Supervisor::createCoreTasks() Supervisor::createTask() - eventLogServer Supervisor::createTask() - workSite Supervisor::createTask() - vehicleCo: Initializing worksiteServer nfigurat: WorkSite::WorkSite -- Adding attributes ion: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv-qnx-dev/auv/altex/onboard/config/i2map_dmo1/workSite.cfg Server Supervisor::createTask() - externalCommsServer Supervisor::createTask() - navigationServer : starting LC: layeredControlServer -plan Setpoint_Test.cfg.pp -abort abortMplan.cfg Supervisor::createTask() - layeredControlServer -plan Setpoint_Test.cfg.pp -abort abortMplan.cfg Supervisor::createTask() - dynamicControlServer : Using default vehicle config file "/home/dorado1/auv-qnx-dev/auv/altex/onboard/config/i2map_dmo1/vehicle.cfg" : Creating NavigationServer... : *** NavigationServer::NavigationServer()... : 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 : Supervisor::createTasks() - spawning newTailConeServer -dev /dev/ser3 : 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 Su: 3: 4 600848.125000E 4069389.500000N 80.199997 m 10.000000 ms channel:6 perv: 4: 5 602732.187500E 4067093.000000N 57.299999 m 10.000000 ms channel:7 is: WorkSite server: 0x23160 or:: *** NavigationServer::NavigationServer() - DONE :c: Done creating NavigationServer... re: Navigation::Navigation - Setting start depth to 0.0 meters. ateTask() - newTailConeServer -de: Navigation::Navigation _logOnly = 0 v: Navigation - Using only the Dvl to compute altitude. /: Navigation/EchoSounder:: epoch = (1544212071,532296577) de: Navigation: Opening Acoustic Modem Interface: v/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() -: SerialDevice: done... : TailConeServer -- Maximum Elevator Actuator Excursion is 0 Counts gp: TailConeServer:: -- Minimum Elevator Actuator Excursion is 0 Counts sS: TailConeServer -- Maximum Rudder Actuator Excursion is 0 Counts er: TailConeServer -- Minimum Rudder Actuator Excursion is 0 Counts v: Preparing to fork e: SerialDevice: done... r : I'm the child...forking -r as: SerialDevice: done... hte: Attributes::parse() - Couldn't open CrossbowConstants attributes file "/home/dorado1/auv-qnx-dev/auv/altex/onboard/config/i2map_dmo1/crossbow.cfg" : SerialDevice: done... ch: VehicleConstants -- Caught exception while loading vehicle constants -dev /dev/ser7 : Supervisor::createTasks() - spawning parosciServer -dev /dev/ser9 Su: SerialDevice: done... p: Crossbow.cc: In getSerialNumber() ervisor::createTask() - parosciServer -dev /dev/ser9 : Supervisor::createTasks() - spawning newBattServer -dev tcp:134.89.32.137:10003 -n newBatt1 Supervisor::createTask() -: SerialDevice: done... newBa: SerialDevice: done... t: Gps: initializing : Parosci::reson host is NULL t: SerialDevice: done... Ser: Parosci.cc -- parsed PR (100) and TempInterval (100) ver: Gps: done initializing... -dev: **** EventTriggers::add() - attaching proxy tcp:134.89.32.137:10003 -n newBatt1 : Supervisor::createTasks() - spawning seabird25pServer -n seabird25p -dev udp:134.89.32.55:54125 Supervisor::createTask() - seabird2: NewBattServer: servicename=NewBattIFServer 5pServer -n : NewBattServer::spawnAuxTasks - execlp(newBattDriver newBattDriver -dev tcp:134.89.32.137:10003 -n newBatt1 seabird25p -dev udp:134.89.32.55:54125 : Supervisor::createTasks() - spawning dropWeightServer -dev /dev/ser13 Su: Battery newBatt1 initializing. pervisor::createTask() - dro: seabird25pDriver RUNNING... p: Seabird/seabird25p -- Loading CTD constants from /home/dorado1/auv-qnx-dev/auv/altex/onboard/config/i2map_dmo1/seabird25p.cfg WeightServer -dev /dev/ser13 : SerialDevice: done... : SerialDevice: done... : DropWeight::initialize - Resetting counters. : **** EventTriggers::add() - attaching proxy : SerialDevice: done... : CTD/seabird25p -- Calibration constants: Temp Sensor T_coefs= G T_a = 3.681213e-003 T_b = 6.042327e-004 T_c = 1.655279e-005 T_d = 2.244365e-006 T_f0 = 3304.265000 T_g = 4.370614e-003 T_h = 6.440439e-004 T_i = 2.277248e-005 T_j = 2.064405e-006 T_gf0 = 1000.000000 Conductivity Sensor T_coefs= G C_a = 1.220927e-006 C_b = 4.572136e-001 C_c = -4.124703 C_d = -7.815561e-005 C_m = 5.200 EPS = -9.570000e-008 C_g = -3.926335e+000 C_h = 4.211061e-001 C_i = 0.000006 C_j = 1.887958e-005 C_pcor = 0.000 C_tcor = 0.000 Oxygen Sensor SOc = 4.466000e-001 BOc = 0.000000e+000 Voff = -5.070000e-001 TCor = 0.000000e+000 PCor = 1.350000e-004 Pressure Sensor P_A0 = 3.858592e+000 P_A1 = 5.549117e-004 P_A2 = -6.304879e-013 PT_A0 = -6.313844e+001 PT_A1 = 5.355101e+001 PT_A2 = -5.212054e-001 PTC_A0 = 8.409078e+006 PTC_A1 = 5.389669e+002 PTC_A2 = -9.456861e+000 PTC_B0 = 2.525163e+001 PTC_B1 = 2.125000e-003 PTC_B2 = 0.000000e+000 : Seabird/seabird25p::Seabird() - create interface to depth sensor... : Seabird/seabird25p -- DepthSensor server is not running. Using default pres of 10.100000 : Seabird/seabird25p::Seabird() - create interface to worksite... : PeriodicTask::run() (newBatt1) - sampleInterval=10000, maxInterval=10000 : Seabird25p.cc -- Worksite server is not running. Using default lat of 45.000000 : Seabird/seabird25p -- constructing Log... : Seabird25Log.cc -- beginning constructor... : Seabird25Log.cc -- constructor succeeded : Seabird/seabird25p -- constructor succeeded : seabird25pDriver -- constructor succeeded : Seabird/seabird25p:initializing Seabird... : Seabird/seabird25p: sending CRLF... : SerialDevice: done... : DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize() : PeriodicTask::run() (layeredControl) - sampleInterval=2000, maxInterval=0 : Crossbow.cc: device->read succeeded : m3dmgx1: Serial Number is 6548 : PeriodicTask::run() (crossbow) - sampleInterval=200, maxInterval=200 : 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 : Parosci.cc -- Initial pressure = 0.077502 : Parosci.cc -- Parosci initial pressure period = 29.917330 : Parosci.cc -- Parosci initial temp period = 5.818393 : initial pressure is 1.124141 : Parosci.cc -- Paroscientific configured. : gpsDriver::readRecord() - serial device timed out : **** EventTriggers::add() - attaching proxy : SerialDevice::confirm() - Timed Out : Seabird/seabird25p::initialize() - confirm() timed out; sleep a bit : Command checksum error! : PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200 : Parosci.cc - mode set to nano resolution : Parosci.cc - mode set to streaming : gpsDriver::readRecord() - serial device timed out : Seabird/seabird25p::initialize() - starting logging... : Ctd/seabird25p:initialize() - ready! : **** EventTriggers::add() - attaching proxy : gpsDriver::readRecord() - serial device timed out : Seabird/seabird25p: error record length (2) incorrect (is not 62) : Seabird/seabird25p: error sscanfing 2 bytes in reply: : Seabird/seabird25p: error sscanf'ing conductivity data string : Seabird/seabird25p: error sscanf'ing pressure data string : Seabird/seabird25p: error sscanf'ing pressure temperature data string : newBatt::Average voltage = 28.57 V, Total current = -2.16 A : newBatt::Env:14.7 C, 15.9 C, 23.8 %rH : newBatt::packsOnline = 55 : newBatt::Charge = 0.6 V, Disch = 28.4 V : newBatt::Aux Current = 0.00 A, Discharge Current = 1.20 A Charge Current = 0.00 A : newBatt:: There are 55 packs of 3.4 A-h cells. : gpsDriver::readRecord() - serial device timed out : 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 aux - connecting to Nav->Dvl at t = 20198. : gpsDriver::readRecord() - serial device timed out : gpsDriver::readRecord() - serial device timed out : newBatt::Average voltage = 28.57 V, Total current = -1.90 A : newBatt::Env:14.8 C, 15.9 C, 23.8 %rH : newBatt::packsOnline = 55 : newBatt::Charge = 0.6 V, Disch = 28.4 V : newBatt::Aux Current = 0.00 A, Discharge Current = 1.10 A Charge Current = 0.00 A : gpsDriver::readRecord() - serial device timed out : Navigation: Server for aux 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. : gpsDriver::readRecord() - serial device timed out : newBatt::Average voltage = 28.57 V, Total current = -1.89 A : newBatt::Env:14.8 C, 15.9 C, 23.9 %rH : newBatt::packsOnline = 55 : newBatt::Charge = 0.6 V, Disch = 28.4 V : newBatt::Aux Current = 0.00 A, Discharge Current = 1.20 A Charge Current = 0.00 A : gpsDriver::readRecord() - serial device timed out : 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. : gpsDriver::readRecord() - serial device timed out : gpsDriver::readRecord() - serial device timed out : newBatt::Average voltage = 28.57 V, Total current = -1.82 A : newBatt::Env:14.8 C, 15.9 C, 23.9 %rH : newBatt::packsOnline = 55 : newBatt::Charge = 0.6 V, Disch = 28.4 V : newBatt::Aux Current = 0.00 A, Discharge Current = 1.10 A Charge Current = 0.00 A : gpsDriver::readRecord() - serial device timed out : Navigation: Server for aux sensor "Nav->Usbl" not found : 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 depthEnvelope:-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 : gpsDriver::readRecord() - serial device timed out : newBatt::Average voltage = 28.57 V, Total current = -1.84 A : newBatt::Env:14.8 C, 15.9 C, 23.9 %rH : newBatt::packsOnline = 55 : newBatt::Charge = 0.6 V, Disch = 28.4 V : newBatt::Aux Current = 0.00 A, Discharge Current = 1.10 A Charge Current = 0.00 A : gpsDriver::readRecord() - serial device timed out : gpsDriver::readRecord() - serial device timed out : AshtechGps::processRecord() - @@@$GPGGA,194854.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,194855.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : newBatt::Average voltage = 28.49 V, Total current = -10.66 A : newBatt::Env:14.7 C, 15.9 C, 23.9 %rH : newBatt::packsOnline = 55 : newBatt::Charge = 0.6 V, Disch = 28.2 V : newBatt::Aux Current = 0.00 A, Discharge Current = 10.40 A Charge Current = 0.00 A : AshtechGps::processRecord() - $GPGGA,194856.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,194857.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,194858.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,194859.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,194900.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,194901.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,194902.00,,,,,0,01,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,194903.00,,,,,0,01,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,194904.00,,,,,0,01,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,194905.00,,,,,0,01,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : newBatt::Average voltage = 28.48 V, Total current = -10.58 A : newBatt::Env:14.8 C, 15.9 C, 23.9 %rH : newBatt::packsOnline = 55 : newBatt::Charge = 0.6 V, Disch = 28.2 V : newBatt::Aux Current = 0.00 A, Discharge Current = 11.20 A Charge Current = 0.00 A : AshtechGps::processRecord() - $GPGGA,194906.00,,,,,0,01,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,194907.00,,,,,0,01,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,194908.00,,,,,0,01,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,194909.00,,,,,0,01,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,194910.00,,,,,0,01,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,194911.00,,,,,0,01,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Behavior setpoint - Timed out! : LayeredControl::execute() -- (t = 30.197931) Behavior setpoint:-1 has changed to state Finished : LayeredControl::execute() -- (t = 30.197931) Behavior descend:-1 has changed to state Active : AshtechGps::processRecord() - $GPGGA,194912.00,,,,,0,01,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,194913.00,,,,,0,01,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,194914.00,,,,,0,01,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,194915.00,,,,,0,01,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : newBatt::Average voltage = 28.46 V, Total current = -11.90 A : newBatt::Env:14.8 C, 15.9 C, 23.9 %rH : newBatt::packsOnline = 55 : newBatt::Charge = 0.6 V, Disch = 28.2 V : newBatt::Aux Current = 0.00 A, Discharge Current = 10.60 A Charge Current = 0.00 A : AshtechGps::processRecord() - $GPGGA,194916.00,,,,,0,01,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,194917.00,,,,,0,01,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,194918.00,,,,,0,01,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,194919.00,,,,,0,01,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,194920.00,,,,,0,01,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,194921.00,,,,,0,01,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,194922.00,,,,,0,01,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,194923.00,,,,,0,01,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,194924.00,,,,,0,01,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,194925.00,,,,,0,01,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : newBatt::Average voltage = 28.48 V, Total current = -9.82 A : newBatt::Env:14.8 C, 15.9 C, 23.9 %rH : newBatt::packsOnline = 55 : newBatt::Charge = 0.6 V, Disch = 28.2 V : newBatt::Aux Current = 0.00 A, Discharge Current = 9.10 A Charge Current = 0.00 A : AshtechGps::processRecord() - $GPGGA,194926.00,,,,,0,01,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,194927.00,,,,,0,01,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,194928.00,,,,,0,01,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,194929.00,,,,,0,01,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,194930.00,,,,,0,01,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,194931.00,,,,,0,01,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,194932.00,,,,,0,01,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,194933.00,,,,,0,01,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,194934.00,,,,,0,01,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,194935.00,,,,,0,01,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : newBatt::Average voltage = 28.48 V, Total current = -9.57 A : newBatt::Env:14.7 C, 15.9 C, 23.9 %rH : newBatt::packsOnline = 55 : newBatt::Charge = 0.6 V, Disch = 28.3 V : newBatt::Aux Current = 0.00 A, Discharge Current = 7.60 A Charge Current = 0.00 A : AshtechGps::processRecord() - $GPGGA,194936.00,,,,,0,01,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,194937.00,,,,,0,01,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,194938.00,,,,,0,01,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,194939.00,,,,,0,01,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,194940.00,,,,,0,01,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,194941.00,,,,,0,01,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,194942.00,,,,,0,01,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,194943.00,,,,,0,01,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,194944.00,,,,,0,01,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,194945.00,,,,,0,01,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : newBatt::Average voltage = 28.47 V, Total current = -10.13 A : newBatt::Env:14.8 C, 15.9 C, 23.9 %rH : newBatt::packsOnline = 55 : newBatt::Charge = 0.6 V, Disch = 28.2 V : newBatt::Aux Current = 0.00 A, Discharge Current = 9.80 A Charge Current = 0.00 A : AshtechGps::processRecord() - $GPGGA,194946.00,,,,,0,01,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,194947.00,,,,,0,01,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,194948.00,,,,,0,01,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,194949.00,,,,,0,01,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,194950.00,,,,,0,01,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : gpsDriver::readRecord() - serial device timed out : newBatt::Average voltage = 28.47 V, Total current = -10.22 A : newBatt::Env:15.0 C, 15.9 C, 23.9 %rH : newBatt::packsOnline = 55 : newBatt::Charge = 0.6 V, Disch = 28.2 V : newBatt::Aux Current = 0.00 A, Discharge Current = 10.50 A Charge Current = 0.00 A : gpsDriver::readRecord() - serial device timed out : gpsDriver::readRecord() - serial device timed out : newBatt::Average voltage = 28.47 V, Total current = -9.95 A : newBatt::Env:14.8 C, 16.0 C, 23.8 %rH : newBatt::packsOnline = 55 : newBatt::Charge = 0.6 V, Disch = 28.2 V : newBatt::Aux Current = 0.00 A, Discharge Current = 9.20 A Charge Current = 0.00 A : gpsDriver::readRecord() - serial device timed out : gpsDriver::readRecord() - serial device timed out : gpsDriver::readRecord() - serial device timed out : newBatt::Average voltage = 28.47 V, Total current = -9.42 A : newBatt::Env:14.7 C, 16.0 C, 23.8 %rH : newBatt::packsOnline = 55 : newBatt::Charge = 0.6 V, Disch = 28.2 V : newBatt::Aux Current = 0.00 A, Discharge Current = 8.30 A Charge Current = 0.00 A : gpsDriver::readRecord() - serial device timed out : gpsDriver::readRecord() - serial device timed out : newBatt::Average voltage = 28.47 V, Total current = -9.15 A : newBatt::Env:14.8 C, 16.0 C, 23.8 %rH : newBatt::packsOnline = 55 : newBatt::Charge = 0.6 V, Disch = 28.2 V : newBatt::Aux Current = 0.00 A, Discharge Current = 10.30 A Charge Current = 0.00 A : gpsDriver::readRecord() - serial device timed out : gpsDriver::readRecord() - serial device timed out : gpsDriver::readRecord() - serial device timed out : newBatt::Average voltage = 28.46 V, Total current = -10.44 A : newBatt::Env:14.9 C, 16.0 C, 23.8 %rH : newBatt::packsOnline = 55 : newBatt::Charge = 0.6 V, Disch = 28.2 V : newBatt::Aux Current = 0.00 A, Discharge Current = 8.50 A Charge Current = 0.00 A : gpsDriver::readRecord() - serial device timed out : Behavior descend - Timed out! : LayeredControl::execute() -- (t = 120.391753) Behavior descend:-1 has changed to state Finished : LayeredControl::execute() -- (t = 120.391753) Behavior setpoint:-1 has changed to state Active : DynamicControlServer::Begin vertical mode 2 at t = 120.39 sec. : gpsDriver::readRecord() - serial device timed out : newBatt::Average voltage = 28.46 V, Total current = -9.07 A : newBatt::Env:14.8 C, 16.0 C, 23.8 %rH : newBatt::packsOnline = 55 : newBatt::Charge = 0.6 V, Disch = 28.2 V : newBatt::Aux Current = 0.00 A, Discharge Current = 8.50 A Charge Current = 0.00 A : gpsDriver::readRecord() - serial device timed out : gpsDriver::readRecord() - serial device timed out : gpsDriver::readRecord() - serial device timed out : newBatt::Average voltage = 28.46 V, Total current = -9.60 A : newBatt::Env:14.8 C, 16.0 C, 23.8 %rH : newBatt::packsOnline = 55 : newBatt::Charge = 0.6 V, Disch = 28.2 V : newBatt::Aux Current = 0.00 A, Discharge Current = 8.90 A Charge Current = 0.00 A : gpsDriver::readRecord() - serial device timed out : gpsDriver::readRecord() - serial device timed out : newBatt::Average voltage = 28.46 V, Total current = -9.82 A : newBatt::Env:14.8 C, 16.0 C, 23.8 %rH : newBatt::packsOnline = 55 : newBatt::Charge = 0.6 V, Disch = 28.2 V : newBatt::Aux Current = 0.00 A, Discharge Current = 8.20 A Charge Current = 0.00 A : gpsDriver::readRecord() - serial device timed out : gpsDriver::readRecord() - serial device timed out : gpsDriver::readRecord() - serial device timed out : newBatt::Average voltage = 28.47 V, Total current = -8.80 A : newBatt::Env:14.8 C, 16.0 C, 23.8 %rH : newBatt::packsOnline = 55 : newBatt::Charge = 0.6 V, Disch = 28.2 V : newBatt::Aux Current = 0.00 A, Discharge Current = 8.70 A Charge Current = 0.00 A : gpsDriver::readRecord() - serial device timed out : gpsDriver::readRecord() - serial device timed out : newBatt::Average voltage = 28.46 V, Total current = -9.82 A : newBatt::Env:15.0 C, 16.1 C, 23.8 %rH : newBatt::packsOnline = 55 : newBatt::Charge = 0.6 V, Disch = 28.2 V : newBatt::Aux Current = 0.00 A, Discharge Current = 10.50 A Charge Current = 0.00 A : gpsDriver::readRecord() - serial device timed out : gpsDriver::readRecord() - serial device timed out : gpsDriver::readRecord() - serial device timed out : newBatt::Average voltage = 28.45 V, Total current = -10.15 A : newBatt::Env:14.9 C, 16.1 C, 23.8 %rH : newBatt::packsOnline = 55 : newBatt::Charge = 0.6 V, Disch = 28.2 V : newBatt::Aux Current = 0.00 A, Discharge Current = 8.80 A Charge Current = 0.00 A : gpsDriver::readRecord() - serial device timed out : gpsDriver::readRecord() - serial device timed out : newBatt::Average voltage = 28.45 V, Total current = -10.21 A : newBatt::Env:15.0 C, 16.1 C, 23.8 %rH : newBatt::packsOnline = 55 : newBatt::Charge = 0.6 V, Disch = 28.2 V : newBatt::Aux Current = 0.00 A, Discharge Current = 9.20 A Charge Current = 0.00 A : gpsDriver::readRecord() - serial device timed out : Supervisor::signalHandler - caught signal 15 : Supervisor::signalHandler - setting exit flag [1] : Supervisor::run - caught stop signal - exiting run loop : Supervisor::run - calling shutdown/exit : Supervisor::shutdown - signaling processes : **** 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 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 LayeredControlIFServer - exit() on signal 2 : TaskServer::signalHandler() for task seabird25p - exit() on signal 2 : TaskServer::signalHandler() for task DropWeightIFServer - exit() on signal 2 : **** SharedData destructor for object GpsOutput_ShmemName **** : DropWeight Destructor Executing. : **** SharedData destructor for object seabird25pSeabirdOutput_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 **** : destroying segment ParosciOutput_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 0.00, at t=187.60. : destroying segment LayeredControlOutput_ShmemName : **** SharedData destructor for object TailConeInput_ShmemName **** : **** SharedData destructor for object LayeredControlInput_ShmemName **** : destroying segment GpsOutput_ShmemName : **** SharedData destructor for object seabird25pSeabirdOutput_ShmemName **** : **** SharedData destructor for object dropWeightOutput **** : destroying segment seabird25pSeabirdOutput_ShmemName : Supervisor::signalHandler possible duplicate signal[2] : destroying segment newBatt1 : destroying prot sem ParosciOutput_ShmemName_prot : destroying segment m3dmgx1 : destroying segment GpsOutput_ShmemName : destroying segment ParosciOutput_ShmemName : **** SharedData destructor for object navigationOutput **** : StepGetStat (2) failed to read chars, rcvd=-1, want=2 : **** SharedData destructor for object m3dmgx1Cmd **** : destroying prot sem LayeredControlOutput_ShmemName_prot : destroying segment TailConeInput_ShmemName : destroying segment LayeredControlInput_ShmemName : destroying prot sem GpsOutput_ShmemName_prot : destroying segment seabird25pSeabirdOutput_ShmemName : destroying segment dropWeightOutput : destroying prot sem seabird25pSeabirdOutput_ShmemName_prot : Supervisor::signalHandler - setting exit flag [2] : destroying prot sem newBatt1_prot : destroying notify sem ParosciOutput_ShmemName_notify : destroying prot sem m3dmgx1_prot : destroying prot sem GpsOutput_ShmemName_prot : destroying prot sem ParosciOutput_ShmemName_prot : destroying segment navigationOutput : StepGetStat (2) 34 99 00 00 03 00 00 : destroying segment m3dmgx1Cmd : destroying notify sem LayeredControlOutput_ShmemName_notify : destroying prot sem TailConeInput_ShmemName_prot : destroying prot sem LayeredControlInput_ShmemName_prot : destroying notify sem GpsOutput_ShmemName_notify : destroying prot sem seabird25pSeabirdOutput_ShmemName_prot : destroying prot sem dropWeightOutput_prot : destroying notify sem seabird25pSeabirdOutput_ShmemName_notify : Supervisor::shutdown - cleaning up : destroying notify sem newBatt1_notify : NavigationOutput::~NavigationOutput() : destroying notify sem m3dmgx1_notify : destroying notify sem GpsOutput_ShmemName_notify : destroying notify sem ParosciOutput_ShmemName_notify : destroying prot sem navigationOutput_prot : destroying prot sem m3dmgx1Cmd_prot : **** SharedData destructor for object LayeredControlInput_ShmemName **** : destroying notify sem TailConeInput_ShmemName_notify : **** SharedData destructor for object dropWeightOutput **** : destroying notify sem LayeredControlInput_ShmemName_notify : destroying notify sem seabird25pSeabirdOutput_ShmemName_notify : destroying notify sem dropWeightOutput_notify : Supervisor::shutdown - deleting output : **** SharedData destructor for object navigationOutput **** : **** SharedData destructor for object m3dmgx1Cmd **** : destroying notify sem navigationOutput_notify : destroying notify sem m3dmgx1Cmd_notify : destroying segment LayeredControlInput_ShmemName : **** SharedData destructor for object TailConeOutput_ShmemName **** : destroying segment dropWeightOutput : **** SharedData destructor for object LayeredControlOutput_ShmemName **** : **** SharedData destructor for object SupervisorOutout **** : destroying segment navigationOutput : destroying segment m3dmgx1Cmd : failed to unlink queue NavigationInput : **** SharedData destructor for object m3dmgx1 **** : destroying prot sem LayeredControlInput_ShmemName_prot : destroying segment TailConeOutput_ShmemName : destroying prot sem dropWeightOutput_prot : destroying segment LayeredControlOutput_ShmemName : destroying prot sem navigationOutput_prot : destroying segment SupervisorOutout : destroying prot sem m3dmgx1Cmd_prot : destroying segment m3dmgx1 : destroying notify sem LayeredControlInput_ShmemName_notify : destroying prot sem TailConeOutput_ShmemName_prot : destroying notify sem dropWeightOutput_notify : destroying prot sem LayeredControlOutput_ShmemName_prot : destroying notify sem navigationOutput_notify : destroying prot sem SupervisorOutout_prot : destroying notify sem m3dmgx1Cmd_notify : destroying prot sem m3dmgx1_prot : destroying notify sem TailConeOutput_ShmemName_notify : destroying notify sem LayeredControlOutput_ShmemName_notify : destroying notify sem SupervisorOutout_notify : destroying notify sem m3dmgx1_notify : Supervisor::shutdown - done : Supervisor::~Supervisor - dtor //1/home/dorado1/auv-qnx-dev/auv/altex/onboard/bin/newBattServer terminated (SIGSEGV) at 0007:000201F7. : **** SharedData destructor for object TailConeInput_ShmemName **** : destroying segment TailConeInput_ShmemName : destroying prot sem TailConeInput_ShmemName_prot : destroying notify sem TailConeInput_ShmemName_notify : **** SharedData destructor for object TailConeOutput_ShmemName **** : destroying segment TailConeOutput_ShmemName : destroying prot sem TailConeOutput_ShmemName_prot : destroying notify sem TailConeOutput_ShmemName_notify