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-dev2020/auv/altex/onboard/config/mapper1_trn/workSite.cfg Server Supervisor::createTask() - external: Using default vehicle config file "/home/dorado1/auv-qnx-dev2020/auv/altex/onboard/config/mapper1_trn/vehicle.cfg" CommsServer Supervisor::createTask() - navigationServer : starting LC: layeredControlServer -plan SR_Orange_container_m1_v3.cfg.pp -abort abortMplan.cfg Supervisor::createTask() - layeredControlServer -plan SR_Orange_container_m1_v3.cfg.pp -abort abortMplan.cfg : Creating NavigationServer... S: *** NavigationServer::NavigationServer()... up: WorkSite::WorkSite -- Finished loading parameters er: WorkSite::WorkSite -- Starting Depth is 0.000000 meters vis: 0: 1 600674.187500E 4067388.750000N 73.699997 m 10.000000 ms channel:2 or:: 1: 2 600531.687500E 4065156.000000N 73.199997 m 10.000000 ms channel:4 :cr: 2: 3 598447.000000E 4067412.250000N 91.400002 m 10.000000 ms channel:5 eat: 3: 4 600848.125000E 4069389.500000N 80.199997 m 10.000000 ms channel:6 eTa: 4: 5 602732.187500E 4067093.000000N 57.299999 m 10.000000 ms channel:7 sk(: WorkSite server: 0x23208 ) -: *** NavigationServer::NavigationServer() - DONE dy: Done creating NavigationServer... namicControlServer : Navigation::Navigation - Setting start depth to 0.0 meters. : 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 134.89.32.111 Supervisor::createTask() - kearfottServer -dev /dev/ser10 -7khost 134.89.32.111 : SerialDevice: done... : Supervisor::createTasks() - spawning kearfottDvlServer Supervisor::createTask() - kearfottDvlServer : DropWeight::initialize - Resetting counters. : **** EventTriggers::add() - attaching proxy : creating if InsIFServer : dop aid flag is 1 : Supervisor::createTasks() - spawning parosciServer -dev /dev/ser1 -7khost 134.89.32.111 : Preparing to fork Sup: I'm the child...forking ervisor::createTask() - parosciServer -dev /dev/ser1 -7khost 134.89.32.111 : SerialDevice: done... : Supervisor::createTasks() - spawning fanServer Supervisor::createTask() - fanServer : SerialDevice: done... : TailConeServer -- Maximum Elevator Actuator Excursion is 0 Counts : Supervisor::createTasks() - spawning fastcatServer -dev /dev/ser7 : TailConeServer:: -- Minimum Elevator Actuator Excursion is 0 Counts Sup: TailConeServer -- Maximum Rudder Actuator Excursion is 0 Counts er: TailConeServer -- Minimum Rudder Actuator Excursion is 0 Counts v: ParosciServer:: reson host is 134.89.32.111 is: SerialDevice: done... or:: SerialDevice: done... :createTask() - fastcatServer -dev /dev/ser7 : Supervisor::createTasks() - spawning svpDriver -dev tcp:134.89.32.136:10002 : Parosci: insIF is 0x3ffc4 Sup: Parosci::reson host is 134.89.32.111 ervisor::createTask() - svpDriver -dev tcp:134.89.32.136: SerialDevice: done... :10002 : Supervisor::createTasks() - spawning reson6046Server Supervisor::cr: fastcatDriver RUNNING... e: SerialDevice: done... ate: FastCat: constructing... Task() - reson6046Server : Supervisor::createTasks() - spawning edgetechFSDWServer Supervisor::createTask() - edgetechFSDWServer : Supervisor::createTasks() - spawning gpsServer -r ashtech -dev udp:localhost:5050 Supervisor::createTask() - gpsServer -r ashte: SerialDevice: done... c: SerialDevice: done... h -dev udp:localhost:5050 : Supervisor::createTasks() - spawning benthosWithAvtrakServer -dev /dev/ser12 Supervisor::createT: FastCatLog.cc -- beginning constructor... : FastCatLog.cc -- constructor succeeded ask: fastcatDriver -- constructor succeeded () : FastCat: initializing... - benthosWithAvtrakServer -dev /dev/ser12 : SVP::reson host is null : Launching Reson6046Server... : Launching EdgetechFSDWServer... : Supervisor::createTasks() - spawning atsServer 9009 : SerialDevice: done... Sup: Setting name... erv: Setting name... is: Creating server... or:: Creating server... :: Command constructor... creat: Starting EdgeTech Handler.. e: Run server... Task(: --> Starting Edgetech FSDW Driver.... ) - a: -------EdgetechFSDW Configuration------- tsS: Debug Level = 1. erv: Init Error Count Limit = 10. er : Error Count Limit = 10. 900: Callback Period = 100 milliseconds. 9 : Edgetech FSDW IP Address = 127.000.000.001. : EdgeTech Visible on Network = False. : EdgeTech IP Address = 134.89.32.113. : EdgeTech Command Port = 1700. : EdgeTech Data Port = 0. : EdgeTech Shutdown Port = 0. : SBP Pulse Filename = 216Pulse_9k_14k_20ms.spf. : SBP Ping Rate = 4.00Hz. : SBP Pulse Power = 0.00%. : SSL Pulse Filename = ss75_5k_9k_20ms.spf. : SSL Ping Range = 100.00m. : SSL Pulse Power = 0.00%. : SSH Pulse Filename = ss75_5k_9k_20ms.spf. : SSH Ping Rate = 100.00m. : SSH Pulse Power = 0.00%. : ------------------------------------------- : Command constructor... : Initializing Edgetech Configuration... : Supervisor::createTasks() - spawning newBattDriver -n newBatt1 -dev tcp:134.89.32.131:10003 Supervisor::createTask() - newBattDriver -n newBatt1 -dev tcp:134.89.32.131:10003 : Launching Reson6046Driver... : Setting name to 'reson6046'... : Supervisor::createTasks() - spawning newBattDriver -n newBatt2 -dev tcp:134.89.32.136:10003 : Creating Reson6046Driver instance... Su: --> Starting Reson 6046 Driver.... per: Command constructor... visor::cr: Navigation::Navigation _logOnly = 0 e: Behavior edgetech: Finished Constructor : Navigation - Using only the Dvl to compute altitude. a: SerialDevice: done... t: Behavior edgetech: Finished Constructor eTa: Navigation/EchoSounder:: epoch = (1596484125,672855797) : reson6046: fastcatIF is 0x442dc sk(: SerialDevice: done... ) -: Parosci:: edgetechIF is 0x40124 : Kearfott:: depthif is 0x7300c : FastCat: data is streaming (384)... : SerialDevice: done... : Behavior edgetech: Finished Constructor ne: Navigation: Opening Acoustic Modem Interface: wBa: reson6046: navIF is 0x44434 ttD: BenthosModem::commandMode() - confirming... riv: parosci:: reson host is 134.89.32.111 er : Kearfott:: ctdIF is 0x73124 -n : **** EventTriggers::add() - attaching proxy newBa: Behavior edgetech: Finished Constructor tt2: Navigation: acommsIF = 0x808e4 -d: reson6046: insIF is 0x44674 ev : Set verbose level tcp: parosci:: reson interface successfully created :13: Kearfott:: edgetechIF is 0x7327c 4.89.3: PeriodicTask::run() (layeredControl) - sampleInterval=2000, maxInterval=0 2.136:: reson6046: DepthSensorIF is 0x447bc 10003 : Parosci.cc -- parsed PR (100) and TempInterval (100) : Reson7K Center Socket connection ready! : reson6046: atsIF is 0x448e4 : Set write delay : Running Reson6046Driver... : PeriodicTask::run() (reson6046) - sampleInterval=200, maxInterval=200 : DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize() : SerialDevice: done... : Battery newBatt1 initializing. : PeriodicTask::run() (fanDriver) - sampleInterval=10000, maxInterval=10000 : AtsDriver: Socket created on fd 6 : Gps: initializing : Gps: done initializing... : **** EventTriggers::add() - attaching proxy : Battery newBatt2 initializing. : PeriodicTask::run() (newBatt1) - sampleInterval=10000, maxInterval=10000 : PeriodicTask::run() (newBatt2) - sampleInterval=10000, maxInterval=10000 : Set remote response waiting time : Turn on doppler correction : AshtechGps::processRecord() - $GPGGA,194849.00,3651.34023,N,12206.68506,W,1,10,0.9,-1.62,M,-33.20,M,,*75 : AshtechGps::processRecord() - $GPZDA,194849.00,03,08,2020,+00,00 : Run server... : ParosciServer::depth() - data is stale : op input mode is 0xd : AshtechGps::processRecord() - $GPGGA,194850.00,3651.34018,N,12206.68525,W,1,10,0.9,-2.44,M,-33.20,M,,*73 : AshtechGps::processRecord() - $GPZDA,194850.00,03,08,2020,+00,00 : 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 : ParosciServer::depth() - data is stale : op input mode is 0xd : AshtechGps::processRecord() - $GPGGA,194851.00,3651.33977,N,12206.68501,W,1,10,0.9,-1.78,M,-33.20,M,,*7F : AshtechGps::processRecord() - $GPZDA,194851.00,03,08,2020,+00,00 : no response to address set : SerialDevice: done... : 3 Modules found : Parosci.cc -- Initial pressure = 0.092826 : Parosci.cc -- Parosci initial pressure period = 30.214810 : Parosci.cc -- Parosci initial temp period = 5.823530 : initial pressure is 1.324796 : Parosci.cc -- Paroscientific configured. : PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200 : AshtechGps::processRecord() - $GPGGA,194852.00,3651.33932,N,12206.68474,W,1,10,0.9,-0.90,M,-33.20,M,,*79 : AshtechGps::processRecord() - $GPZDA,194852.00,03,08,2020,+00,00 : Parosci.cc - mode set to nano resolution : Parosci.cc - mode set to streaming : ParosciServer::depth() - data is stale : op input mode is 0xd : AshtechGps::processRecord() - $GPGGA,194853.00,3651.33901,N,12206.68456,W,1,10,0.9,-0.79,M,-33.20,M,,*7F : AshtechGps::processRecord() - $GPZDA,194853.00,03,08,2020,+00,00 : AshtechGps::processRecord() - $GPGGA,194854.00,3651.33870,N,12206.68388,W,1,10,0.9,-0.60,M,-33.20,M,,*73 : AshtechGps::processRecord() - $GPZDA,194854.00,03,08,2020,+00,00 : op input mode is 0xd : AshtechGps::processRecord() - $GPGGA,194855.00,3651.33812,N,12206.68344,W,1,10,0.9,-1.09,M,-33.20,M,,*78 : AshtechGps::processRecord() - $GPZDA,194855.00,03,08,2020,+00,00 : AshtechGps::processRecord() - $GPGGA,194856.00,3651.33800,N,12206.68365,W,1,10,0.9,-1.29,M,-33.20,M,,*79 : AshtechGps::processRecord() - $GPZDA,194856.00,03,08,2020,+00,00 : op input mode is 0xd : AshtechGps::processRecord() - $GPGGA,194857.00,3651.33776,N,12206.68324,W,1,10,0.9,-1.15,M,-33.20,M,,*7C : AshtechGps::processRecord() - $GPZDA,194857.00,03,08,2020,+00,00 : Navigation - Could not open TerrainAid IF. : Navigation::connectSensors core - connecting to Nav->DepthSensor at t = 11719. : Navigation::connectSensors core - connecting to Nav->TailCone at t = 11719. : Navigation::connectSensors core - connecting to Nav->KearfottServer at t = 11719. : Navigation::connectSensors core - connecting to Nav->Dvl at t = 11719. : Navigation::connectSensors aux - connecting to Nav->Gps at t = 11719. : Navigation::connectSensors aux - connecting to Nav->EchoSounder at t = 11719. : AshtechGps::processRecord() - $GPGGA,194858.00,3651.33752,N,12206.68317,W,1,10,0.9,-1.16,M,-33.20,M,,*76 : AshtechGps::processRecord() - $GPZDA,194858.00,03,08,2020,+00,00 : op input mode is 0xd : BenthosModem::initialize() - no trn server : BenthosModem::Initialize() - trn interface is 0x0 : BenthosModem::onlineMode() - confirming... : done initializing modem : PeriodicTask::run() (BenthosModem) - sampleInterval=1000, maxInterval=1000 : AshtechGps::processRecord() - $GPGGA,194859.00,3651.33717,N,12206.68294,W,1,10,0.9,-1.09,M,-33.20,M,,*72 : AshtechGps::processRecord() - $GPZDA,194859.00,03,08,2020,+00,00 : AshtechGps::processRecord() - $GPGGA,194900.00,3651.33681,N,12206.68240,W,1,10,0.9,-0.63,M,-33.20,M,,*75 : AshtechGps::processRecord() - $GPZDA,194900.00,03,08,2020,+00,00 : op input mode is 0xd : AshtechGps::processRecord() - $GPGGA,194901.00,3651.33644,N,12206.68251,W,1,10,0.9,-1.02,M,-33.20,M,,*7B : AshtechGps::processRecord() - $GPZDA,194901.00,03,08,2020,+00,00 : AshtechGps::processRecord() - $GPGGA,194902.00,3651.33609,N,12206.68234,W,1,10,0.9,-1.12,M,-33.20,M,,*73 : AshtechGps::processRecord() - $GPZDA,194902.00,03,08,2020,+00,00 : op input mode is 0xd : AshtechGps::processRecord() - $GPGGA,194903.00,3651.33563,N,12206.68210,W,1,10,0.9,-1.02,M,-33.20,M,,*7A : AshtechGps::processRecord() - $GPZDA,194903.00,03,08,2020,+00,00 : newBatt1::Average voltage = 31.95 V, Total current = -4.25 A : newBatt1::Max pack voltage = 36.03 V, pack 26 : newBatt1::Min pack voltage = 16.38 V, pack 33 : newBatt1::Env:18.3 C, 19.6 C, 12.9 %rH : newBatt1::packsOnline = 55 : newBatt1::Charge = 0.9 V, Disch = 32.5 V : newBatt1::Aux Current = 3.80 A, Discharge Current = 3.60 A Charge Current = 0.00 A : newBatt1:: There are 55 packs of 3.4 A-h cells. : : newBatt2::Average voltage = 33.00 V, Total current = -3.02 A : newBatt2::Max pack voltage = 33.02 V, pack 50 : newBatt2::Min pack voltage = 32.97 V, pack 8 : newBatt2::Env:18.5 C, 18.7 C, 18.2 %rH : newBatt2::packsOnline = 55 : newBatt2::Charge = 0.9 V, Disch = 32.8 V : newBatt2::Aux Current = 0.50 A, Discharge Current = 2.00 A Charge Current = 0.00 A : newBatt2:: There are 55 packs of 3.4 A-h cells. : : AshtechGps::processRecord() - $GPGGA,194904.00,3651.33526,N,12206.68189,W,1,10,0.9,-0.89,M,-33.20,M,,*7D : AshtechGps::processRecord() - $GPZDA,194904.00,03,08,2020,+00,00 : op input mode is 0xd : AshtechGps::processRecord() - $GPGGA,194905.00,3651.33511,N,12206.68153,W,1,10,0.9,-0.78,M,-33.20,M,,*71 : AshtechGps::processRecord() - $GPZDA,194905.00,03,08,2020,+00,00 : AshtechGps::processRecord() - $GPGGA,194906.00,3651.33487,N,12206.68133,W,1,10,0.9,-0.54,M,-33.20,M,,*74 : AshtechGps::processRecord() - $GPZDA,194906.00,03,08,2020,+00,00 : op input mode is 0xd : AshtechGps::processRecord() - $GPGGA,194907.00,3651.33447,N,12206.68097,W,1,10,0.9,0.04,M,-33.20,M,,*5E : AshtechGps::processRecord() - $GPZDA,194907.00,03,08,2020,+00,00 : Navigation: Server for aux sensor "Nav->EchoSounder" not found : Navigation::connectSensors aux - connecting to Nav->Velocimeter at t = 21818. : Navigation: Server for aux sensor "Nav->Velocimeter" not found : Navigation::connectSensors aux - connecting to Nav->Usbl at t = 21818. : AshtechGps::processRecord() - $GPGGA,194908.00,3651.33435,N,12206.68106,W,1,10,0.9,-1.33,M,-33.20,M,,*75 : AshtechGps::processRecord() - $GPZDA,194908.00,03,08,2020,+00,00 : op input mode is 0xd : AshtechGps::processRecord() - $GPGGA,194909.00,3651.33398,N,12206.68066,W,1,10,0.9,-0.88,M,-33.20,M,,*72 : AshtechGps::processRecord() - $GPZDA,194909.00,03,08,2020,+00,00 : AshtechGps::processRecord() - $GPGGA,194910.00,3651.33375,N,12206.68051,W,1,10,0.9,-1.59,M,-33.20,M,,*70 : AshtechGps::processRecord() - $GPZDA,194910.00,03,08,2020,+00,00 : op input mode is 0xd : AshtechGps::processRecord() - $GPGGA,194911.00,3651.33356,N,12206.68046,W,1,10,0.9,-2.26,M,-33.20,M,,*7D : AshtechGps::processRecord() - $GPZDA,194911.00,03,08,2020,+00,00 : AshtechGps::processRecord() - $GPGGA,194912.00,3651.33327,N,12206.68037,W,1,10,0.9,-2.16,M,-33.20,M,,*7D : AshtechGps::processRecord() - $GPZDA,194912.00,03,08,2020,+00,00 : op input mode is 0xd : AshtechGps::processRecord() - $GPGGA,194913.00,3651.33284,N,12206.68012,W,1,10,0.9,-1.36,M,-33.20,M,,*72 : AshtechGps::processRecord() - $GPZDA,194913.00,03,08,2020,+00,00 : newBatt1::Average voltage = 32.83 V, Total current = -4.22 A : newBatt1::Max pack voltage = 48.13 V, pack 4 : newBatt1::Min pack voltage = 17.20 V, pack 33 : newBatt1::Env:18.3 C, 19.6 C, 12.9 %rH : newBatt1::packsOnline = 55 : newBatt1::Charge = 0.9 V, Disch = 32.5 V : newBatt1::Aux Current = 3.70 A, Discharge Current = 3.50 A Charge Current = 0.00 A : : newBatt2::Average voltage = 33.00 V, Total current = -3.01 A : newBatt2::Max pack voltage = 33.02 V, pack 37 : newBatt2::Min pack voltage = 32.97 V, pack 8 : newBatt2::Env:18.5 C, 18.7 C, 18.2 %rH : newBatt2::packsOnline = 55 : newBatt2::Charge = 0.9 V, Disch = 32.9 V : newBatt2::Aux Current = 0.50 A, Discharge Current = 2.00 A Charge Current = 0.00 A : : AshtechGps::processRecord() - $GPGGA,194914.00,3651.33255,N,12206.67986,W,1,10,0.9,-0.80,M,-33.20,M,,*7E : AshtechGps::processRecord() - $GPZDA,194914.00,03,08,2020,+00,00 : op input mode is 0xd : AshtechGps::processRecord() - $GPGGA,194915.00,3651.33209,N,12206.67937,W,1,10,0.9,-0.86,M,-33.20,M,,*7A : AshtechGps::processRecord() - $GPZDA,194915.00,03,08,2020,+00,00 : AshtechGps::processRecord() - $GPGGA,194916.00,3651.33159,N,12206.67879,W,1,10,0.9,-0.96,M,-33.20,M,,*75 : AshtechGps::processRecord() - $GPZDA,194916.00,03,08,2020,+00,00 : op input mode is 0xd : AshtechGps::processRecord() - $GPGGA,194917.00,3651.33125,N,12206.67903,W,1,10,0.9,-1.48,M,-33.20,M,,*71 : AshtechGps::processRecord() - $GPZDA,194917.00,03,08,2020,+00,00 : Navigation: Server for aux sensor "Nav->Usbl" not found : Navigation::Navigation(). _es->valid() = 0 at t = 31917. : PeriodicTask::run() (navigation) - sampleInterval=200, maxInterval=200