFServer - exit() on signal 2 : TaskServer::signalHandler() for task AhrsIFServer - exit() on signal 2 : TaskServer::signalHandler() for task GpsIFServer - exit() on signal 2 : TaskServer::signalHandler() for task DepthSensorIFServer - exit() on signal 2 : TaskServer::signalHandler() for task NavigationIFServer - exit() on signal 2 : TaskServer::signalHandler() for task DynamicControlIFServer - exit() on signal 2 : **** SharedData destructor for object LayeredControlOutput_ShmemName **** : TaskServer::signalHandler() for task TailConeIFServer - exit() on signal 2 : TaskServer::signalHandler() for task DropWeightIFServer - exit() on signal 2 : **** SharedData destructor for object GpsOutput_ShmemName **** : DropWeight Destructor Executing. : destroying segment ParosciOutput_ShmemName : Supervisor::signalHandler - caught signal 2 : TaskServer::signalHandler() for task EventLogIFServer - exit() on signal 2 : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() on signal 2 : TaskServer::signalHandler() for task NewBattIFServer - exit() on signal 2 : **** SharedData destructor for object newBatt1 **** : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() on signal 18 : **** SharedData destructor for object LayeredControlInput_ShmemName **** : **** SharedData destructor for object m3dmgx1 **** : **** SharedData destructor for object GpsOutput_ShmemName **** : **** SharedData destructor for object ParosciOutput_ShmemName **** : NavigationOutput::~NavigationOutput() : DynamicControlServer::Destructor. Difference between clock time and accumulated sample periods is -0.21, at t=76.39. : destroying segment LayeredControlOutput_ShmemName : **** SharedData destructor for object TailConeInput_ShmemName **** : destroying segment GpsOutput_ShmemName : **** SharedData destructor for object dropWeightOutput **** : StepGetStat(2): checksum error : destroying prot sem ParosciOutput_ShmemName_prot : Supervisor::signalHandler - setting exit flag [1] //1/home/dorado1/auv-qnx-dev/auv/altex/onboard/bin/newBattServer terminated (SIGSEGV) at 0007:000201F7. : destroying segment newBatt1 : **** SharedData destructor for object m3dmgx1Cmd **** : destroying segment LayeredControlInput_ShmemName : destroying segment m3dmgx1 : **** SharedData destructor for object dropWeightOutput **** : destroying segment GpsOutput_ShmemName : destroying segment ParosciOutput_ShmemName : **** SharedData destructor for object navigationOutput **** : destroying prot sem LayeredControlOutput_ShmemName_prot : destroying segment TailConeInput_ShmemName : destroying prot sem GpsOutput_ShmemName_prot : NavigationOutput::~NavigationOutput() : destroying segment dropWeightOutput : destroying notify sem ParosciOutput_ShmemName_notify : Supervisor::run - caught stop signal - exiting run loop : destroying prot sem newBatt1_prot : destroying segment m3dmgx1Cmd : destroying prot sem LayeredControlInput_ShmemName_prot : destroying prot sem m3dmgx1_prot : destroying segment dropWeightOutput : destroying prot sem GpsOutput_ShmemName_prot : destroying prot sem ParosciOutput_ShmemName_prot : destroying segment navigationOutput : destroying notify sem LayeredControlOutput_ShmemName_notify : destroying prot sem TailConeInput_ShmemName_prot : destroying notify sem GpsOutput_ShmemName_notify : **** SharedData destructor for object navigationOutput **** : destroying prot sem dropWeightOutput_prot : Supervisor::run - calling shutdown/exit : destroying notify sem newBatt1_notify : destroying prot sem m3dmgx1Cmd_prot : destroying notify sem LayeredControlInput_ShmemName_notify : TaskServer::signalHandler() for task DepthSensorIFServer - exit() on signal 18 : destroying notify sem m3dmgx1_notify : destroying prot sem dropWeightOutput_prot : destroying notify sem GpsOutput_ShmemName_notify : destroying prot sem navigationOutput_prot : **** SharedData destructor for object LayeredControlInput_ShmemName **** : destroying notify sem TailConeInput_ShmemName_notify : destroying segment navigationOutput : destroying notify sem dropWeightOutput_notify : Supervisor::shutdown - signaling processes : TaskServer::signalHandler() for task GpsIFServer - exit() on signal 18 : destroying notify sem m3dmgx1Cmd_notify : **** SharedData destructor for object LayeredControlOutput_ShmemName **** : **** SharedData destructor for object m3dmgx1Cmd **** : destroying notify sem dropWeightOutput_notify : destroying notify sem navigationOutput_notify : destroying segment LayeredControlInput_ShmemName : **** SharedData destructor for object TailConeOutput_ShmemName **** : destroying prot sem navigationOutput_prot : TaskServer::signalHandler() for task GpsIFServer - exit() on signal 2 : TaskServer::signalHandler() for task NavigationIFServer - exit() on signal 2 : Supervisor::signalHandler - caught signal 2 : **** SharedData destructor for object m3dmgx1 **** : destroying segment LayeredControlOutput_ShmemName : destroying segment m3dmgx1Cmd : destroying prot sem LayeredControlInput_ShmemName_prot : destroying segment TailConeOutput_ShmemName : Supervisor::signalHandler possible duplicate signal[2] : destroying segment m3dmgx1 : destroying prot sem LayeredControlOutput_ShmemName_prot : destroying prot sem m3dmgx1Cmd_prot : destroying notify sem LayeredControlInput_ShmemName_notify : destroying prot sem TailConeOutput_ShmemName_prot : Supervisor::signalHandler - setting exit flag [2] : destroying prot sem m3dmgx1_prot : destroying notify sem LayeredControlOutput_ShmemName_notify : destroying notify sem m3dmgx1Cmd_notify : TaskServer::signalHandler() for task LayeredControlIFServer - exit() on signal 2 : destroying notify sem TailConeOutput_ShmemName_notify : Supervisor::shutdown - cleaning up : destroying notify sem m3dmgx1_notify : **** SharedData destructor for object TailConeInput_ShmemName **** : Supervisor::shutdown - deleting output : destroying segment TailConeInput_ShmemName : **** SharedData destructor for object SupervisorOutout **** : destroying prot sem TailConeInput_ShmemName_prot : destroying notify sem TailConeInput_ShmemName_notify : **** SharedData destructor for object TailConeOutput_ShmemName **** : destroying segment SupervisorOutout : destroying segment TailConeOutput_ShmemName : destroying prot sem SupervisorOutout_prot : destroying prot sem TailConeOutput_ShmemName_prot : destroying notify sem SupervisorOutout_notify : destroying notify sem TailConeOutput_ShmemName_notify : Supervisor::shutdown - done : Supervisor::~Supervisor - dtor