Supervisor::createCoreTasks() Supervisor::createTask() - eventLogServer Supervisor::createTask() - workSite Supervisor::createTask() - vehicleConfigurationServer S: Initializing worksiteServer upervisor: WorkSite::WorkSite -- Adding attributes ::c: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv-qnx-dev2020/auv/altex/onboard/config/mapper1_trn/workSite.cfg reateTask() - externalCom: Using default vehicle config file "/home/dorado1/auv-qnx-dev2020/auv/altex/onboard/config/mapper1_trn/vehicle.cfg" msServer Supervisor::createTask() - navigationServer : starting LC: layeredControlServer -plan 20210405_1850PatchTest_1v1.cfg.pp -abort abortMplan.cfg Supervisor::createTask() - layeredControlServer -plan 20210405_1850PatchTest_1v1.cfg.pp -abort abortMplan.cfg : Creating NavigationServer... S: *** NavigationServer::NavigationServer()... upervisor::createTask() - dynamicControlServer : WorkSite::WorkSite -- Finished loading parameters : WorkSite::WorkSite -- Starting Depth is 0.000000 meters : 0: 1 600674.187500E 4067388.750000N 73.699997 m 10.000000 ms channel:2 : 1: 2 600531.687500E 4065156.000000N 73.199997 m 10.000000 ms channel:4 : 2: 3 598447.000000E 4067412.250000N 91.400002 m 10.000000 ms channel:5 : 3: 4 600848.125000E 4069389.500000N 80.199997 m 10.000000 ms channel:6 : 4: 5 602732.187500E 4067093.000000N 57.299999 m 10.000000 ms channel:7 : WorkSite server: 0x23204 : *** NavigationServer::NavigationServer() - DONE : Done creating NavigationServer... : layeredControlServer - creating non dynamic version : Navigation::Navigation - Setting start depth to 0.0 meters. : Navigation::Navigation _logOnly = 0 : Navigation - Using only the Dvl to compute altitude. : Navigation/EchoSounder:: epoch = (1617652052,947049392) : Navigation: Opening Acoustic Modem Interface: : Supervisor::createTasks() - spawning dropWeightServer -dev /dev/ser4 Supervisor::createTask() - dropWeightServer -dev /dev/ser4 : Supervisor::createTasks() - spawning bldcTailConeServer -dev /dev/ser13 Supervisor::createTask() - bldcTailConeServer -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() : DropWeight::initialize - Resetting counters. : **** EventTriggers::add() - attaching proxy - kearfottDvlServer : creating if InsIFServer : dop aid flag is 1 : Supervisor::createTasks() - spawning parosciServer -dev /dev/ser1 -7khost 134.89.32.111 : Preparing to fork Su: I'm the child...forking pervisor::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 vis: SerialDevice: done... or::createTask() - fastcatServer -dev /dev/ser7 : ParosciServer:: reson host is 134.89.32.111 : Supervisor::createTasks() - spawning svpDriver -dev tcp:134.89.32.136:10002 Supervisor::createTask() - svpDriver -dev tcp:134.89.32.136:10002 : SerialDevice: done... : Parosci: insIF is 0x3ffc4 : Supervisor::createTasks() - spawning reson6046Server : Parosci::reson host is 134.89.32.111 Supervisor::createTask() - reson6046Server : SerialDevice: done... : SerialDevice: done... : Supervisor::createTasks() - spawning edgetechFSDWServer Supervisor::createTask() - edgetechFSDWServer : Supervisor::createTasks() - spawning gpsServer -r ashtech -dev udp:localhost:5050 Supervisor::createTask() -: SerialDevice: done... gpsServer -r ashtech -dev udp:localhost:5050 : Supervisor::createTasks() - spawning benthosWithAvtrakServer -dev /dev/ser12 Supervisor::createTask() - benthosWithAvtrakServer -dev /dev/ser12 : fastcatDriver RUNNING... : SerialDevice: done... : FastCat: constructing... : Supervisor::createTasks() - spawning atsServer 9009 Superv: FastCatLog.cc -- beginning constructor... i: FastCatLog.cc -- constructor succeeded sor: fastcatDriver -- constructor succeeded ::: SVP::reson host is null c: FastCat: initializing... reateTask() - atsServer 9009 : Launching Reson6046Server... : Supervisor::createTasks() - spawning newBattDriver -n newBatt1 -dev tcp:134.89.32.131:10003 Sup: Setting name... erv: Creating server... is: Command constructor... or:: Run server... :createTask() - newBattDriver -n newBatt1 -dev tcp:134.89.32.131:10003 : Launching EdgetechFSDWServer... : Supervisor::createTasks() - spawning newBattDriver -n newBatt2 -dev tcp:134.89.32.136:10003 Supe: Setting name... rvi: Creating server... sor: Starting EdgeTech Handler.. ::c: --> Starting Edgetech FSDW Driver.... reateTask() : -------EdgetechFSDW Configuration------- -: Debug Level = 1. ne: Init Error Count Limit = 10. wBa: Error Count Limit = 10. ttD: Callback Period = 100 milliseconds. riv: Edgetech FSDW IP Address = 127.000.000.001. er : EdgeTech Visible on Network = False. -n : EdgeTech IP Address = 134.89.32.113. new: EdgeTech Command Port = 1700. Bat: EdgeTech Data Port = 0. t2 : EdgeTech Shutdown Port = 0. -de: SBP Pulse Filename = 216Pulse_9k_14k_20ms.spf. v t: SBP Ping Rate = 4.00Hz. cp:: SBP Pulse Power = 0.00%. 134: SSL Pulse Filename = ss75_5k_9k_20ms.spf. .89: SSL Ping Range = 100.00m. .32: SSL Pulse Power = 0.00%. .13: SSH Pulse Filename = ss75_5k_9k_20ms.spf. : SerialDevice: done... 6:1: SSH Ping Rate = 100.00m. 0003 : SSH Pulse Power = 0.00%. : ------------------------------------------- : Command constructor... : Initializing Edgetech Configuration... : Launching Reson6046Driver... : Setting name to 'reson6046'... : Creating Reson6046Driver instance... : --> Starting Reson 6046 Driver.... : Command constructor... : reson6046: fastcatIF is 0x442dc : reson6046: navIF is 0x44434 : reson6046: insIF is 0x44674 : reson6046: DepthSensorIF is 0x447bc : SerialDevice: done... : SerialDevice: done... : BenthosModem::commandMode() - confirming... : Set verbose level : Battery newBatt1 initializing. : AtsDriver: Socket created on fd 6 : Battery newBatt2 initializing. : Gps: initializing : Gps: done initializing... : **** EventTriggers::add() - attaching proxy : PeriodicTask::run() (newBatt2) - sampleInterval=10000, maxInterval=10000 : PeriodicTask::run() (newBatt1) - sampleInterval=10000, maxInterval=10000 : Set write delay : Navigation: acommsIF = 0x808e0 : DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize() : PeriodicTask::run() (fanDriver) - sampleInterval=10000, maxInterval=10000 : Behavior edgetech: Finished Constructor : Behavior edgetech: Finished Constructor : Behavior edgetech: Finished Constructor : Set remote response waiting time : Behavior edgetech: Finished Constructor : PeriodicTask::run() (layeredControl) - sampleInterval=2000, maxInterval=0 : AshtechGps::processRecord() - $GPGGA,194734.00,3642.18562,N,12206.02362,W,1,13,0.7,-8.14,M,-33.09,M,,*7A : AshtechGps::processRecord() - $GPZDA,194734.00,05,04,2021,+00,00 : Parosci:: edgetechIF is 0x40124 : parosci:: reson host is 134.89.32.111 : parosci:: reson interface successfully created : Parosci.cc -- parsed PR (100) and TempInterval (100) : Kearfott:: depthif is 0x7300c : Kearfott:: ctdIF is 0x73124 : Kearfott:: edgetechIF is 0x7327c : Reson7K Center Socket connection ready! : SerialDevice: done... : FastCat: data is streaming (384)... : **** EventTriggers::add() - attaching proxy : reson6046: atsIF is 0x448e4 : Running Reson6046Driver... : PeriodicTask::run() (reson6046) - sampleInterval=200, maxInterval=200 : SerialDevice: done... : Turn on doppler correction : AshtechGps::processRecord() - $GPGGA,194735.00,3642.18556,N,12206.02358,W,1,13,0.7,-8.24,M,-33.09,M,,*76 : AshtechGps::processRecord() - $GPZDA,194735.00,05,04,2021,+00,00 : AshtechGps::processRecord() - $GPGGA,194736.00,3642.18558,N,12206.02363,W,1,13,0.7,-8.30,M,-33.09,M,,*76 : AshtechGps::processRecord() - $GPZDA,194736.00,05,04,2021,+00,00 : Run server... : 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,194737.00,3642.18553,N,12206.02353,W,1,13,0.7,-7.92,M,-33.09,M,,*78 : AshtechGps::processRecord() - $GPZDA,194737.00,05,04,2021,+00,00 : Parosci.cc -- Initial pressure = 0.092055 : Parosci.cc -- Parosci initial pressure period = 30.215119 : Parosci.cc -- Parosci initial temp period = 5.824953 : initial pressure is 1.329564 : Parosci.cc -- Paroscientific configured. : ParosciServer::depth() - data is stale : op input mode is 0xd : AshtechGps::processRecord() - $GPGGA,194738.00,3642.18542,N,12206.02338,W,1,13,0.7,-7.89,M,-33.09,M,,*70 : AshtechGps::processRecord() - $GPZDA,194738.00,05,04,2021,+00,00 : no response to address set : SerialDevice: done... : 3 Modules found on the network : TailConeDriver() - homing elevator : Parosci.cc - mode set to nano resolution : Parosci.cc - mode set to streaming : AshtechGps::processRecord() - $GPGGA,194739.00,3642.18535,N,12206.02312,W,1,13,0.7,-8.00,M,-33.09,M,,*77 : AshtechGps::processRecord() - $GPZDA,194739.00,05,04,2021,+00,00 : op input mode is 0xd : AshtechGps::processRecord() - $GPGGA,194740.00,3642.18502,N,12206.02301,W,1,13,0.7,-8.15,M,-33.09,M,,*7B : AshtechGps::processRecord() - $GPZDA,194740.00,05,04,2021,+00,00 : AshtechGps::processRecord() - $GPGGA,194741.00,3642.18488,N,12206.02286,W,1,13,0.7,-8.40,M,-33.09,M,,*77 : AshtechGps::processRecord() - $GPZDA,194741.00,05,04,2021,+00,00 : TailConeDriver() - homing rudder : op input mode is 0xd : AshtechGps::processRecord() - $GPGGA,194742.00,3642.18465,N,12206.02260,W,1,13,0.7,-8.01,M,-33.09,M,,*7A : AshtechGps::processRecord() - $GPZDA,194742.00,05,04,2021,+00,00 : AshtechGps::processRecord() - $GPGGA,194743.00,3642.18428,N,12206.02242,W,1,13,0.7,-8.08,M,-33.09,M,,*7B : AshtechGps::processRecord() - $GPZDA,194743.00,05,04,2021,+00,00 : PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200 : op input mode is 0xd : Navigation - Could not open TerrainAid IF. : Navigation::connectSensors core - connecting to Nav->DepthSensor at t = 11109. : Navigation::connectSensors core - connecting to Nav->TailCone at t = 11109. : Navigation::connectSensors core - connecting to Nav->KearfottServer at t = 11109. : Navigation::connectSensors core - connecting to Nav->Dvl at t = 11109. : Navigation::connectSensors aux - connecting to Nav->Gps at t = 11109. : Navigation::connectSensors aux - connecting to Nav->EchoSounder at t = 11109. : AshtechGps::processRecord() - $GPGGA,194744.00,3642.18408,N,12206.02215,W,1,13,0.7,-8.19,M,-33.09,M,,*7C : AshtechGps::processRecord() - $GPZDA,194744.00,05,04,2021,+00,00 : 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,194745.00,3642.18381,N,12206.02202,W,1,13,0.7,-8.53,M,-33.09,M,,*73 : AshtechGps::processRecord() - $GPZDA,194745.00,05,04,2021,+00,00 : op input mode is 0xd : AshtechGps::processRecord() - $GPGGA,194746.00,3642.18359,N,12206.02196,W,1,14,0.7,-8.10,M,-33.09,M,,*7B : AshtechGps::processRecord() - $GPZDA,194746.00,05,04,2021,+00,00 : AshtechGps::processRecord() - $GPGGA,194747.00,3642.18341,N,12206.02202,W,1,14,0.7,-8.20,M,-33.09,M,,*7E : AshtechGps::processRecord() - $GPZDA,194747.00,05,04,2021,+00,00 : caught exception in read : caught exception in read : op input mode is 0xd : AshtechGps::processRecord() - $GPGGA,194748.00,3642.18329,N,12206.02201,W,1,14,0.7,-8.27,M,-33.09,M,,*7B : AshtechGps::processRecord() - $GPZDA,194748.00,05,04,2021,+00,00 : caught exception in read : newBatt1::Average voltage = 31.89 V, Total current = -3.04 A : newBatt1::Max pack voltage = 31.93 V, pack 45 : newBatt1::Min pack voltage = 31.86 V, pack 21 : newBatt1::Env:12.2 C, 13.6 C, 12.7 %rH : newBatt1::packsOnline = 55 : newBatt1::Charge = 0.8 V, Disch = 31.6 V : newBatt1::Aux Current = 4.00 A, Discharge Current = 2.30 A Charge Current = 0.00 A : newBatt1:: There are 55 packs of 3.4 A-h cells. : : caught exception in read : AshtechGps::processRecord() - $GPGGA,194749.00,3642.18318,N,12206.02173,W,1,14,0.7,-7.96,M,-33.09,M,,*7B : AshtechGps::processRecord() - $GPZDA,194749.00,05,04,2021,+00,00 : caught exception in read : caught exception in read : op input mode is 0xd : AshtechGps::processRecord() - $GPGGA,194750.00,3642.18304,N,12206.02143,W,1,14,0.7,-7.82,M,-33.09,M,,*78 : AshtechGps::processRecord() - $GPZDA,194750.00,05,04,2021,+00,00 : caught exception in read : caught exception in read : AshtechGps::processRecord() - $GPGGA,194751.00,3642.18296,N,12206.02153,W,1,14,0.7,-7.95,M,-33.09,M,,*74 : AshtechGps::processRecord() - $GPZDA,194751.00,05,04,2021,+00,00 : caught exception in read : caught exception in read : op input mode is 0xd : AshtechGps::processRecord() - $GPGGA,194752.00,3642.18282,N,12206.02146,W,1,14,0.7,-7.68,M,-33.09,M,,*74 : AshtechGps::processRecord() - $GPZDA,194752.00,05,04,2021,+00,00 : caught exception in read : caught exception in read : AshtechGps::processRecord() - $GPGGA,194753.00,3642.18253,N,12206.02133,W,1,14,0.7,-7.87,M,-33.09,M,,*7A : AshtechGps::processRecord() - $GPZDA,194753.00,05,04,2021,+00,00 : caught exception in read : caught exception in read : op input mode is 0xd : Navigation: Server for aux sensor "Nav->EchoSounder" not found : Navigation::connectSensors aux - connecting to Nav->Velocimeter at t = 21208. : Navigation: Server for aux sensor "Nav->Velocimeter" not found : Navigation::connectSensors aux - connecting to Nav->Usbl at t = 21208. : AshtechGps::processRecord() - $GPGGA,194754.00,3642.18253,N,12206.02103,W,1,14,0.7,-8.11,M,-33.09,M,,*7E : AshtechGps::processRecord() - $GPZDA,194754.00,05,04,2021,+00,00 : caught exception in read : caught exception in read : AshtechGps::processRecord() - $GPGGA,194755.00,3642.18245,N,12206.02096,W,1,14,0.7,-7.69,M,-33.09,M,,*75 : AshtechGps::processRecord() - $GPZDA,194755.00,05,04,2021,+00,00 : caught exception in read : op input mode is 0xd : caught exception in read : AshtechGps::processRecord() - $GPGGA,194756.00,3642.18212,N,12206.02069,W,1,14,0.7,-7.82,M,-33.09,M,,*71 : AshtechGps::processRecord() - $GPZDA,194756.00,05,04,2021,+00,00 : caught exception in read : caught exception in read : AshtechGps::processRecord() - $GPGGA,194757.00,3642.18184,N,12206.02069,W,1,14,0.7,-8.07,M,-33.09,M,,*7E : AshtechGps::processRecord() - $GPZDA,194757.00,05,04,2021,+00,00 : caught exception in read : op input mode is 0xd : caught exception in read : AshtechGps::processRecord() - $GPGGA,194758.00,3642.18149,N,12206.02067,W,1,13,0.7,-8.30,M,-33.09,M,,*7D : AshtechGps::processRecord() - $GPZDA,194758.00,05,04,2021,+00,00 : caught exception in read : newBatt1::Average voltage = 31.89 V, Total current = -2.65 A : newBatt1::Max pack voltage = 31.93 V, pack 45 : newBatt1::Min pack voltage = 31.87 V, pack 21 : newBatt1::Env:12.2 C, 13.6 C, 12.7 %rH : newBatt1::packsOnline = 55 : newBatt1::Charge = 0.8 V, Disch = 31.6 V : newBatt1::Aux Current = 3.10 A, Discharge Current = 1.70 A Charge Current = 0.00 A : : caught exception in read : AshtechGps::processRecord() - $GPGGA,194759.00,3642.18132,N,12206.02044,W,1,13,0.7,-8.06,M,-33.09,M,,*74 : AshtechGps::processRecord() - $GPZDA,194759.00,05,04,2021,+00,00 : caught exception in read : op input mode is 0xd : caught exception in read : AshtechGps::processRecord() - $GPGGA,194800.00,3642.18119,N,12206.02022,W,1,13,0.7,-8.07,M,-33.09,M,,*7F : AshtechGps::processRecord() - $GPZDA,194800.00,05,04,2021,+00,00 : caught exception in read : caught exception in read : AshtechGps::processRecord() - $GPGGA,194801.00,3642.18106,N,12206.02024,W,1,13,0.7,-8.20,M,-33.09,M,,*73 : AshtechGps::processRecord() - $GPZDA,194801.00,05,04,2021,+00,00 : caught exception in read : resyncing : resyncing : resyncing : resyncing : resyncing : op input mode is 0xd : AshtechGps::processRecord() - $GPGGA,194802.00,3642.18079,N,12206.02017,W,1,13,0.7,-7.82,M,-33.09,M,,*7E : AshtechGps::processRecord() - $GPZDA,194802.00,05,04,2021,+00,00 : AshtechGps::processRecord() - $GPGGA,194803.00,3642.18059,N,12206.01986,W,1,13,0.7,-7.28,M,-33.09,M,,*7F : AshtechGps::processRecord() - $GPZDA,194803.00,05,04,2021,+00,00 : op input mode is 0xd : AshtechGps::processRecord() - $GPGGA,194804.00,3642.18054,N,12206.01985,W,1,13,0.7,-7.92,M,-33.09,M,,*77 : AshtechGps::processRecord() - $GPZDA,194804.00,05,04,2021,+00,00 : Navigation: Server for aux sensor "Nav->Usbl" not found : Navigation::Navigation(). _es->valid() = 0 at t = 31307. : PeriodicTask::run() (navigation) - sampleInterval=200, maxInterval=200 : **** EventTriggers::add() - attaching proxy : Reson Behavior::log=0,sbp=-1,-1.000000 | hiss=-1,-1.000000,-1.000000,-1.000000 | loss=-1,-1.000000,-1.000000,-1.000000 | mb=1,0.000000,3.000000,200.000000,34.000000,0.001000,0.000000 | pulse="","" : Reson Behavior: Tell Multibeam to set MB sound velocity : Reson Server - setting MB Sound Velocity to 0.000000 : Reson Behavior: Setting MB power to 0.000000 : Setting ping power for subsystem 0 to 0.000000... : Reson Behavior: Setting MB range to 200.000000 : Setting ping range for subsystem 0 to 200.000000... : Reson Behavior: Setting MB rate to 3.000000 : Setting ping rate for subsystem 0 to 3.000000... : Reson Behavior: Setting MB gain to 34.000000 : Setting receiver gain for subsystem 0 to 34.000000... : Reson Behavior: Setting MB pulse width to 0.001000 : Setting pulse width for subsystem 0 to 0.001000... : Reson Behavior: Setting MB Bottom detection filter 20.000000:200.000000:0.000000:200.000000 : Reson Behavior: Turning on snippet control - window size = 200 : Reson Server - setting MB snippets: enable = 1, window size = 200 : Reson Behavior: Turning on bottom detection modes: 0, 1 : Reson Behavior: Starting MB pinging : Sending start subsystem 0 command... : Reson Behavior: Stopping logging : Sending stop logging command... : Reson Behavior: Stopping 7k Center Logging : Sending stop logging command... : LayeredControl::execute() -- (t = 0.009999) Behavior reson:-1 has changed to state Finished : Edgetech Behavior::log=-1,storage=-1, updates=0 | sbp=0,0.000000,"" | hiss=0,0.000000,-1.000000,200.000000,"" | loss=0,0.000000,-1.000000,200.000000,"" : Edgetech Behavior: Setting SBP power to 0.000000 : Setting ping power for subsystem 2 to 0.000000... : Edgetech Behavior: Stopping subbottom profiler : Sending stop subsystem 2 command... : Edgetech Behavior: Setting SBP gain to 128.000000 : EdgetechFSDW Server - setting SBP gain to 128.000000 : Setting SBP gain to 128.000000 : Edgetech Behavior: Setting SBP duration to 300.000000 : EdgetechFSDW Server - setting SBP duration to 300.000000 : Setting SBP sweep to 300.000000 : Edgetech Behavior: Setting SSLo power to 0.000000 : Setting ping power for subsystem 3 to 0.000000... : Edgetech Behavior: Setting SSLo range to 200.000000 : Setting ping range for subsystem 3 to 200.000000... : ETDRIVER:: Setting subsys 3 range to 200.000000 : Edgetech Behavior: Stopping lo-freq SS : Sending stop subsystem 3 command... : Edgetech Behavior: Setting SSHi power to 0.000000 : Setting ping power for subsystem 4 to 0.000000... : Edgetech Behavior: Setting SSHi range to 200.000000 : Setting ping range for subsystem 4 to 200.000000... : ETDRIVER:: Setting subsys 4 range to 200.000000 : Edgetech Behavior: Stopping hi-freq SS : Sending stop subsystem 4 command... : LayeredControl::execute() -- (t = 0.009999) Behavior edgetech:-1 has changed to state Active : GetGPS: fix.quality = 1 : GetGPS::execute() -- Got a new GPS hit: 1 of 10 needed : GetGPS::execute(): Depth loop open > 1 minute: 0 Gps data processed: 1 Gps data rejected: 0 Dvl data processed: 0 Dvl data rejected: 0 ZUPT processed 0 Valid Dvl height 0 : GetGPS::execute() -- The Keafott accepted the Gps hit: 1 of 10 needed : LayeredControl::execute() -- (t = 0.009999) Behavior getgps:-1 has changed to state Active : LayeredControl::execute() -- (t = 0.009999) Behavior depthEnvelope:-1 has changed to state Active : LayeredControl::execute() -- (t = 0.019999) Behavior missionTimer:-1 has changed to state Active : **** EventTriggers::add() - attaching proxy : *** Mission started *** : **** EventTriggers::add() - attaching proxy : setting multibeam transmit power : Edgetech Behavior::log=-1,storage=-1, updates=0 | sbp=-1,-1.000000,"" | hiss=-1,-1.000000,-1.000000,-1.000000,"" | loss=-1,-1.000000,-1.000000,-1.000000,"" : LayeredControl::execute() -- (t = 0.359975) Behavior edgetech:-1 has changed to state Finished : GetGPS: fix.quality = 1 : GetGPS: fix.quality = 1 : GetGPS: fix.quality = 1 : AshtechGps::processRecord() - $GPGGA,194805.00,3642.18044,N,12206.01940,W,1,13,0.7,-7.39,M,-33.09,M,,*7F : AshtechGps::processRecord() - $GPZDA,194805.00,05,04,2021,+00,00 : GetGPS: fix.quality = 1 : GetGPS::execute() -- Got a new GPS hit: 2 of 10 needed : GetGPS::execute(): Depth loop open > 1 minute: 0 Gps data processed: 1 Gps data rejected: 0 Dvl data processed: 0 Dvl data rejected: 0 ZUPT processed 0 Valid Dvl height 0 : GetGPS::execute() -- The Keafott accepted the Gps hit: 2 of 10 needed : GetGPS: fix.quality = 1 : GetGPS: fix.quality = 1 : GetGPS: fix.quality = 1 : op input mode is 0xd : GetGPS: fix.quality = 1 : AshtechGps::processRecord() - $GPGGA,194806.00,3642.18045,N,12206.01932,W,1,13,0.7,-7.72,M,-33.09,M,,*77 : AshtechGps::processRecord() - $GPZDA,194806.00,05,04,2021,+00,00 : GetGPS: fix.quality = 1 : GetGPS::execute() -- Got a new GPS hit: 3 of 10 needed : GetGPS::execute(): Depth loop open > 1 minute: 0 Gps data processed: 1 Gps data rejected: 0 Dvl data processed: 0 Dvl data rejected: 0 ZUPT processed 0 Valid Dvl height 0 : GetGPS::execute() -- The Keafott accepted the Gps hit: 3 of 10 needed : GetGPS: fix.quality = 1 : caught exception in read : GetGPS: fix.quality = 1 : GetGPS: fix.quality = 1 : caught exception in read : GetGPS: fix.quality = 1 : AshtechGps::processRecord() - $GPGGA,194807.00,3642.18025,N,12206.01930,W,1,13,0.7,-7.92,M,-33.09,M,,*7C : AshtechGps::processRecord() - $GPZDA,194807.00,05,04,2021,+00,00 : GetGPS: fix.quality = 1 : GetGPS::execute() -- Got a new GPS hit: 4 of 10 needed : GetGPS::execute(): Depth loop open > 1 minute: 0 Gps data processed: 1 Gps data rejected: 0 Dvl data processed: 0 Dvl data rejected: 0 ZUPT processed 0 Valid Dvl height 0 : GetGPS::execute() -- The Keafott accepted the Gps hit: 4 of 10 needed : GetGPS: fix.quality = 1 : caught exception in read : GetGPS: fix.quality = 1 : GetGPS: fix.quality = 1 : caught exception in read : op input mode is 0xd : GetGPS: fix.quality = 1 : AshtechGps::processRecord() - $GPGGA,194808.00,3642.18019,N,12206.01926,W,1,13,0.7,-7.84,M,-33.09,M,,*7C : AshtechGps::processRecord() - $GPZDA,194808.00,05,04,2021,+00,00 : GetGPS: fix.quality = 1 : GetGPS::execute() -- Got a new GPS hit: 5 of 10 needed : GetGPS::execute(): Depth loop open > 1 minute: 0 Gps data processed: 1 Gps data rejected: 0 Dvl data processed: 0 Dvl data rejected: 0 ZUPT processed 0 Valid Dvl height 0 : GetGPS::execute() -- The Keafott accepted the Gps hit: 5 of 10 needed : GetGPS: fix.quality = 1 : caught exception in read : newBatt2::Average voltage = 32.33 V, Total current = -4.61 A : newBatt2::Max pack voltage = 32.35 V, pack 50 : newBatt2::Min pack voltage = 32.29 V, pack 8 : newBatt2::Env:11.8 C, 12.2 C, 18.8 %rH : newBatt2::packsOnline = 55 : newBatt2::Charge = 0.9 V, Disch = 32.1 V : newBatt2::Aux Current = 0.40 A, Discharge Current = 3.40 A Charge Current = 0.00 A : newBatt2:: There are 55 packs of 3.4 A-h cells. : : newBatt1::Average voltage = 31.89 V, Total current = -2.65 A : newBatt1::Max pack voltage = 31.93 V, pack 45 : newBatt1::Min pack voltage = 31.86 V, pack 21 : newBatt1::Env:12.2 C, 13.6 C, 12.7 %rH : newBatt1::packsOnline = 55 : newBatt1::Charge = 0.8 V, Disch = 31.7 V : newBatt1::Aux Current = 3.20 A, Discharge Current = 1.40 A Charge Current = 0.00 A : : GetGPS: fix.quality = 1 : GetGPS: fix.quality = 1 : caught exception in read : GetGPS: fix.quality = 1 : AshtechGps::processRecord() - $GPGGA,194809.00,3642.18000,N,12206.01916,W,1,13,0.7,-7.76,M,-33.09,M,,*7B : AshtechGps::processRecord() - $GPZDA,194809.00,05,04,2021,+00,00 : GetGPS: fix.quality = 1 : GetGPS::execute() -- Got a new GPS hit: 6 of 10 needed : GetGPS::execute(): Depth loop open > 1 minute: 0 Gps data processed: 1 Gps data rejected: 0 Dvl data processed: 0 Dvl data rejected: 0 ZUPT processed 0 Valid Dvl height 0 : GetGPS::execute() -- The Keafott accepted the Gps hit: 6 of 10 needed : GetGPS: fix.quality = 1 : caught exception in read : GetGPS: fix.quality = 1 : GetGPS: fix.quality = 1 : op input mode is 0xd : caught exception in read : GetGPS: fix.quality = 1 : AshtechGps::processRecord() - $GPGGA,194810.00,3642.17968,N,12206.01890,W,1,13,0.7,-7.58,M,-33.09,M,,*78 : AshtechGps::processRecord() - $GPZDA,194810.00,05,04,2021,+00,00 : GetGPS: fix.quality = 1 : GetGPS::execute() -- Got a new GPS hit: 7 of 10 needed : GetGPS::execute(): Depth loop open > 1 minute: 0 Gps data processed: 1 Gps data rejected: 0 Dvl data processed: 0 Dvl data rejected: 0 ZUPT processed 0 Valid Dvl height 0 : GetGPS::execute() -- The Keafott accepted the Gps hit: 7 of 10 needed : GetGPS: fix.quality = 1 : caught exception in read : GetGPS: fix.quality = 1 : GetGPS: fix.quality = 1 : caught exception in read : GetGPS: fix.quality = 1 : AshtechGps::processRecord() - $GPGGA,194811.00,3642.17940,N,12206.01868,W,1,13,0.7,-8.05,M,-33.09,M,,*73 : AshtechGps::processRecord() - $GPZDA,194811.00,05,04,2021,+00,00 : GetGPS: fix.quality = 1 : GetGPS::execute() -- Got a new GPS hit: 8 of 10 needed : GetGPS::execute(): Depth loop open > 1 minute: 0 Gps data processed: 1 Gps data rejected: 0 Dvl data processed: 0 Dvl data rejected: 0 ZUPT processed 0 Valid Dvl height 0 : GetGPS::execute() -- The Keafott accepted the Gps hit: 8 of 10 needed : GetGPS: fix.quality = 1 : caught exception in read : GetGPS: fix.quality = 1 : GetGPS: fix.quality = 1 : op input mode is 0xd : GetGPS: fix.quality = 1 : caught exception in read : AshtechGps::processRecord() - $GPGGA,194812.00,3642.17910,N,12206.01843,W,1,13,0.7,-8.04,M,-33.09,M,,*7D : AshtechGps::processRecord() - $GPZDA,194812.00,05,04,2021,+00,00 : GetGPS: fix.quality = 1 : GetGPS::execute() -- Got a new GPS hit: 9 of 10 needed : GetGPS::execute(): Depth loop open > 1 minute: 0 Gps data processed: 1 Gps data rejected: 0 Dvl data processed: 0 Dvl data rejected: 0 ZUPT processed 0 Valid Dvl height 0 : GetGPS::execute() -- The Keafott accepted the Gps hit: 9 of 10 needed : GetGPS: fix.quality = 1 : caught exception in read : GetGPS: fix.quality = 1 : GetGPS: fix.quality = 1 : GetGPS: fix.quality = 1 : caught exception in read : AshtechGps::processRecord() - $GPGGA,194813.00,3642.17890,N,12206.01818,W,1,13,0.7,-8.29,M,-33.09,M,,*74 : AshtechGps::processRecord() - $GPZDA,194813.00,05,04,2021,+00,00 : GetGPS: fix.quality = 1 : GetGPS::execute() -- Got a new GPS hit: 10 of 10 needed : GetGPS::execute(): Depth loop open > 1 minute: 0 Gps data processed: 1 Gps data rejected: 0 Dvl data processed: 0 Dvl data rejected: 0 ZUPT processed 0 Valid Dvl height 0 : GetGPS::execute() -- The Keafott accepted the Gps hit: 10 of 10 needed : LayeredControl::execute() -- (t = 8.799397) Behavior getgps:-1 has changed to state Finished : LayeredControl::execute() -- (t = 8.799397) Behavior setpoint:-1 has changed to state Active : DynamicControlServer::Begin horizontal mode 1 at t = 8.78 sec. : DynamicControlServer::Begin vertical mode 1 at t = 8.78 sec. : caught exception in read : op input mode is 0xd : caught exception in read : AshtechGps::processRecord() - $GPGGA,194814.00,3642.17869,N,12206.01819,W,1,13,0.7,-8.64,M,-33.09,M,,*7D : AshtechGps::processRecord() - $GPZDA,194814.00,05,04,2021,+00,00 : caught exception in read : AshtechGps::processRecord() - $GPGGA,194815.00,3642.17866,N,12206.01789,W,1,13,0.7,-8.49,M,-33.09,M,,*7A : AshtechGps::processRecord() - $GPZDA,194815.00,05,04,2021,+00,00 : caught exception in read : caught exception in read : op input mode is 0xd : AshtechGps::processRecord() - $GPGGA,194816.00,3642.17853,N,12206.01780,W,1,13,0.7,-8.14,M,-33.09,M,,*7E : AshtechGps::processRecord() - $GPZDA,194816.00,05,04,2021,+00,00 : caught exception in read : caught exception in read : AshtechGps::processRecord() - $GPGGA,194817.00,3642.17843,N,12206.01777,W,1,13,0.7,-8.09,M,-33.09,M,,*7A : AshtechGps::processRecord() - $GPZDA,194817.00,05,04,2021,+00,00 : caught exception in read : caught exception in read : op input mode is 0xd : AshtechGps::processRecord() - $GPGGA,194818.00,3642.17835,N,12206.01769,W,1,13,0.7,-7.84,M,-33.09,M,,*71 : AshtechGps::processRecord() - $GPZDA,194818.00,05,04,2021,+00,00 : caught exception in read : newBatt1::Average voltage = 31.89 V, Total current = -3.02 A : newBatt1::Max pack voltage = 31.92 V, pack 45 : newBatt1::Min pack voltage = 31.86 V, pack 21 : newBatt1::Env:12.1 C, 13.6 C, 12.7 %rH : newBatt1::packsOnline = 55 : newBatt1::Charge = 0.8 V, Disch = 31.6 V : newBatt1::Aux Current = 3.40 A, Discharge Current = 2.90 A Charge Current = 0.00 A : : caught exception in read : AshtechGps::processRecord() - $GPGGA,194819.00,3642.17832,N,12206.01774,W,1,13,0.7,-7.78,M,-33.09,M,,*78 : AshtechGps::processRecord() - $GPZDA,194819.00,05,04,2021,+00,00 : caught exception in read : caught exception in read : op input mode is 0xd : AshtechGps::processRecord() - $GPGGA,194820.00,3642.17833,N,12206.01782,W,1,13,0.7,-7.39,M,-33.09,M,,*7F : AshtechGps::processRecord() - $GPZDA,194820.00,05,04,2021,+00,00 : caught exception in read : caught exception in read : resyncing : resyncing : resyncing : resyncing : resyncing : AshtechGps::processRecord() - $GPGGA,194821.00,3642.17832,N,12206.01748,W,1,13,0.7,-6.99,M,-33.09,M,,*72 : AshtechGps::processRecord() - $GPZDA,194821.00,05,04,2021,+00,00 : op input mode is 0xd : AshtechGps::processRecord() - $GPGGA,194822.00,3642.17826,N,12206.01722,W,1,13,0.7,-7.22,M,-33.09,M,,*79 : AshtechGps::processRecord() - $GPZDA,194822.00,05,04,2021,+00,00 : AshtechGps::processRecord() - $GPGGA,194823.00,3642.17827,N,12206.01712,W,1,13,0.7,-7.78,M,-33.09,M,,*75 : AshtechGps::processRecord() - $GPZDA,194823.00,05,04,2021,+00,00 : op input mode is 0xd : 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 : TaskServer::signalHandler() for task InsIFServer - exit() on signal 2 : 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 WorkSiteIFServer - 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 VehicleConfigurationIFServer - 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 Reson6046IFServer - exit() on signal 2 : TaskServer::signalHandler() for task LayeredControlIFServer - exit() on signal 2 : TaskServer::signalHandler() for task DropWeightIFServer - exit() on signal 2 : TaskServer::signalHandler() for task FanIFServer - exit() on signal 2 : Fan Destructor Executing. : 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 : TaskServer::signalHandler() for task EventLogIFServer - exit() on signal 2 : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() on signal 2 : **** SharedData destructor for object newBatt1 **** : **** SharedData destructor for object newBatt2 **** : **** SharedData destructor for object kearfottOutput **** : 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 ParosciOutput_ShmemName **** : **** SharedData destructor for object DvlOutput_ShmemName **** : **** SharedData destructor for object GpsOutput_ShmemName **** : NavigationOutput::~NavigationOutput() : DynamicControlServer::Destructor. Difference between clock time and accumulated sample periods is -0.22, at t=19.58. : destroying segment LayeredControlOutput_ShmemName : Reson6046Server - killing driver : **** SharedData destructor for object TailConeInput_ShmemName **** : **** SharedData destructor for object LayeredControlInput_ShmemName **** : ServoGetStat (2) failed to read chars, rcv=-1, want=8 : destroying segment GpsOutput_ShmemName : destroying segment AtsOutout : **** SharedData destructor for object dropWeightOutput **** : **** SharedData destructor for object fanOutput **** : NavigationOutput::~NavigationOutput() : **** SharedData destructor for object AtsOutout **** : failed to unlink queue benthosModemCommand : Supervisor::signalHandler possible duplicate signal[2] : **** SharedData destructor for object reson6046Output **** : destroying segment newBatt1 : destroying segment newBatt2 : destroying segment kearfottOutput : **** SharedData destructor for object fanOutput **** : destroying prot sem ParosciOutput_ShmemName_prot : destroying prot sem FastCat_prot : destroying segment FastCat : destroying prot sem kearfottOutput_prot : destroying segment ParosciOutput_ShmemName : **** SharedData destructor for object dropWeightOutput **** : destroying segment DvlOutput_ShmemName : destroying segment GpsOutput_ShmemName : **** SharedData destructor for object navigationOutput **** : destroying prot sem LayeredControlOutput_ShmemName_prot : **** SharedData destructor for object reson6046Output **** : TaskServer::signalHandler() for task Reson6046IFServer - exit() on signal 18 : destroying segment TailConeInput_ShmemName : destroying segment LayeredControlInput_ShmemName : ServoGetStat (2) 70 99 00 00 03 00 00 : destroying prot sem GpsOutput_ShmemName_prot : destroying prot sem AtsOutout_prot : destroying segment dropWeightOutput : destroying segment fanOutput : **** SharedData destructor for object navigationOutput **** : destroying segment AtsOutout : **** SharedData destructor for object BenthosModemOutout **** : Supervisor::signalHandler - setting exit flag [2] : destroying prot sem newBatt1_prot : destroying prot sem newBatt2_prot : destroying prot sem kearfottOutput_prot : destroying segment fanOutput : destroying notify sem ParosciOutput_ShmemName_notify : destroying notify sem FastCat_notify : destroying prot sem FastCat_prot : destroying notify sem kearfottOutput_notify : destroying prot sem ParosciOutput_ShmemName_prot : destroying segment dropWeightOutput : destroying prot sem DvlOutput_ShmemName_prot : destroying prot sem GpsOutput_ShmemName_prot : destroying segment navigationOutput : 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 notify sem AtsOutout_notify : destroying prot sem dropWeightOutput_prot : destroying prot sem fanOutput_prot : destroying segment navigationOutput : destroying prot sem AtsOutout_prot : destroying segment BenthosModemOutout : Supervisor::shutdown - cleaning up : destroying notify sem newBatt1_notify : destroying notify sem newBatt2_notify : destroying notify sem kearfottOutput_notify : destroying prot sem fanOutput_prot : destroying notify sem FastCat_notify : **** SharedData destructor for object DvlOutput_ShmemName **** : destroying notify sem ParosciOutput_ShmemName_notify : destroying prot sem dropWeightOutput_prot : TaskServer::signalHandler() for task DepthSensorIFServer - exit() on signal 18 : destroying notify sem DvlOutput_ShmemName_notify : destroying notify sem GpsOutput_ShmemName_notify : destroying prot sem navigationOutput_prot : **** SharedData destructor for object LayeredControlInput_ShmemName **** : TaskServer::signalHandler() for task FastCat - exit() on signal 18 : destroying notify sem TailConeInput_ShmemName_notify : destroying notify sem LayeredControlInput_ShmemName_notify : destroying notify sem dropWeightOutput_notify : destroying notify sem fanOutput_notify : destroying prot sem navigationOutput_prot : TaskServer::signalHandler() for task AuvTimeSyncIFServer - exit() on signal 18 : destroying prot sem BenthosModemOutout_prot : Supervisor::shutdown - deleting output : TaskServer::signalHandler() for task GpsIFServer - exit() on signal 18 : destroying notify sem fanOutput_notify : destroying segment DvlOutput_ShmemName : destroying notify sem dropWeightOutput_notify : destroying notify sem navigationOutput_notify : destroying segment LayeredControlInput_ShmemName : **** SharedData destructor for object TailConeOutput_ShmemName **** : **** SharedData destructor for object LayeredControlOutput_ShmemName **** : destroying notify sem navigationOutput_notify : destroying notify sem BenthosModemOutout_notify : **** SharedData destructor for object SupervisorOutout **** : destroying prot sem DvlOutput_ShmemName_prot : failed to unlink queue NavigationInput : destroying prot sem LayeredControlInput_ShmemName_prot : **** SharedData destructor for object TailConeInput_ShmemName **** : destroying segment TailConeOutput_ShmemName : destroying segment LayeredControlOutput_ShmemName : TaskServer::signalHandler() for task NavigationIFServer - exit() on signal 18 : destroying notify sem DvlOutput_ShmemName_notify : destroying segment SupervisorOutout : destroying notify sem LayeredControlInput_ShmemName_notify : destroying segment TailConeInput_ShmemName : destroying prot sem TailConeOutput_ShmemName_prot : destroying prot sem LayeredControlOutput_ShmemName_prot : TaskServer::signalHandler() for task LayeredControlIFServer - exit() on signal 18 : destroying prot sem SupervisorOutout_prot : destroying prot sem TailConeInput_ShmemName_prot : destroying notify sem TailConeOutput_ShmemName_notify : destroying notify sem SupervisorOutout_notify : destroying notify sem TailConeInput_ShmemName_notify : Supervisor::shutdown - done : **** SharedData destructor for object TailConeOutput_ShmemName **** : Supervisor::~Supervisor - dtor : destroying segment TailConeOutput_ShmemName : destroying prot sem TailConeOutput_ShmemName_prot : destroying notify sem TailConeOutput_ShmemName_notify : Command destructor...