: WorkSite server: 0x1f098 : Using default vehicle config file "../config/vehicle.cfg" : Create tailcone : SerialDevice: done... : SerialDevice: done... : KvhInclinoDriver::initialize() : Gps: initializing : SerialDevice: done... : Gps: done initializing... : **** EventTriggers::add() - attaching proxy : Gps::processRecord() - bad data : Run tailcone : SerialDevice: done... : Gps::processRecord() - bad data : KvhCompassDriver::initialize() : KvhDriver::setUpdateRate(5) : Ctd::Ctd() - create interface to depth sensor... : PSA916: constructing... : CTD:initializing CTD... : SerialDevice: done... : MissionPlan::load() - file = ../missions/abortMplan.cfg : PeriodicTask::run() (navigation) - sampleInterval=200, maxInterval=200 : Successfully loaded ../missions/abortMplan.cfg : MissionPlan::load() - file = ../missions/Lab4.cfg : Successfully loaded ../missions/Lab4.cfg : PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200 : KvhInclinoDriver::initialize() - ready! : PSA916: initializing... : KvhInclinoDriver::initialize() - finished : PSA916: trying to write data... : **** EventTriggers::add() - attaching proxy : PSA916: debug mode on... : SerialDevice: done... : Navigation::periodicCallback() - bad ahrs data? : PSA916: confirming data stream... : SerialDevice: done... : PSA916: data is streaming... : **** EventTriggers::add() - attaching proxy : this should not have happened: : Navigation::periodicCallback() - bad ahrs data? : Navigation::periodicCallback() - bad ahrs data? : Navigation::periodicCallback() - bad ahrs data? : Navigation::periodicCallback() - bad ahrs data? : Navigation::periodicCallback() - bad ahrs data? : indexing rudder ... : Navigation::periodicCallback() - bad ahrs data? : KvhDriver::setUpdateRate(5) : Navigation::periodicCallback() - bad ahrs data? : Navigation::periodicCallback() - bad ahrs data? : KvhCompassDriver::initialize() - ready! : KvhCompassDriver::initialize() - finished : **** EventTriggers::add() - attaching proxy : ParosciServer::depth() - device not ready : Navigation::periodicCallback() - bad parosci data? : ParosciServer::depth() - device not ready : Navigation::periodicCallback() - bad parosci data? : ParosciServer::depth() - device not ready : Navigation::periodicCallback() - bad parosci data? : ParosciServer::depth() - device not ready : Navigation::periodicCallback() - bad parosci data? : ParosciServer::depth() - device not ready : Navigation::periodicCallback() - bad parosci data? : ParosciServer::depth() - device not ready : Navigation::periodicCallback() - bad parosci data? : ParosciServer::depth() - device not ready : Navigation::periodicCallback() - bad parosci data? : Parosci.cc -- Initial pressure = 1.689216 : Parosci.cc -- Parosci initial pressure period = 30.259300 : ParosciServer::depth() - device not ready : Navigation::periodicCallback() - bad parosci data? : Parosci.cc -- Parosci initial temp period = 5.833742 : Parosci.cc -- Paroscientific configured. : PeriodicTask::run() (Parosci) - sampleInterval=200, maxInterval=200 : SerialDevice::confirm() - Timed Out : Ctd::initialize() - confirm() timed out; sleep a bit : done : indexing elevator ... : done : **** EventTriggers::add() - attaching proxy : **** EventTriggers::add() - attaching proxy : Behavior::shouldBehaviorStart -- Checking to see if launch should run : -- it should : **** EventTriggers::add() - attaching proxy : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=-28 : OdysseyThruster::control() - write command #THV1C: : waterspd = 0.000004, pitch = 0.124000, omega_P = 0.000033 : 948172326: THFV1c, per 0x80000000, cur 0x00, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=-28 : OdysseyThruster::control() - write command #THV1C: : waterspd = 0.000004, pitch = 0.124000, omega_P = -62.288498 : 948172327: THNV1c, per 0x472, cur 0x01, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=-28 : OdysseyThruster::control() - write command #THV1C: : waterspd = 0.000004, pitch = 0.124000, omega_P = -62.343281 : 948172327: THNV1c, per 0x471, cur 0x00, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=-28 : OdysseyThruster::control() - write command #THV1C: : waterspd = 0.000004, pitch = 0.124000, omega_P = -62.674015 : 948172327: THNV1c, per 0x46b, cur 0x00, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=-28 : OdysseyThruster::control() - write command #THV1C: : waterspd = 0.000004, pitch = 0.124000, omega_P = -62.674015 : 948172327: THNV1c, per 0x46b, cur 0x05, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=-28 : OdysseyThruster::control() - write command #THV1C: : waterspd = 0.000004, pitch = 0.124000, omega_P = -62.563381 : 948172327: THNV1c, per 0x46d, cur 0x01, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=-28 : OdysseyThruster::control() - write command #THV1C: : waterspd = 0.000004, pitch = 0.124000, omega_P = -62.508211 : 948172328: THNV1c, per 0x46e, cur 0x00, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=-28 : OdysseyThruster::control() - write command #THV1C: : waterspd = 0.000004, pitch = 0.124000, omega_P = -62.618649 : 948172328: THNV1c, per 0x46c, cur 0x00, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=-28 : OdysseyThruster::control() - write command #THV1C: : waterspd = 0.000004, pitch = 0.124000, omega_P = -62.508211 : 948172328: THNV1c, per 0x46e, cur 0x00, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=-28 : OdysseyThruster::control() - write command #THV1C: : waterspd = 0.000004, pitch = 0.124000, omega_P = -62.563381 : 948172328: THNV1c, per 0x46d, cur 0x01, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=-28 : OdysseyThruster::control() - write command #THV1C: : waterspd = 0.000004, pitch = 0.124000, omega_P = -62.563381 : 948172328: THNV1c, per 0x46d, cur 0x00, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=-28 : OdysseyThruster::control() - write command #THV1C: : waterspd = 0.000004, pitch = 0.124000, omega_P = -62.508211 : 948172329: THNV1c, per 0x46e, cur 0x00, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=-28 : OdysseyThruster::control() - write command #THV1C: : waterspd = 0.000004, pitch = 0.124000, omega_P = -62.343281 : 948172329: THNV1c, per 0x471, cur 0x00, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=-28 : OdysseyThruster::control() - write command #THV1C: : waterspd = 0.000004, pitch = 0.124000, omega_P = -62.453137 : 948172329: THNV1c, per 0x46f, cur 0x04, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=-28 : OdysseyThruster::control() - write command #THV1C: : waterspd = 0.000004, pitch = 0.124000, omega_P = -62.618649 : 948172329: THNV1c, per 0x46c, cur 0x00, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=-28 : OdysseyThruster::control() - write command #THV1C: : waterspd = 0.000004, pitch = 0.124000, omega_P = -62.563381 : 948172329: THNV1c, per 0x46d, cur 0x02, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=-28 : OdysseyThruster::control() - write command #THV1C: : waterspd = 0.000004, pitch = 0.124000, omega_P = -62.563381 : 948172330: THNV1c, per 0x46d, cur 0x05, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=-28 : OdysseyThruster::control() - write command #THV1C: : waterspd = 0.000004, pitch = 0.124000, omega_P = -62.453137 : 948172330: THNV1c, per 0x46f, cur 0x00, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=-28 : OdysseyThruster::control() - write command #THV1C: : waterspd = 0.000004, pitch = 0.124000, omega_P = -62.563381 : 948172330: THNV1c, per 0x46d, cur 0x00, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=-28 : OdysseyThruster::control() - write command #THV1C: : waterspd = 0.000004, pitch = 0.124000, omega_P = -62.618649 : 948172330: THNV1c, per 0x46c, cur 0x05, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=-28 : OdysseyThruster::control() - write command #THV1C: : waterspd = 0.000004, pitch = 0.124000, omega_P = -62.785041 : 948172330: THNV1c, per 0x469, cur 0x03, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=-28 : OdysseyThruster::control() - write command #THV1C: : waterspd = 0.000004, pitch = 0.124000, omega_P = -62.729479 : 948172331: THNV1c, per 0x46a, cur 0x00, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=-28 : OdysseyThruster::control() - write command #THV1C: : waterspd = 0.000004, pitch = 0.124000, omega_P = -62.563381 : 948172331: THNV1c, per 0x46d, cur 0x00, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=-28 : OdysseyThruster::control() - write command #THV1C: : waterspd = 0.000004, pitch = 0.124000, omega_P = -62.343281 : 948172331: THNV1c, per 0x471, cur 0x00, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=-28 : OdysseyThruster::control() - write command #THV1C: : waterspd = 0.000004, pitch = 0.124000, omega_P = -62.618649 : 948172331: THNV1c, per 0x46c, cur 0x00, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=-28 : OdysseyThruster::control() - write command #THV1C: : waterspd = 0.000004, pitch = 0.124000, omega_P = -62.288498 : 948172331: THNV1c, per 0x472, cur 0x04, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=-28 : OdysseyThruster::control() - write command #THV1C: : waterspd = 0.000004, pitch = 0.124000, omega_P = -62.398161 : 948172332: THNV1c, per 0x470, cur 0x00, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=-28 : OdysseyThruster::control() - write command #THV1C: : waterspd = 0.000004, pitch = 0.124000, omega_P = -62.508211 : 948172332: THNV1c, per 0x46e, cur 0x00, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=-28 : OdysseyThruster::control() - write command #THV1C: : waterspd = 0.000004, pitch = 0.124000, omega_P = -62.563381 : 948172332: THNV1c, per 0x46d, cur 0x00, batt 0x0 : SerialDevice::confirm() - Timed Out : Ctd::initialize() - confirm() timed out again, send multiple newlines : CTD: first Ctrl-Z sent... : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=-28 : OdysseyThruster::control() - write command #THV1C: : waterspd = 0.000004, pitch = 0.124000, omega_P = -62.508211 : CTD: sending configure commands... : 948172332: THNV1c, per 0x46e, cur 0x00, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=-28 : OdysseyThruster::control() - write command #THV1C: : waterspd = 0.000004, pitch = 0.124000, omega_P = -62.508211 : 948172332: THNV1c, per 0x46e, cur 0x03, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=-28 : OdysseyThruster::control() - write command #THV1C: : waterspd = 0.000004, pitch = 0.124000, omega_P = -62.453137 : 948172333: THNV1c, per 0x46f, cur 0x00, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=-28 : OdysseyThruster::control() - write command #THV1C: : waterspd = 0.000004, pitch = 0.124000, omega_P = -62.563381 : 948172333: THNV1c, per 0x46d, cur 0x00, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=-28 : OdysseyThruster::control() - write command #THV1C: : waterspd = 0.000004, pitch = 0.124000, omega_P = -62.618649 : 948172333: THNV1c, per 0x46c, cur 0x00, batt 0x0 : CTD: setting scans... : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=-28 : OdysseyThruster::control() - write command #THV1C: : waterspd = 0.000004, pitch = 0.124000, omega_P = -62.508211 : 948172333: THNV1c, per 0x46e, cur 0x00, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=-28 : OdysseyThruster::control() - write command #THV1C: : waterspd = 0.000004, pitch = 0.124000, omega_P = -62.563381 : 948172333: THNV1c, per 0x46d, cur 0x01, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=-28 : OdysseyThruster::control() - write command #THV1C: : waterspd = 0.000004, pitch = 0.124000, omega_P = -62.729479 : 948172334: THNV1c, per 0x46a, cur 0x00, batt 0x0 : CTD: setting pump freq... : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=-28 : OdysseyThruster::control() - write command #THV1C: : waterspd = 0.000004, pitch = 0.124000, omega_P = -62.618649 : 948172334: THNV1c, per 0x46c, cur 0x00, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=-28 : OdysseyThruster::control() - write command #THV1C: : waterspd = 0.000004, pitch = 0.124000, omega_P = -62.618649 : 948172334: THNV1c, per 0x46c, cur 0x05, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=-28 : OdysseyThruster::control() - write command #THV1C: : waterspd = 0.000004, pitch = 0.124000, omega_P = -62.563381 : 948172334: THNV1c, per 0x46d, cur 0x00, batt 0x0 : CTD: setting upcast... : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=-28 : OdysseyThruster::control() - write command #THV1C: : waterspd = 0.000004, pitch = 0.124000, omega_P = -62.453137 : 948172334: THNV1c, per 0x46f, cur 0x01, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=-28 : OdysseyThruster::control() - write command #THV1C: : waterspd = 0.000004, pitch = 0.124000, omega_P = -62.563381 : 948172335: THNV1c, per 0x46d, cur 0x03, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=-28 : OdysseyThruster::control() - write command #THV1C: : waterspd = 0.000004, pitch = 0.124000, omega_P = -62.288498 : 948172335: THNV1c, per 0x472, cur 0x00, batt 0x0 : CTD: setting battery type... : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=-28 : OdysseyThruster::control() - write command #THV1C: : waterspd = 0.000004, pitch = 0.124000, omega_P = -62.453137 : 948172335: THNV1c, per 0x46f, cur 0x07, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=-28 : OdysseyThruster::control() - write command #THV1C: : waterspd = 0.000004, pitch = 0.124000, omega_P = -62.508211 : 948172335: THNV1c, per 0x46e, cur 0x06, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=-28 : OdysseyThruster::control() - write command #THV1C: : waterspd = 0.000004, pitch = 0.124000, omega_P = -62.508211 : 948172335: THNV1c, per 0x46e, cur 0x00, batt 0x0 : CTD: setting external voltages... : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=-28 : OdysseyThruster::control() - write command #THV1C: : waterspd = 0.000004, pitch = 0.124000, omega_P = -62.563381 : 948172336: THNV1c, per 0x46d, cur 0x00, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=-28 : OdysseyThruster::control() - write command #THV1C: : waterspd = 0.000004, pitch = 0.124000, omega_P = -62.563381 : 948172336: THNV1c, per 0x46d, cur 0x02, batt 0x0 : Ctd::initialize() - confirming voltage... : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=-28 : OdysseyThruster::control() - write command #THV1C: : waterspd = 0.000004, pitch = 0.124000, omega_P = -62.729479 : 948172336: THNV1c, per 0x46a, cur 0x05, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=-28 : OdysseyThruster::control() - write command #THV1C: : waterspd = 0.000004, pitch = 0.124000, omega_P = -62.563381 : 948172336: THNV1c, per 0x46d, cur 0x00, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=-28 : OdysseyThruster::control() - write command #THV1C: : waterspd = 0.000004, pitch = 0.124000, omega_P = -62.563381 : 948172336: THNV1c, per 0x46d, cur 0x00, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=28 : OdysseyThruster::control() - write command #THF1C: : waterspd = 7.737372, pitch = 0.124000, omega_P = 62.398161 : 948172337: THNF1c, per 0x470, cur 0x00, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=28 : OdysseyThruster::control() - write command #THF1C: : waterspd = 7.474196, pitch = 0.124000, omega_P = 60.275774 : 948172337: THNF1c, per 0x498, cur 0x00, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=28 : OdysseyThruster::control() - write command #THF1C: : waterspd = 7.343070, pitch = 0.124000, omega_P = 59.218305 : 948172337: THNF1c, per 0x4ad, cur 0x0b, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=28 : OdysseyThruster::control() - write command #THF1C: : waterspd = 7.531838, pitch = 0.124000, omega_P = 60.740626 : 948172337: THNF1c, per 0x48f, cur 0x0d, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=28 : OdysseyThruster::control() - write command #THF1C: : waterspd = 7.474196, pitch = 0.124000, omega_P = 60.275774 : 948172337: THNF1c, per 0x498, cur 0x00, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=28 : OdysseyThruster::control() - write command #THF1C: : waterspd = 7.525389, pitch = 0.124000, omega_P = 60.688622 : 948172338: THNF1c, per 0x490, cur 0x07, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=28 : OdysseyThruster::control() - write command #THF1C: : waterspd = 7.398699, pitch = 0.124000, omega_P = 59.666928 : 948172338: THNF1c, per 0x4a4, cur 0x03, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=28 : OdysseyThruster::control() - write command #THF1C: : waterspd = 7.531838, pitch = 0.124000, omega_P = 60.740626 : 948172338: THNF1c, per 0x48f, cur 0x08, batt 0x0 : Ctd::initialize() - disabling switch... : CTD: sending DS command... : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=28 : OdysseyThruster::control() - write command #THF1C: : waterspd = 7.531838, pitch = 0.124000, omega_P = 60.740626 : 948172338: THNF1c, per 0x48f, cur 0x02, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=28 : OdysseyThruster::control() - write command #THF1C: : waterspd = 7.512525, pitch = 0.124000, omega_P = 60.584881 : 948172338: THNF1c, per 0x492, cur 0x0f, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=28 : OdysseyThruster::control() - write command #THF1C: : waterspd = 7.564247, pitch = 0.124000, omega_P = 61.001989 : 948172339: THNF1c, per 0x48a, cur 0x00, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=28 : OdysseyThruster::control() - write command #THF1C: : waterspd = 7.538297, pitch = 0.124000, omega_P = 60.792719 : 948172339: THNF1c, per 0x48e, cur 0x0a, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=28 : OdysseyThruster::control() - write command #THF1C: : waterspd = 7.499705, pitch = 0.124000, omega_P = 60.481494 : 948172339: THNF1c, per 0x494, cur 0x00, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=28 : OdysseyThruster::control() - write command #THF1C: : waterspd = 7.506110, pitch = 0.124000, omega_P = 60.533143 : 948172339: THNF1c, per 0x493, cur 0x00, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=28 : OdysseyThruster::control() - write command #THF1C: : waterspd = 7.538297, pitch = 0.124000, omega_P = 60.792719 : 948172339: THNF1c, per 0x48e, cur 0x05, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=28 : OdysseyThruster::control() - write command #THF1C: : waterspd = 7.506110, pitch = 0.124000, omega_P = 60.533143 : 948172340: THNF1c, per 0x493, cur 0x02, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=28 : OdysseyThruster::control() - write command #THF1C: : waterspd = 7.531838, pitch = 0.124000, omega_P = 60.740626 : 948172340: THNF1c, per 0x48f, cur 0x07, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=28 : OdysseyThruster::control() - write command #THF1C: : waterspd = 7.398699, pitch = 0.124000, omega_P = 59.666928 : 948172340: THNF1c, per 0x4a4, cur 0x08, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=28 : OdysseyThruster::control() - write command #THF1C: : waterspd = 7.525389, pitch = 0.124000, omega_P = 60.688622 : 948172340: THNF1c, per 0x490, cur 0x00, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=28 : OdysseyThruster::control() - write command #THF1C: : waterspd = 7.649830, pitch = 0.124000, omega_P = 61.692176 : 948172340: THNF1c, per 0x47d, cur 0x01, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=28 : OdysseyThruster::control() - write command #THF1C: : waterspd = 7.506110, pitch = 0.124000, omega_P = 60.533143 : 948172341: THNF1c, per 0x493, cur 0x00, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=28 : OdysseyThruster::control() - write command #THF1C: : waterspd = 7.455178, pitch = 0.124000, omega_P = 60.122401 : 948172341: THNF1c, per 0x49b, cur 0x00, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=28 : OdysseyThruster::control() - write command #THF1C: : waterspd = 7.577288, pitch = 0.124000, omega_P = 61.107164 : 948172341: THNF1c, per 0x488, cur 0x01, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=28 : OdysseyThruster::control() - write command #THF1C: : waterspd = 7.506110, pitch = 0.124000, omega_P = 60.533143 : 948172341: THNF1c, per 0x493, cur 0x06, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=28 : OdysseyThruster::control() - write command #THF1C: : waterspd = 7.411176, pitch = 0.124000, omega_P = 59.767547 : 948172341: THNF1c, per 0x4a2, cur 0x0d, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=28 : OdysseyThruster::control() - write command #THF1C: : waterspd = 7.461506, pitch = 0.124000, omega_P = 60.173439 : 948172342: THNF1c, per 0x49a, cur 0x00, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=28 : OdysseyThruster::control() - write command #THF1C: : waterspd = 7.596936, pitch = 0.124000, omega_P = 61.265610 : 948172342: THNF1c, per 0x485, cur 0x05, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=28 : OdysseyThruster::control() - write command #THF1C: : waterspd = 7.474196, pitch = 0.124000, omega_P = 60.275774 : 948172342: THNF1c, per 0x498, cur 0x01, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=28 : OdysseyThruster::control() - write command #THF1C: : waterspd = 7.474196, pitch = 0.124000, omega_P = 60.275774 : 948172342: THNF1c, per 0x498, cur 0x00, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=28 : OdysseyThruster::control() - write command #THF1C: : waterspd = 7.442553, pitch = 0.124000, omega_P = 60.020585 : 948172342: THNF1c, per 0x49d, cur 0x00, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=28 : OdysseyThruster::control() - write command #THF1C: : waterspd = 7.442553, pitch = 0.124000, omega_P = 60.020585 : 948172343: THNF1c, per 0x49d, cur 0x02, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=28 : OdysseyThruster::control() - write command #THF1C: : waterspd = 7.467846, pitch = 0.124000, omega_P = 60.224563 : 948172343: THNF1c, per 0x499, cur 0x0a, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=28 : OdysseyThruster::control() - write command #THF1C: : waterspd = 7.570762, pitch = 0.124000, omega_P = 61.054531 : 948172343: THNF1c, per 0x489, cur 0x00, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=28 : OdysseyThruster::control() - write command #THF1C: : waterspd = 7.544768, pitch = 0.124000, omega_P = 60.844902 : 948172343: THNF1c, per 0x48d, cur 0x00, batt 0x0 : Ctd::initialize() - starting logging... : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=28 : OdysseyThruster::control() - write command #THF1C: : waterspd = 7.506110, pitch = 0.124000, omega_P = 60.533143 : 948172343: THNF1c, per 0x493, cur 0x00, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=28 : OdysseyThruster::control() - write command #THF1C: : waterspd = 7.467846, pitch = 0.124000, omega_P = 60.224563 : 948172344: THNF1c, per 0x499, cur 0x00, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=28 : OdysseyThruster::control() - write command #THF1C: : waterspd = 7.436256, pitch = 0.124000, omega_P = 59.969806 : 948172344: THNF1c, per 0x49e, cur 0x02, batt 0x0 : Ctd:initialize() - Logging Started... : Ctd:initialize() - ready! : **** EventTriggers::add() - attaching proxy : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=28 : OdysseyThruster::control() - write command #THF1C: : waterspd = 7.486929, pitch = 0.124000, omega_P = 60.378459 : 948172344: THNF1c, per 0x496, cur 0x00, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=28 : OdysseyThruster::control() - write command #THF1C: : waterspd = 7.596936, pitch = 0.124000, omega_P = 61.265610 : 948172344: THNF1c, per 0x485, cur 0x02, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=28 : OdysseyThruster::control() - write command #THF1C: : waterspd = 7.570762, pitch = 0.124000, omega_P = 61.054531 : 948172344: THNF1c, per 0x489, cur 0x00, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=28 : OdysseyThruster::control() - write command #THF1C: : waterspd = 7.518952, pitch = 0.124000, omega_P = 60.636707 : 948172345: THNF1c, per 0x491, cur 0x01, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=28 : OdysseyThruster::control() - write command #THF1C: : waterspd = 7.423695, pitch = 0.124000, omega_P = 59.868506 : 948172345: THNF1c, per 0x4a0, cur 0x04, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=28 : OdysseyThruster::control() - write command #THF1C: : waterspd = 7.557743, pitch = 0.124000, omega_P = 60.949536 : 948172345: THNF1c, per 0x48b, cur 0x07, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=28 : OdysseyThruster::control() - write command #THF1C: : waterspd = 7.538297, pitch = 0.124000, omega_P = 60.792719 : 948172345: THNF1c, per 0x48e, cur 0x01, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=28 : OdysseyThruster::control() - write command #THF1C: : waterspd = 7.392476, pitch = 0.124000, omega_P = 59.616746 : 948172345: THNF1c, per 0x4a5, cur 0x00, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=28 : OdysseyThruster::control() - write command #THF1C: : waterspd = 7.512525, pitch = 0.124000, omega_P = 60.584881 : 948172346: THNF1c, per 0x492, cur 0x03, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=28 : OdysseyThruster::control() - write command #THF1C: : waterspd = 7.525389, pitch = 0.124000, omega_P = 60.688622 : 948172346: THNF1c, per 0x490, cur 0x01, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=28 : OdysseyThruster::control() - write command #THF1C: : waterspd = 7.538297, pitch = 0.124000, omega_P = 60.792719 : 948172346: THNF1c, per 0x48e, cur 0x09, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=28 : OdysseyThruster::control() - write command #THF1C: : waterspd = 7.570762, pitch = 0.124000, omega_P = 61.054531 : 948172346: THNF1c, per 0x489, cur 0x01, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=28 : OdysseyThruster::control() - write command #THF1C: : waterspd = 7.616685, pitch = 0.124000, omega_P = 61.424879 : *** LayeredControl - initiating mission abort... *** : 948172346: THNF1c, per 0x482, cur 0x0b, batt 0x0 : Initiating Mission Abort! : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=28 : OdysseyThruster::control() - write command #THF1C: : waterspd = 7.480557, pitch = 0.124000, omega_P = 60.327073 : Behavior::shouldBehaviorStart -- Checking to see if setRudder should run : 948172347: THNF1c, per 0x497, cur 0x07, batt 0x0 : -- it should : Behavior::shouldBehaviorStart -- Checking to see if setElevator should run : -- it should : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=0 : OdysseyThruster::control() - write command #THD: : waterspd = 7.486929, pitch = 0.124000, omega_P = 60.378459 : 948172347: THND00, per 0x496, cur 0x0e, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=0 : OdysseyThruster::control() - write command #THD: : waterspd = 6.049315, pitch = 0.124000, omega_P = 48.784798 : 948172347: THFD00, per 0x5ad, cur 0x00, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=0 : OdysseyThruster::control() - write command #THD: : waterspd = 4.702865, pitch = 0.124000, omega_P = 37.926330 : 948172347: THFD00, per 0x74d, cur 0x01, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=0 : OdysseyThruster::control() - write command #THD: : waterspd = 3.841632, pitch = 0.124000, omega_P = 30.980905 : 948172347: THFD00, per 0x8f0, cur 0x00, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=0 : OdysseyThruster::control() - write command #THD: : waterspd = 2.916276, pitch = 0.124000, omega_P = 23.518351 : 948172348: THFD00, per 0xbc6, cur 0x00, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=0 : OdysseyThruster::control() - write command #THD: : waterspd = 2.288377, pitch = 0.124000, omega_P = 18.454650 : *** LayeredControl - initiating vehicle shutdown... *** : 948172348: THFD00, per 0xf01, cur 0x00, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=0 : OdysseyThruster::control() - write command #THD: : waterspd = 1.521228, pitch = 0.124000, omega_P = 12.267967 : 948172348: THFD00, per 0x1692, cur 0x00, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=0 : OdysseyThruster::control() - write command #THD: : waterspd = 1.148374, pitch = 0.124000, omega_P = 9.261081 : 948172348: THFD00, per 0x1de6, cur 0x00, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=0 : OdysseyThruster::control() - write command #THD: : waterspd = 0.616558, pitch = 0.124000, omega_P = 4.972244 : 948172348: THFD00, per 0x37b0, cur 0x01, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=0 : OdysseyThruster::control() - write command #THD: : waterspd = 0.616558, pitch = 0.124000, omega_P = 4.972244 : 948172349: THFD00, per 0x37b0, cur 0x00, batt 0x0 : Task "layeredControlServer" died? : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=0 : OdysseyThruster::control() - write command #THD: : Supervisor::Supervisor() - task(s) died; exiting : waterspd = 0.616558, pitch = 0.124000, omega_P = 4.972244 : 948172349: THFD00, per 0x37b0, cur 0x00, batt 0x0 : **** SharedData destructor for object KvhCompassOutput_ShmemName **** : Navigation::~Navigation() - this=0x2941c : **** SharedData destructor for object PSA916Output_ShmemName **** : **** SharedData destructor for object ParosciOutput_ShmemName **** : NavigationOutput::~NavigationOutput() : **** SharedData destructor for object dynamicControlInput **** : **** SharedData destructor for object dynamicControlInput **** : Navigation::~Navigation() - delete parosci : **** SharedData destructor for object GpsOutput_ShmemName **** : **** SharedData destructor for object ParosciOutput_ShmemName **** : **** SharedData destructor for object GpsOutput_ShmemName **** : **** SharedData destructor for object CTDOutput_ShmemName **** : **** SharedData destructor for object KvhInclinoOutput_ShmemName **** : **** SharedData destructor for object navigationOutput **** : **** SharedData destructor for object DynamicControlOutput_ShmemName **** : **** SharedData destructor for object KvhCompassOutput_ShmemName ****