Supervisor::createCoreTasks() Supervisor::createTask() - eventLogServer Supervisor::createTask() - workSite Supervisor::createTask() - vehicleConfigurationServer Supervisor::createTa: Initializing worksiteServer sk() - e: WorkSite::WorkSite -- Adding attributes xte: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv-qnx-dev2020/auv/altex/onboard/config/mapper1_trn/workSite.cfg rnalCommsServer Supervisor::createTask() - navi: Using default vehicle config file "/home/dorado1/auv-qnx-dev2020/auv/altex/onboard/config/mapper1_trn/vehicle.cfg" gationServer : starting LC: layeredControlServer -plan Lab1.cfg -abort abortLab1.cfg Supervisor::createTask() - layeredControlServer -plan Lab1.: WorkSite::WorkSite -- Finished loading parameters cf: WorkSite::WorkSite -- Starting Depth is 0.000000 meters g -: 0: 1 600674.187500E 4067388.750000N 73.699997 m 10.000000 ms channel:2 ab: 1: 2 600531.687500E 4065156.000000N 73.199997 m 10.000000 ms channel:4 or: 2: 3 598447.000000E 4067412.250000N 91.400002 m 10.000000 ms channel:5 t a: 3: 4 600848.125000E 4069389.500000N 80.199997 m 10.000000 ms channel:6 bor: 4: 5 602732.187500E 4067093.000000N 57.299999 m 10.000000 ms channel:7 tL: WorkSite server: 0x23294 ab: Creating NavigationServer... 1: *** NavigationServer::NavigationServer()... .cf: *** NavigationServer::NavigationServer() - DONE g : Done creating NavigationServer... S: Navigation::Navigation - Setting start depth to 0.0 meters. uperviso: Navigation::Navigation _logOnly = 1 r: Navigation/Multibeam:: epoch = (1580852263,847539222) ::: Navigation/EchoSounder:: epoch = (1580852263,847539222) cre: Navigation: Opening Acoustic Modem Interface: ateTask() - dynamicControlServer : layeredControlServer - creating non dynamic version : Supervisor::createTasks() - spawning dropWeightServer -dev /dev/ser4 Supervisor::createTask() - dropWeightServer -dev /dev/ser4 : Supervisor::createTasks() - spawning newTailConeServer -dev /dev/ser13 Supervisor::createTask() - newTailConeServer -dev /dev/ser13 : Supervisor::createTasks() - spawning kearfottServer -dev /dev/ser10 -7khost 134.89.32.107 Supervisor::cre: SerialDevice: done... ateTask(: DropWeight::initialize - Resetting counters. ): **** EventTriggers::add() - attaching proxy - kearfottServer -dev /dev/ser10 -7khost 134.89.32.107 : Supervisor::createTasks() - spawning kearfottDvlServer Supervisor::createTask() - kearfottDvlServer : Supervisor::createTasks() - spawning parosciServer -dev /dev/ser1 -7khost 134.89.32.107 Supervisor::createTask() - p: creating if InsIFServer a: dop aid flag is 1 ro: Preparing to fork sc: I'm the child...forking iS: SerialDevice: done... erver -dev /: SerialDevice: done... d: TailConeServer -- Maximum Elevator Actuator Excursion is 0 Counts e: TailConeServer:: -- Minimum Elevator Actuator Excursion is 0 Counts v/ser: TailConeServer -- Maximum Rudder Actuator Excursion is 0 Counts 1: SerialDevice: done... : TailConeServer -- Minimum Rudder Actuator Excursion is 0 Counts -7: SerialDevice: done... kh: SerialDevice: done... ost 134.89.: SerialDevice: done... 32.107 : Supervisor::createTasks() - spawning fanServer Supervisor::createTask() - fanServer : Supervisor::createTasks() - spawning fastcatServer -dev /dev/ser7 Supervisor::createTask() - fastcatSer: ParosciServer:: reson host is 134.89.32.107 v: SerialDevice: done... er: Parosci: insIF is 0x40050 -: Parosci::reson host is 134.89.32.107 dev /dev/ser7 : Supervisor::createTasks() - spawning reson6046Server Supervisor::createTask::spawnServer() - execlp() of "fan" failed: Operation not permitted Task() - reson6046Server : Supervisor::createTasks() - spawning edgetechFSDWServer Supervisor::createTask() - edget: fastcatDriver RUNNING... e: SerialDevice: done... ch: FastCat: constructing... FSDWServer : FastCatLog.cc -- beginning constructor... : FastCatLog.cc -- constructor succeeded : fastcatDriver -- constructor succeeded : Supervisor::createTasks() - spawning gpsServer -r ashtech -dev udp:localhost:5050 : FastCat: initializing... Supervisor::createTask: SerialDevice: done... (: Launching Reson6046Server... ) -: Setting name... g: Creating server... psS: Command constructor... er: Run server... ve: Launching Reson6046Driver... r : Setting name to 'reson6046'... -r: Creating Reson6046Driver instance... a: --> Starting Reson 6046 Driver.... sh: Command constructor... tech -dev u: reson6046: fastcatIF is 0x43ff0 d: reson6046: navIF is 0x44148 p:: reson6046: insIF is 0x44388 lo: reson6046: DepthSensorIF is 0x444d0 calhost:5050 : Supervisor::createTasks() - spawning benthosWithAvtrakServer -dev /dev/ser12 S: Launching EdgetechFSDWServer... up: Setting name... er: Creating server... vi: Starting EdgeTech Handler.. sor: --> Starting Edgetech FSDW Driver.... ::: -------EdgetechFSDW Configuration------- cr: Debug Level = 1. eat: Init Error Count Limit = 10. eT: Error Count Limit = 10. as: Callback Period = 100 milliseconds. k(: Edgetech FSDW IP Address = 127.000.000.001. ) -: EdgeTech Visible on Network = False. b: EdgeTech IP Address = 134.89.32.38. ent: EdgeTech Command Port = 1700. ho: EdgeTech Data Port = 0. sWi: EdgeTech Shutdown Port = 0. t: SBP Pulse Filename = 216Pulse_9k_14k_20ms.spf. hA: SBP Ping Rate = 4.00Hz. vt: SBP Pulse Power = 0.00%. ra: SSL Pulse Filename = ss75_5k_9k_20ms.spf. kS: SSL Ping Range = 100.00m. er: SSL Pulse Power = 0.00%. ver: SSH Pulse Filename = ss75_5k_9k_20ms.spf. -: SSH Ping Rate = 100.00m. dev: SSH Pulse Power = 0.00%. /: ------------------------------------------- dev: Command constructor... /ser12: Initializing Edgetech Configuration... : Supervisor::createTasks() - spawning atsServer 9009 Supervisor::createTask() - atsServer 9009 : Supervisor::createTasks() - spawning newBattDriver -n newBatt1 -dev tcp:134.89.32.131:10003 Supervisor::createTask() - ne: SerialDevice: done... w: SerialDevice: done... Ba: BenthosModem::commandMode() - confirming... t: Set verbose level tDriver -n newBatt1 -dev tcp:134.8: Gps: initializing 9: Gps: done initializing... .32: **** EventTriggers::add() - attaching proxy .131:10003 : Supervisor::createTasks() - spawning newBattDriver -n newBatt2 -dev tcp:134.89.32.140:10003 S: AtsDriver: Socket created on fd 6 upervisor::createTask() - newBattDriver -n newBatt2 -dev tcp:134.89.32.140:10003 : Supervisor::createTasks() - spawning terrainAidServer Su: Battery newBatt1 initializing. pervisor::createTask() - terrainAidServer : Supervisor::createTasks() - spawning delta_tServer Supervisor::: PeriodicTask::run() (newBatt1) - sampleInterval=10000, maxInterval=10000 createTask() - delta_tSe: Battery newBatt2 initializing. rver : Supervisor::createTasks() - spawning mbTrnRecvServer -m 134.89.32.107 -t 5000 -s 11 Supervisor::createTask() - mbTrnRecvServer -: PeriodicTask::run() (newBatt2) - sampleInterval=10000, maxInterval=10000 m 134.89.32.107 -t 5000 -s 11 : Supervisor::createTasks() - spawning mbTrnUpd8Server -m 134.89.32.107 -t 5000 Supervisor::createTask() - mbTrnUpd8Se: DeltaTServer config: 83P: 1, Fwd: idt_fwd, NotSpecified, 4050 Side: idt, NotSpecified, 4040 rver -m 134.89.32.107 -t 5000 : DeltaTServer: spawning driver... : delta_t: 83P output requested : idt_fwd DeltaT: constructing... : idt_fwd DeltaT: msgQ DeltaTMessagesidt_fwd constructed... : DeltaT::DeltaT - Attaching to FastCat : DeltaT::DeltaT - Setting external control : idt_fwd DeltaT - start mvc logging : delta_t: Forward: idt_fwd : idt DeltaT: constructing... : idt DeltaT: msgQ DeltaTMessagesidt constructed... : DeltaT::DeltaT - Attaching to FastCat : DeltaT::DeltaT - Setting external control : mbTrnRecvServer MbTrnRecvIFServer -- running : idt DeltaT - start mvc logging : delta_t: Side: idt : idt_fwd 83P output on : idt_fwd DeltaT: initializing... : idt_fwd DeltaT: initializing port 4050... : idt_fwd We are ready to receive datagrams from any interface on port 4050 sockfd 11... : idt_fwd Opened 83P file on fd: 12 : delta_t: configure fwd : DeltaT::messageHandler : idt_fwd DeltaT::messageHandler: Got msg: 6 : idt_fwd DeltaT - set_profile_min_range to 1 : DeltaT::messageHandler : idt_fwd DeltaT::messageHandler: Got msg: 7 : Set write delay : idt_fwd DeltaT - set_tilt_angle to -90 : DeltaT::messageHandler : idt_fwd DeltaT::messageHandler: Got msg: 8 : idt_fwd DeltaT - set_trigger_enable to 1, value = 3 : DeltaT::messageHandler : idt_fwd DeltaT::messageHandler: Got msg: 9 : idt_fwd DeltaT - set_trigger_edge to 1, value = 3 : DeltaT::messageHandler : idt_fwd DeltaT::messageHandler: Got msg: 10 : mbTrnUpd8Server MbTrnUpd8IFServer -- running : idt_fwd DeltaT - set_trigger_delay to 100000 : DeltaT::messageHandler : idt_fwd DeltaT::messageHandler: Got msg: 11 : idt_fwd DeltaT - set_xducer_orientation to 0 : DeltaT::messageHandler : idt_fwd DeltaT::messageHandler: Got msg: 12 : idt_fwd DeltaT - set profile point filter to 1 : DeltaT::messageHandler : idt_fwd DeltaT::messageHandler: Got msg: 4 : idt_fwd DeltaT - set gain to 12 : DeltaT::messageHandler : idt_fwd DeltaT::messageHandler: Got msg: 19 : idt_fwd DeltaT - set range to 80 : DeltaT::messageHandler : idt_fwd DeltaT::messageHandler: Got msg: 16 : mbTrnRecv - ip:134.89.32.107 port:27000 to:5000ms spread:11 swath:120 degrees : idt_fwd DeltaT - using beams 0 to 119 : DeltaT::messageHandler : idt_fwd DeltaT::messageHandler: Got msg: 14 : idt_fwd DeltaT::Sending to 0:0... 837:1 Range:9 Gain:12 Gain_eq:0 Nbeams:2 Sector:3 Width:1 Avg:0 SOS:14985 Trigger:3 : idt 83P output on : idt DeltaT: initializing... : idt DeltaT: initializing port 4040... : recv timeout ms is 5000 : idt We are ready to receive datagrams from any interface on port 4040 sockfd 13... : idt Opened 83P file on fd: 14 : delta_t: configure side : DeltaT::messageHandler : idt DeltaT::messageHandler: Got msg: 6 : MbTrnRecv::init() SO_RCVTIMEO to : 2 secs : idt DeltaT - set_profile_min_range to 1 : DeltaT::messageHandler : MbTrnRecv::init() SO_RCVTIMEO set to : 5000 ms : idt DeltaT::messageHandler: Got msg: 7 : idt DeltaT - set_tilt_angle to 0 : DeltaT::messageHandler : MbTrnRecv - server:134.89.32.107/27000 filter to 25 beams : idt DeltaT::messageHandler: Got msg: 8 : MbTrnRecv::initialize() - Ready to connect to server 134.89.32.107/27000 : idt DeltaT - set_trigger_enable to 1, value = 3 : mbTrnUpd8 - ip:134.89.32.107 port:8000 to:5000 ms : MbTrnRecv - spread is set to 11 : DeltaT::messageHandler : MbTrnRecv - swath is set to 120 : idt DeltaT::messageHandler: Got msg: 9 : MbTrnRecv::sendmsg(REQ) : idt DeltaT - set_trigger_edge to 1, value = 3 : DeltaT::messageHandler : idt DeltaT::messageHandler: Got msg: 10 : MbTrnRecv::sendmsg() - sent 4 bytes : idt DeltaT - set_trigger_delay to 100000 : mbTrnRecv - connected with mbtrn : DeltaT::messageHandler : idt DeltaT::messageHandler: Got msg: 11 : idt DeltaT - set_xducer_orientation to 0 : DeltaT::messageHandler : idt DeltaT::messageHandler: Got msg: 12 : idt DeltaT - set profile point filter to 2 : recv timeout ms is 5000 : DeltaT::messageHandler : idt DeltaT::messageHandler: Got msg: 4 : idt DeltaT - set gain to 12 : DeltaT::messageHandler : idt DeltaT::messageHandler: Got msg: 19 : idt DeltaT - set range to 100 : MbTrnUpd8::init() SO_RCVTIMEO to : 2 secs : DeltaT::messageHandler : MbTrnUpd8::init() SO_RCVTIMEO set to : 5000 ms : idt DeltaT::messageHandler: Got msg: 16 : idt DeltaT - using beams 0 to 119 : MbTrnUpd8::initialize() Jan 28 2020 22:47:57 - Ready to connect to server 134.89.32.107/8000 : DeltaT::messageHandler : idt DeltaT::messageHandler: Got msg: 14 : MbTrnUpd8::sendmsg(REQ) : idt DeltaT::Sending to 0:0... 837:1 Range:10 Gain:12 Gain_eq:0 Nbeams:2 Sector:3 Width:1 Avg:0 SOS:14985 Trigger:3 : _delta_t::Start receiving at 1580852264.7675... : MbTrnUpd8::sendmsg() - sent 4 bytes : Configuration file = /home/dorado1/auv-qnx-dev2020/auv/altex/onboard/config/mapper1_trn/terrainAid.cfg : TerrainAid -- configuration: : mapFileName = PortTiles : map_type = 2 : particlesName = particles.cfg : vehicleCfgName = mappingAUV_specs.cfg : terrainNavServer = 134.89.32.107:27027 : forceLowGradeFilter = false : allowFilterReinits = true : filterType = 2 : useModifiedWeighting = 4 : samplePeriod = 3000 : maxNorthingCov = -1.00 : maxEastingCov = -1.00 : maxDepthCov = -1.00 : maxPsiBergCov = -1.00 : maxNorthingError = -1.00 : maxEastingError = -1.00 : useIDTData = false : useDVLSide = false : useMbTrnData = true : useMbTrnServer = false : mbTrnUpdater = false : Using mbtrnpp. Need mbtrn, Good to go : Vehicle configuration file = /home/dorado1/auv-qnx-dev2020/auv/altex/onboard/config/mapper1_trn/mappingAUV_specs.cfg : Map file = /home/dorado1/auv-qnx-dev2020/auv/altex/onboard/config/mapper1_trn/PortTiles : TerrainAidDriver:: RollOffset is 0.00 : TerrainAidDriver::TerrainAidDriver() - Utm zone = 10 : TerrainAidDriver: Using TerrainNavClient at 134.89.32.107 on port 27027 and map PortTiles : TerrainAidDriver - logs/latest is 2020.035.04/ : Navigation: acommsIF = 0x80958 : Navigation::connectSensors core - connecting to Nav->DepthSensor at t = 1019. : Navigation::connectSensors core - connecting to Nav->TailCone at t = 1019. : Navigation::connectSensors core - connecting to Nav->KearfottServer at t = 1019. : Navigation::connectSensors core - connecting to Nav->Dvl at t = 1019. : Navigation::connectSensors aux - connecting to Nav->Multibeam at t = 1019. : Multibeam:: inside createTaskIF : Navigation::connectSensors aux - connecting to Nav->Gps at t = 1019. : Navigation::connectSensors aux - connecting to Nav->EchoSounder at t = 1019. : PeriodicTask::run() (layeredControl) - sampleInterval=2000, maxInterval=0 : DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize() : Set remote response waiting time : AshtechGps::processRecord() - $GPGGA,213745.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : **** EventTriggers::add() - attaching proxy : AshtechGps::processRecord() - $GPZDA,213745.00,04,02,2020,+00,00 : Kearfott:: depthif is 0x72c94 : Kearfott:: ctdIF is 0x72dac : Kearfott:: edgetechIF is 0x72f04 : Reson7K Center Socket connection ready! : Parosci:: edgetechIF is 0x401b0 : parosci:: reson host is 134.89.32.107 : parosci:: reson interface successfully created : Parosci.cc -- parsed PR (100) and TempInterval (100) : FastCat: data is streaming (384)... : **** EventTriggers::add() - attaching proxy : SerialDevice: done... : reson6046: atsIF is 0x445f8 : Running Reson6046Driver... : PeriodicTask::run() (reson6046) - sampleInterval=200, maxInterval=200 : Turn on doppler correction : SerialDevice: done... : BenthosModem::Initialize() - trn interface is 0x32190 : BenthosModem::onlineMode() - confirming... : done initializing modem : PeriodicTask::run() (BenthosModem) - sampleInterval=1000, maxInterval=1000 : _delta_t::timeout: no data from beamformers : AshtechGps::processRecord() - $GPGGA,213746.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPZDA,213746.00,04,02,2020,+00,00 : TerrainAidDriver::Connected to server. : TerrainAidDriver::TerrainAidDriver - ctor complete : _delta_t::getting data from beamformers : DeltaT::process83PData() - skipped ping number: 0l -> 45 : TerrainAidTask::TerrainAidTask - ctor complete : terrainAidDriver:: - wait 20 seconds for the other interfaces to start.... : DeltaT::verifySettings() - mismatch: 8 : idt DeltaT::Sending to 1797282182:42961... 837:1 Range:10 Gain:12 Gain_eq:0 Nbeams:2 Sector:3 Width:1 Avg:0 SOS:14985 Trigger:3 : DeltaT::process83PData() - skipped ping number: 0l -> 1261 : idt_fwd DeltaT::Sending to 1797282182:36321... 837:1 Range:9 Gain:12 Gain_eq:0 Nbeams:2 Sector:3 Width:1 Avg:0 SOS:14985 Trigger:3 : Run server... : AshtechGps::processRecord() - $GPGGA,213747.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPZDA,213747.00,04,02,2020,+00,00 : ParosciServer::depth() - data is stale : op input mode is 0xd : Parosci.cc - mode set to standard resolution : Parosci.cc -- Serial # is 123089 : Parosci::init() - mode set okay : Parosci.cc -- PI reply = 100 : Parosci.cc -- units = 3 : AshtechGps::processRecord() - $GPGGA,213748.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPZDA,213748.00,04,02,2020,+00,00 : Parosci.cc -- Initial pressure = 0.089857 : Parosci.cc -- Parosci initial pressure period = 30.214913 : Parosci.cc -- Parosci initial temp period = 5.820996 : initial pressure is 1.303187 : Parosci.cc -- Paroscientific configured. : ParosciServer::depth() - data is stale : op input mode is 0xd : AshtechGps::processRecord() - $GPGGA,213749.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPZDA,213749.00,04,02,2020,+00,00 : no response to address set : SerialDevice: done... : 3 Modules found : Parosci.cc - mode set to nano resolution : Parosci.cc - mode set to streaming : AshtechGps::processRecord() - $GPGGA,213750.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPZDA,213750.00,04,02,2020,+00,00 : PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200 : op input mode is 0xd : AshtechGps::processRecord() - $GPGGA,213751.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPZDA,213751.00,04,02,2020,+00,00 : AshtechGps::processRecord() - $GPGGA,213752.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPZDA,213752.00,04,02,2020,+00,00 : op input mode is 0xd : AshtechGps::processRecord() - $GPGGA,213753.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPZDA,213753.00,04,02,2020,+00,00 : AshtechGps::processRecord() - $GPGGA,213754.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPZDA,213754.00,04,02,2020,+00,00 : Navigation: Server for aux sensor "Nav->EchoSounder" not found : Navigation::connectSensors aux - connecting to Nav->Velocimeter at t = 11119. : Navigation: Server for aux sensor "Nav->Velocimeter" not found : Navigation::connectSensors aux - connecting to Nav->Usbl at t = 11119. : op input mode is 0xd : AshtechGps::processRecord() - $GPGGA,213755.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPZDA,213755.00,04,02,2020,+00,00 : MbTrnRecv::recvmsg() failure: 11 MbTrnRecv::recvmsg(): Resource temporarily unavailable : MbTrnUpd8::recvmsg() failure: 11 MbTrnUpd8::recvmsg(): Resource temporarily unavailable : MbTrnUpd8::connect() - failed : mbTrnUpd8 - Failed to connect with mbtrn: 11 : mbTrnUpd8 - mbtrn running? : AshtechGps::processRecord() - $GPGGA,213756.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPZDA,213756.00,04,02,2020,+00,00 : MbTrnUpd8::sendmsg(REQ) : MbTrnUpd8::sendmsg() - sent 4 bytes : op input mode is 0xd : AshtechGps::processRecord() - $GPGGA,213757.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPZDA,213757.00,04,02,2020,+00,00 : AshtechGps::processRecord() - $GPGGA,213758.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPZDA,213758.00,04,02,2020,+00,00 : op input mode is 0xd : AshtechGps::processRecord() - $GPGGA,213759.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPZDA,213759.00,04,02,2020,+00,00 : newBatt1::Average voltage = 0.00 V, Total current = 0.00 A : newBatt1::Max pack voltage = 0.00 V, pack 0 : newBatt1::Min pack voltage = 40.00 V, pack 0 : newBatt1::Env:20.8 C, 22.3 C, 9.0 %rH : newBatt1::packsOnline = 0 : newBatt1::Charge = 0.0 V, Disch = 31.6 V : newBatt1::Aux Current = 3.70 A, Discharge Current = 0.00 A Charge Current = 0.00 A : newBatt1:: There are 55 packs of 3.4 A-h cells. : : newBatt1 - exiting mission fewer than 35 packs online : batt - Exception caught : newBattDriver - looping because of battery stopped responding : newBatt2::Average voltage = 0.00 V, Total current = 0.00 A : newBatt2::Max pack voltage = 0.00 V, pack 0 : newBatt2::Min pack voltage = 40.00 V, pack 0 : newBatt2::Env:21.8 C, 22.3 C, 20.7 %rH : newBatt2::packsOnline = 0 : newBatt2::Charge = 0.0 V, Disch = 32.2 V : newBatt2::Aux Current = 0.00 A, Discharge Current = 0.00 A Charge Current = 0.00 A : newBatt2:: There are 55 packs of 2.9 A-h cells. : : newBatt2 - exiting mission fewer than 35 packs online : batt - Exception caught : newBattDriver - looping because of battery stopped responding : idt_fwd DeltaT::Sending to 1797282182:36321... 837:1 Range:9 Gain:12 Gain_eq:0 Nbeams:2 Sector:3 Width:1 Avg:0 SOS:14985 Trigger:3 : idt DeltaT::Sending to 1797282182:42961... 837:1 Range:10 Gain:12 Gain_eq:0 Nbeams:2 Sector:3 Width:1 Avg:0 SOS:14985 Trigger:3 : AshtechGps::processRecord() - $GPGGA,213800.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPZDA,213800.00,04,02,2020,+00,00 : idt_fwd DeltaT::Sending to 1797282182:36321... 837:1 Range:9 Gain:12 Gain_eq:0 Nbeams:2 Sector:3 Width:1 Avg:0 SOS:14985 Trigger:3 : idt DeltaT::Sending to 1797282182:42961... 837:1 Range:10 Gain:12 Gain_eq:0 Nbeams:2 Sector:3 Width:1 Avg:0 SOS:14985 Trigger:3 : idt_fwd DeltaT::Sending to 1797282182:36321... 837:1 Range:9 Gain:12 Gain_eq:0 Nbeams:2 Sector:3 Width:1 Avg:0 SOS:14985 Trigger:3 : idt DeltaT::Sending to 1797282182:42961... 837:1 Range:10 Gain:12 Gain_eq:0 Nbeams:2 Sector:3 Width:1 Avg:0 SOS:14985 Trigger:3 : idt_fwd DeltaT::Sending to 1797282182:36321... 837:1 Range:9 Gain:12 Gain_eq:0 Nbeams:2 Sector:3 Width:1 Avg:0 SOS:14985 Trigger:3 : idt DeltaT::Sending to 1797282182:42961... 837:1 Range:10 Gain:12 Gain_eq:0 Nbeams:2 Sector:3 Width:1 Avg:0 SOS:14985 Trigger:3 : op input mode is 0xd : AshtechGps::processRecord() - $GPGGA,213801.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPZDA,213801.00,04,02,2020,+00,00 : AshtechGps::processRecord() - $GPGGA,213802.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPZDA,213802.00,04,02,2020,+00,00 : op input mode is 0xd : AshtechGps::processRecord() - $GPGGA,213803.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPZDA,213803.00,04,02,2020,+00,00 : AshtechGps::processRecord() - $GPGGA,213804.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPZDA,213804.00,04,02,2020,+00,00 : op input mode is 0xd : AshtechGps::processRecord() - $GPGGA,213805.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPZDA,213805.00,04,02,2020,+00,00 : Navigation: Server for aux sensor "Nav->Usbl" not found : Navigation::Navigation() - Error. The echo sounder IF isn't yet connected; can't read it's data. : Navigation::Navigation(). _es->valid() = 0 at t = 21218. : PeriodicTask::run() (navigation) - sampleInterval=200, maxInterval=200 : Navigation/Multibeam: Number of beams in the array = 210, beamOverlap=30 fwdCutover=15 : **** 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,213806.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPZDA,213806.00,04,02,2020,+00,00 : PeriodicTask::run() (terrainAidDriver) - sampleInterval=3000, maxInterval=3000 : MbTrnRecv::recvmsg() failure: 11 MbTrnRecv::recvmsg(): Resource temporarily unavailable : op input mode is 0xd : AshtechGps::processRecord() - $GPGGA,213807.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPZDA,213807.00,04,02,2020,+00,00 : MbTrnUpd8::recvmsg() failure: 11 MbTrnUpd8::recvmsg(): Resource temporarily unavailable : MbTrnUpd8::connect() - failed : mbTrnUpd8 - Failed to connect with mbtrn: 11 : mbTrnUpd8 - mbtrn running? : AshtechGps::processRecord() - $GPGGA,213808.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPZDA,213808.00,04,02,2020,+00,00 : MbTrnUpd8::sendmsg(REQ) : MbTrnUpd8::sendmsg() - sent 4 bytes : op input mode is 0xd : AshtechGps::processRecord() - $GPGGA,213809.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPZDA,213809.00,04,02,2020,+00,00 : TerrainAidDriver:: _navTime0 = 0.00 : TerrainAidDriver:: _dvlTime0 = 7411.50 : AshtechGps::processRecord() - $GPGGA,213810.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPZDA,213810.00,04,02,2020,+00,00 : op input mode is 0xd : AshtechGps::processRecord() - $GPGGA,213811.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPZDA,213811.00,04,02,2020,+00,00 : AshtechGps::processRecord() - $GPGGA,213812.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPZDA,213812.00,04,02,2020,+00,00 : op input mode is 0xd : AshtechGps::processRecord() - $GPGGA,213813.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPZDA,213813.00,04,02,2020,+00,00 : AshtechGps::processRecord() - $GPGGA,213814.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPZDA,213814.00,04,02,2020,+00,00 : op input mode is 0xd : AshtechGps::processRecord() - $GPGGA,213815.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPZDA,213815.00,04,02,2020,+00,00 : idt_fwd DeltaT::Sending to 1797282182:36321... 837:1 Range:9 Gain:12 Gain_eq:0 Nbeams:2 Sector:3 Width:1 Avg:0 SOS:14985 Trigger:3 : idt DeltaT::Sending to 1797282182:42961... 837:1 Range:10 Gain:12 Gain_eq:0 Nbeams:2 Sector:3 Width:1 Avg:0 SOS:14985 Trigger:3 : idt_fwd DeltaT::Sending to 1797282182:36321... 837:1 Range:9 Gain:12 Gain_eq:0 Nbeams:2 Sector:3 Width:1 Avg:0 SOS:14985 Trigger:3 : idt DeltaT::Sending to 1797282182:42961... 837:1 Range:10 Gain:12 Gain_eq:0 Nbeams:2 Sector:3 Width:1 Avg:0 SOS:14985 Trigger:3 : idt_fwd DeltaT::Sending to 1797282182:36321... 837:1 Range:9 Gain:12 Gain_eq:0 Nbeams:2 Sector:3 Width:1 Avg:0 SOS:14985 Trigger:3 : idt DeltaT::Sending to 1797282182:42961... 837:1 Range:10 Gain:12 Gain_eq:0 Nbeams:2 Sector:3 Width:1 Avg:0 SOS:14985 Trigger:3 : AshtechGps::processRecord() - $GPGGA,213816.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPZDA,213816.00,04,02,2020,+00,00 : op input mode is 0xd : AshtechGps::processRecord() - $GPGGA,213817.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPZDA,213817.00,04,02,2020,+00,00 : MbTrnRecv::recvmsg() failure: 11 MbTrnRecv::recvmsg(): Resource temporarily unavailable : AshtechGps::processRecord() - $GPGGA,213818.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPZDA,213818.00,04,02,2020,+00,00 : op input mode is 0xd : AshtechGps::processRecord() - $GPGGA,213819.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPZDA,213819.00,04,02,2020,+00,00 : MbTrnUpd8::recvmsg() failure: 11 MbTrnUpd8::recvmsg(): Resource temporarily unavailable : MbTrnUpd8::connect() - failed : mbTrnUpd8 - Failed to connect with mbtrn: 11 : mbTrnUpd8 - mbtrn running? : AshtechGps::processRecord() - $GPGGA,213820.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPZDA,213820.00,04,02,2020,+00,00 : MbTrnUpd8::sendmsg(REQ) : MbTrnUpd8::sendmsg() - sent 4 bytes : op input mode is 0xd : AshtechGps::processRecord() - $GPGGA,213821.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPZDA,213821.00,04,02,2020,+00,00 : AshtechGps::processRecord() - $GPGGA,213822.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPZDA,213822.00,04,02,2020,+00,00 : op input mode is 0xd : AshtechGps::processRecord() - $GPGGA,213823.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPZDA,213823.00,04,02,2020,+00,00 : AshtechGps::processRecord() - $GPGGA,213824.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPZDA,213824.00,04,02,2020,+00,00 : op input mode is 0xd : AshtechGps::processRecord() - $GPGGA,213825.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPZDA,213825.00,04,02,2020,+00,00 : AshtechGps::processRecord() - $GPGGA,213826.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPZDA,213826.00,04,02,2020,+00,00 : op input mode is 0xd : AshtechGps::processRecord() - $GPGGA,213827.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPZDA,213827.00,04,02,2020,+00,00 : MbTrnRecv::recvmsg() failure: 11 MbTrnRecv::recvmsg(): Resource temporarily unavailable : AshtechGps::processRecord() - $GPGGA,213828.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPZDA,213828.00,04,02,2020,+00,00 : op input mode is 0xd : AshtechGps::processRecord() - $GPGGA,213829.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPZDA,213829.00,04,02,2020,+00,00 : AshtechGps::processRecord() - $GPGGA,213830.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPZDA,213830.00,04,02,2020,+00,00 : idt_fwd DeltaT::Sending to 1797282182:36321... 837:1 Range:9 Gain:12 Gain_eq:0 Nbeams:2 Sector:3 Width:1 Avg:0 SOS:14985 Trigger:3 : idt DeltaT::Sending to 1797282182:42961... 837:1 Range:10 Gain:12 Gain_eq:0 Nbeams:2 Sector:3 Width:1 Avg:0 SOS:14985 Trigger:3 : idt_fwd DeltaT::Sending to 1797282182:36321... 837:1 Range:9 Gain:12 Gain_eq:0 Nbeams:2 Sector:3 Width:1 Avg:0 SOS:14985 Trigger:3 : idt DeltaT::Sending to 1797282182:42961... 837:1 Range:10 Gain:12 Gain_eq:0 Nbeams:2 Sector:3 Width:1 Avg:0 SOS:14985 Trigger:3 : idt_fwd DeltaT::Sending to 1797282182:36321... 837:1 Range:9 Gain:12 Gain_eq:0 Nbeams:2 Sector:3 Width:1 Avg:0 SOS:14985 Trigger:3 : idt DeltaT::Sending to 1797282182:42961... 837:1 Range:10 Gain:12 Gain_eq:0 Nbeams:2 Sector:3 Width:1 Avg:0 SOS:14985 Trigger:3 : op input mode is 0xd : AshtechGps::processRecord() - $GPGGA,213831.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPZDA,213831.00,04,02,2020,+00,00 : MbTrnUpd8::recvmsg() failure: 11 MbTrnUpd8::recvmsg(): Resource temporarily unavailable : MbTrnUpd8::connect() - failed : mbTrnUpd8 - Failed to connect with mbtrn: 11 : mbTrnUpd8 - mbtrn running? : AshtechGps::processRecord() - $GPGGA,213832.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPZDA,213832.00,04,02,2020,+00,00 : MbTrnUpd8::sendmsg(REQ) : MbTrnUpd8::sendmsg() - sent 4 bytes : op input mode is 0xd : AshtechGps::processRecord() - $GPGGA,213833.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPZDA,213833.00,04,02,2020,+00,00 : AshtechGps::processRecord() - $GPGGA,213834.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPZDA,213834.00,04,02,2020,+00,00 : op input mode is 0xd : AshtechGps::processRecord() - $GPGGA,213835.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPZDA,213835.00,04,02,2020,+00,00 : AshtechGps::processRecord() - $GPGGA,213836.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPZDA,213836.00,04,02,2020,+00,00 : op input mode is 0xd : AshtechGps::processRecord() - $GPGGA,213837.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPZDA,213837.00,04,02,2020,+00,00 : AshtechGps::processRecord() - $GPGGA,213838.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPZDA,213838.00,04,02,2020,+00,00 : MbTrnRecv::recvmsg() failure: 11 MbTrnRecv::recvmsg(): Resource temporarily unavailable : op input mode is 0xd : AshtechGps::processRecord() - $GPGGA,213839.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPZDA,213839.00,04,02,2020,+00,00 : AshtechGps::processRecord() - $GPGGA,213840.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPZDA,213840.00,04,02,2020,+00,00 : op input mode is 0xd : AshtechGps::processRecord() - $GPGGA,213841.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPZDA,213841.00,04,02,2020,+00,00 : AshtechGps::processRecord() - $GPGGA,213842.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPZDA,213842.00,04,02,2020,+00,00 : MbTrnUpd8::recvmsg() failure: 11 MbTrnUpd8::recvmsg(): Resource temporarily unavailable : MbTrnUpd8::connect() - failed : mbTrnUpd8 - Failed to connect with mbtrn: 11 : mbTrnUpd8 - mbtrn running? : op input mode is 0xd : AshtechGps::processRecord() - $GPGGA,213843.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPZDA,213843.00,04,02,2020,+00,00 : MbTrnUpd8::sendmsg(REQ) : MbTrnUpd8::sendmsg() - sent 4 bytes : AshtechGps::processRecord() - $GPGGA,213844.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPZDA,213844.00,04,02,2020,+00,00 : op input mode is 0xd : AshtechGps::processRecord() - $GPGGA,213845.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPZDA,213845.00,04,02,2020,+00,00 : idt_fwd DeltaT::Sending to 1797282182:36321... 837:1 Range:9 Gain:12 Gain_eq:0 Nbeams:2 Sector:3 Width:1 Avg:0 SOS:14985 Trigger:3 : idt DeltaT::Sending to 1797282182:42961... 837:1 Range:10 Gain:12 Gain_eq:0 Nbeams:2 Sector:3 Width:1 Avg:0 SOS:14985 Trigger:3 : idt_fwd DeltaT::Sending to 1797282182:36321... 837:1 Range:9 Gain:12 Gain_eq:0 Nbeams:2 Sector:3 Width:1 Avg:0 SOS:14985 Trigger:3 : idt DeltaT::Sending to 1797282182:42961... 837:1 Range:10 Gain:12 Gain_eq:0 Nbeams:2 Sector:3 Width:1 Avg:0 SOS:14985 Trigger:3 : idt_fwd DeltaT::Sending to 1797282182:36321... 837:1 Range:9 Gain:12 Gain_eq:0 Nbeams:2 Sector:3 Width:1 Avg:0 SOS:14985 Trigger:3 : idt DeltaT::Sending to 1797282182:42961... 837:1 Range:10 Gain:12 Gain_eq:0 Nbeams:2 Sector:3 Width:1 Avg:0 SOS:14985 Trigger:3 : AshtechGps::processRecord() - $GPGGA,213846.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPZDA,213846.00,04,02,2020,+00,00 : op input mode is 0xd : AshtechGps::processRecord() - $GPGGA,213847.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPZDA,213847.00,04,02,2020,+00,00 : AshtechGps::processRecord() - $GPGGA,213848.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPZDA,213848.00,04,02,2020,+00,00 : op input mode is 0xd : AshtechGps::processRecord() - $GPGGA,213849.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPZDA,213849.00,04,02,2020,+00,00 : MbTrnRecv::recvmsg() failure: 11 MbTrnRecv::recvmsg(): Resource temporarily unavailable : AshtechGps::processRecord() - $GPGGA,213850.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPZDA,213850.00,04,02,2020,+00,00 : op input mode is 0xd : AshtechGps::processRecord() - $GPGGA,213851.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPZDA,213851.00,04,02,2020,+00,00 : AshtechGps::processRecord() - $GPGGA,213852.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPZDA,213852.00,04,02,2020,+00,00 : op input mode is 0xd : AshtechGps::processRecord() - $GPGGA,213853.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPZDA,213853.00,04,02,2020,+00,00 : AshtechGps::processRecord() - $GPGGA,213854.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPZDA,213854.00,04,02,2020,+00,00 : MbTrnUpd8::recvmsg() failure: 11 MbTrnUpd8::recvmsg(): Resource temporarily unavailable : MbTrnUpd8::connect() - failed : mbTrnUpd8 - Failed to connect with mbtrn: 11 : mbTrnUpd8 - mbtrn running? : op input mode is 0xd : AshtechGps::processRecord() - $GPGGA,213855.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPZDA,213855.00,04,02,2020,+00,00 : MbTrnUpd8::sendmsg(REQ) : MbTrnUpd8::sendmsg() - sent 4 bytes : AshtechGps::processRecord() - $GPGGA,213856.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPZDA,213856.00,04,02,2020,+00,00 : op input mode is 0xd : AshtechGps::processRecord() - $GPGGA,213857.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPZDA,213857.00,04,02,2020,+00,00 : AshtechGps::processRecord() - $GPGGA,213858.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPZDA,213858.00,04,02,2020,+00,00 : op input mode is 0xd : AshtechGps::processRecord() - $GPGGA,213859.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPZDA,213859.00,04,02,2020,+00,00 : AshtechGps::processRecord() - $GPGGA,213900.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPZDA,213900.00,04,02,2020,+00,00 : idt_fwd DeltaT::Sending to 1797282182:36321... 837:1 Range:9 Gain:12 Gain_eq:0 Nbeams:2 Sector:3 Width:1 Avg:0 SOS:14985 Trigger:3 : idt DeltaT::Sending to 1797282182:42961... 837:1 Range:10 Gain:12 Gain_eq:0 Nbeams:2 Sector:3 Width:1 Avg:0 SOS:14985 Trigger:3 : MbTrnRecv::recvmsg() failure: 11 MbTrnRecv::recvmsg(): Resource temporarily unavailable : idt_fwd DeltaT::Sending to 1797282182:36321... 837:1 Range:9 Gain:12 Gain_eq:0 Nbeams:2 Sector:3 Width:1 Avg:0 SOS:14985 Trigger:3 : idt DeltaT::Sending to 1797282182:42961... 837:1 Range:10 Gain:12 Gain_eq:0 Nbeams:2 Sector:3 Width:1 Avg:0 SOS:14985 Trigger:3 : idt_fwd DeltaT::Sending to 1797282182:36321... 837:1 Range:9 Gain:12 Gain_eq:0 Nbeams:2 Sector:3 Width:1 Avg:0 SOS:14985 Trigger:3 : idt DeltaT::Sending to 1797282182:42961... 837:1 Range:10 Gain:12 Gain_eq:0 Nbeams:2 Sector:3 Width:1 Avg:0 SOS:14985 Trigger:3 : op input mode is 0xd : AshtechGps::processRecord() - $GPGGA,213901.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPZDA,213901.00,04,02,2020,+00,00 : AshtechGps::processRecord() - $GPGGA,213902.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPZDA,213902.00,04,02,2020,+00,00 : op input mode is 0xd : AshtechGps::processRecord() - $GPGGA,213903.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPZDA,213903.00,04,02,2020,+00,00 : AshtechGps::processRecord() - $GPGGA,213904.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPZDA,213904.00,04,02,2020,+00,00 : op input mode is 0xd : AshtechGps::processRecord() - $GPGGA,213905.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPZDA,213905.00,04,02,2020,+00,00 : Behavior setpoint - Timed out! : LayeredControl::execute() -- (t = 60.195876) Behavior setpoint:-1 has changed to state Finished : Stack empty after processing. Aborting. : *** LayeredControl - initiating mission abort... *** : Initiating Mission Abort! : **** EventTriggers::add() - attaching proxy : LayeredControl::execute() -- (t = 60.395863) Behavior missionTimer:-1 has changed to state Active : Stack empty after processing. Aborting. : *** LayeredControl - initiating vehicle shutdown... *** : ****LayeredControl::initiateShutdown - enter : ****LayeredControl::initiateShutdown - exit to system : **** SharedData destructor for object LayeredControlOutput_ShmemName **** : destroying segment LayeredControlOutput_ShmemName : destroying prot sem LayeredControlOutput_ShmemName_prot : destroying notify sem LayeredControlOutput_ShmemName_notify : **** SharedData destructor for object LayeredControlInput_ShmemName **** : destroying segment LayeredControlInput_ShmemName : destroying prot sem LayeredControlInput_ShmemName_prot : destroying notify sem LayeredControlInput_ShmemName_notify : TaskServer::signalHandler() for task LayeredControlIFServer - exit() on signal 18 : **** SharedData destructor for object LayeredControlInput_ShmemName **** : destroying segment LayeredControlInput_ShmemName : destroying prot sem LayeredControlInput_ShmemName_prot : destroying notify sem LayeredControlInput_ShmemName_notify : **** SharedData destructor for object LayeredControlOutput_ShmemName **** : destroying segment LayeredControlOutput_ShmemName : destroying prot sem LayeredControlOutput_ShmemName_prot : destroying notify sem LayeredControlOutput_ShmemName_notify : TaskServer::forwardEvent() - No such process : AshtechGps::processRecord() - $GPGGA,213906.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPZDA,213906.00,04,02,2020,+00,00 : TaskServer::forwardEvent() - No such process : TaskServer::forwardEvent() - No such process : TaskServer::forwardEvent() - No such process : MbTrnUpd8::recvmsg() failure: 11 MbTrnUpd8::recvmsg(): Resource temporarily unavailable : MbTrnUpd8::connect() - failed : mbTrnUpd8 - Failed to connect with mbtrn: 11 : mbTrnUpd8 - mbtrn running? : TaskServer::forwardEvent() - No such process : TaskServer::forwardEvent() - No such process : op input mode is 0xd : AshtechGps::processRecord() - $GPGGA,213907.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPZDA,213907.00,04,02,2020,+00,00 : TaskServer::forwardEvent() - No such process : Task "layeredControlServer" died? Supervisor::createTask() - layeredControlServer -plan Lab1.cfg -abort abortLab1.cfg : Supervisor::run - task(s) died - exiting run loop : Supervisor::run - calling shutdown/exit : Supervisor::shutdown - signaling processes : TaskServer::signalHandler() for task FastCat - exit() on signal 2 : TaskServer::signalHandler() for task BenthosModemServer - exit() on signal 2 : **** SharedData destructor for object ParosciOutput_ShmemName **** : **** SharedData destructor for object FastCat **** : **** SharedData destructor for object kearfottOutput **** : TaskServer::signalHandler() for task TailConeIFServer - exit() on signal 2 : TaskServer::signalHandler() for task InsIFServer - exit() on signal 2 : TaskServer::signalHandler() for task DvlIFServer - exit() on signal 2 : TaskServer::signalHandler() for task DepthSensorIFServer - exit() on signal 2 : TaskServer::signalHandler() for task GpsIFServer - exit() on signal 2 : TaskServer::signalHandler() for task TerrainAidIFServer - exit() on signal 2 : TaskServer::signalHandler() for task DeltaTIFServer - exit() on signal 2 : TaskServer::signalHandler() for task WorkSiteIFServer - exit() on signal 2 : TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit() on signal 2 : TaskServer::signalHandler() for task DynamicControlIFServer - exit() on signal 2 : TaskServer::signalHandler() for task NavigationIFServer - exit() on signal 2 : in DeltaT destructor : TaskServer::signalHandler() for task DropWeightIFServer - exit() on signal 2 : TaskServer::signalHandler() for task FanIFServer - exit() on signal 2 : TaskServer::signalHandler() for task FanIFServer - exit() on signal 2 : TaskServer::signalHandler() for task Reson6046IFServer - exit() on signal 2 : TaskServer::signalHandler() for task AuvTimeSyncIFServer - exit() on signal 2 : DropWeight Destructor Executing. : **** SharedData destructor for object GpsOutput_ShmemName **** : **** SharedData destructor for object AtsOutout **** : Command destructor... : TaskServer::signalHandler() for task BenthosModemServer - exit() on signal 18 : Supervisor::signalHandler - caught signal 2 : Supervisor::signalHandler - caught signal 2 : TaskServer::signalHandler() for task MbTrnUpd8IFServer - exit() on signal 2 : **** SharedData destructor for object MbTrnUpd8Output_ShmemName **** : **** SharedData destructor for object newBatt1 **** : **** SharedData destructor for object newBatt2 **** : TaskServer::signalHandler() for task EventLogIFServer - exit() on signal 2 : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() on signal 2 : destroying segment ParosciOutput_ShmemName : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() on signal 18 : destroying segment FastCat : **** SharedData destructor for object FastCat **** : destroying segment kearfottOutput : **** SharedData destructor for object kearfottOutput **** : **** SharedData destructor for object ParosciOutput_ShmemName **** : **** SharedData destructor for object DeltaTInput_ShmemNameidt_fwd **** : StepGetStat(2): checksum error : **** SharedData destructor for object TailConeInput_ShmemName **** : **** SharedData destructor for object DvlOutput_ShmemName **** : **** SharedData destructor for object GpsOutput_ShmemName **** : **** SharedData destructor for object TerrainAidOutput **** : DynamicControlServer::Destructor. Difference between clock time and accumulated sample periods is -0.20, at t=60.20. : NavigationOutput::~NavigationOutput() : **** SharedData destructor for object DeltaTInput_ShmemNameidt **** : Reson6046Server - killing driver : **** SharedData destructor for object dropWeightOutput **** : **** SharedData destructor for object fanOutput **** : **** SharedData destructor for object fanOutput **** : **** SharedData destructor for object AtsOutout **** : destroying segment GpsOutput_ShmemName : destroying segment AtsOutout : failed to unlink queue benthosModemCommand : Supervisor::signalHandler - setting exit flag [1] : Supervisor::signalHandler - setting exit flag [1] : **** SharedData destructor for object MbTrnUpd8Output_ShmemName **** : destroying segment MbTrnUpd8Output_ShmemName : destroying segment newBatt1 : destroying segment newBatt2 : destroying prot sem ParosciOutput_ShmemName_prot : TerrainAidDestructor Executing. : TaskServer::signalHandler() for task MbTrnRecvIFServer - exit() on signal 18 : destroying prot sem FastCat_prot : **** SharedData destructor for object reson6046Output **** : destroying segment FastCat : destroying prot sem kearfottOutput_prot : destroying segment kearfottOutput : destroying segment ParosciOutput_ShmemName : destroying segment DeltaTInput_ShmemNameidt_fwd : destroying segment TailConeInput_ShmemName : destroying segment DvlOutput_ShmemName : destroying segment GpsOutput_ShmemName : destroying segment TerrainAidOutput : NavigationOutput::~NavigationOutput() : **** SharedData destructor for object navigationOutput **** : **** SharedData destructor for object dropWeightOutput **** : destroying segment DeltaTInput_ShmemNameidt : TaskServer::signalHandler() for task Reson6046IFServer - exit() on signal 18 : destroying segment dropWeightOutput : destroying segment fanOutput : destroying segment fanOutput : destroying segment AtsOutout : destroying prot sem GpsOutput_ShmemName_prot : destroying prot sem AtsOutout_prot : **** SharedData destructor for object BenthosModemOutout **** : Supervisor::shutdown - cleaning up : destroying segment MbTrnUpd8Output_ShmemName : destroying prot sem MbTrnUpd8Output_ShmemName_prot : destroying prot sem newBatt1_prot : destroying prot sem newBatt2_prot : destroying notify sem ParosciOutput_ShmemName_notify : destroying notify sem FastCat_notify : destroying prot sem FastCat_prot : destroying notify sem kearfottOutput_notify : destroying prot sem kearfottOutput_prot : destroying prot sem ParosciOutput_ShmemName_prot : destroying prot sem DeltaTInput_ShmemNameidt_fwd_prot : destroying prot sem TailConeInput_ShmemName_prot : destroying prot sem DvlOutput_ShmemName_prot : destroying prot sem GpsOutput_ShmemName_prot : destroying prot sem TerrainAidOutput_prot : **** SharedData destructor for object navigationOutput **** : destroying segment navigationOutput : destroying segment dropWeightOutput : destroying prot sem DeltaTInput_ShmemNameidt_prot : destroying prot sem dropWeightOutput_prot : destroying prot sem fanOutput_prot : destroying prot sem fanOutput_prot : layeredControlServer - creating non dynamic version : destroying prot sem AtsOutout_prot : destroying notify sem GpsOutput_ShmemName_notify : destroying notify sem AtsOutout_notify : destroying segment BenthosModemOutout : Supervisor::shutdown - deleting output : destroying prot sem MbTrnUpd8Output_ShmemName_prot : destroying notify sem MbTrnUpd8Output_ShmemName_notify : destroying notify sem newBatt1_notify : destroying notify sem newBatt2_notify : destroying notify sem FastCat_notify : **** SharedData destructor for object DvlOutput_ShmemName **** : destroying notify sem kearfottOutput_notify : destroying notify sem ParosciOutput_ShmemName_notify : destroying notify sem DeltaTInput_ShmemNameidt_fwd_notify : destroying notify sem TailConeInput_ShmemName_notify : destroying notify sem DvlOutput_ShmemName_notify : destroying notify sem GpsOutput_ShmemName_notify : destroying notify sem TerrainAidOutput_notify : destroying segment navigationOutput : destroying prot sem navigationOutput_prot : destroying prot sem dropWeightOutput_prot : destroying notify sem DeltaTInput_ShmemNameidt_notify : destroying notify sem dropWeightOutput_notify : destroying notify sem fanOutput_notify : destroying notify sem fanOutput_notify : Illegal option: -restart : destroying notify sem AtsOutout_notify : **** SharedData destructor for object MbTrnRecvOutput_ShmemName **** : failed to unlink queue TerrainAidMsgs : destroying prot sem navigationOutput_prot : TaskServer::signalHandler() for task GpsIFServer - exit() on signal 18 : **** SharedData destructor for object TailConeInput_ShmemName **** : destroying prot sem BenthosModemOutout_prot : TaskServer::signalHandler() for task AuvTimeSyncIFServer - exit() on signal 18 : TaskServer::signalHandler() for task DepthSensorIFServer - exit() on signal 18 : **** SharedData destructor for object SupervisorOutout **** : destroying notify sem MbTrnUpd8Output_ShmemName_notify : destroying segment DvlOutput_ShmemName : **** SharedData destructor for object DeltaTOutput_ShmemNameidt_fwd **** : TaskServer::signalHandler() for task MbTrnUpd8IFServer - exit() on signal 18 : **** SharedData destructor for object TailConeOutput_ShmemName **** : destroying notify sem navigationOutput_notify : destroying notify sem dropWeightOutput_notify : **** SharedData destructor for object DeltaTOutput_ShmemNameidt **** : usage: layeredControl [-plan file][-abort file] : destroying notify sem navigationOutput_notify : destroying segment TailConeInput_ShmemName : destroying notify sem BenthosModemOutout_notify : destroying prot sem DvlOutput_ShmemName_prot : destroying segment SupervisorOutout : destroying segment DeltaTOutput_ShmemNameidt_fwd : destroying segment TailConeOutput_ShmemName : failed to unlink queue NavigationInput : destroying segment DeltaTOutput_ShmemNameidt : TaskServer::signalHandler() for task LayeredControlIFServer - exit() on signal 18 : TaskServer::signalHandler() for task NavigationIFServer - exit() on signal 18 : destroying prot sem TailConeInput_ShmemName_prot : destroying notify sem DvlOutput_ShmemName_notify : destroying prot sem DeltaTOutput_ShmemNameidt_fwd_prot : destroying prot sem SupervisorOutout_prot : destroying prot sem TailConeOutput_ShmemName_prot : destroying prot sem DeltaTOutput_ShmemNameidt_prot : **** SharedData destructor for object LayeredControlInput_ShmemName **** : destroying notify sem TailConeInput_ShmemName_notify : destroying notify sem DeltaTOutput_ShmemNameidt_fwd_notify : destroying notify sem SupervisorOutout_notify : destroying notify sem TailConeOutput_ShmemName_notify : destroying notify sem DeltaTOutput_ShmemNameidt_notify : destroying segment LayeredControlInput_ShmemName : **** SharedData destructor for object TailConeOutput_ShmemName **** : **** SharedData destructor for object DeltaTInput_ShmemNameidt **** : Supervisor::shutdown - done : done in DeltaT destructor : destroying prot sem LayeredControlInput_ShmemName_prot : destroying segment TailConeOutput_ShmemName : destroying segment DeltaTInput_ShmemNameidt : Supervisor::~Supervisor - dtor : in DeltaT destructor : destroying notify sem LayeredControlInput_ShmemName_notify : destroying prot sem TailConeOutput_ShmemName_prot : destroying prot sem DeltaTInput_ShmemNameidt_prot : **** SharedData destructor for object DeltaTInput_ShmemNameidt_fwd **** : **** SharedData destructor for object LayeredControlOutput_ShmemName **** : destroying notify sem TailConeOutput_ShmemName_notify : destroying notify sem DeltaTInput_ShmemNameidt_notify : destroying segment DeltaTInput_ShmemNameidt_fwd : destroying segment LayeredControlOutput_ShmemName : **** SharedData destructor for object DeltaTOutput_ShmemNameidt **** : destroying prot sem DeltaTInput_ShmemNameidt_fwd_prot : destroying prot sem LayeredControlOutput_ShmemName_prot : destroying segment DeltaTOutput_ShmemNameidt : destroying notify sem DeltaTInput_ShmemNameidt_fwd_notify : destroying notify sem LayeredControlOutput_ShmemName_notify : destroying prot sem DeltaTOutput_ShmemNameidt_prot : **** SharedData destructor for object DeltaTOutput_ShmemNameidt_fwd **** : destroying notify sem DeltaTOutput_ShmemNameidt_notify : destroying segment DeltaTOutput_ShmemNameidt_fwd : destroying prot sem DeltaTOutput_ShmemNameidt_fwd_prot : destroying notify sem DeltaTOutput_ShmemNameidt_fwd_notify : done in DeltaT destructor : destroying segment MbTrnRecvOutput_ShmemName : destroying prot sem MbTrnRecvOutput_ShmemName_prot : destroying notify sem MbTrnRecvOutput_ShmemName_notify : **** SharedData destructor for object TerrainAidOutput **** : destroying segment TerrainAidOutput : destroying prot sem TerrainAidOutput_prot : destroying notify sem TerrainAidOutput_notify : Command destructor...