: WorkSite server: 0x1f098 : Using default vehicle config file "../config/vehicle.cfg" : Create tailcone : SerialDevice: done... : SerialDevice: done... : KvhInclinoDriver::initialize() : SerialDevice: done... : KvhCompassDriver::initialize() : Gps: initializing : SerialDevice: done... : PSA916: constructing... : Gps: done initializing... : **** EventTriggers::add() - attaching proxy : Ctd::Ctd() - create interface to depth sensor... : Gps::processRecord() - bad data : KvhDriver::setUpdateRate(5) : Gps::processRecord() - bad data : CTD:initializing CTD... : SerialDevice: done... : KvhInclinoDriver::initialize() - ready! : PSA916: initializing... : KvhInclinoDriver::initialize() - finished : PSA916: trying to write data... : **** EventTriggers::add() - attaching proxy : SerialDevice: done... : PSA916: debug mode on... : SerialDevice: done... : PSA916: confirming data stream... : PSA916: data is streaming... : **** EventTriggers::add() - attaching proxy : this should not have happened: : PeriodicTask::run() (navigation) - sampleInterval=200, maxInterval=200 : Navigation::periodicCallback() - bad ahrs data? : KvhDriver::setUpdateRate(5) : Run tailcone : MissionPlan::load() - file = ../missions/abortMplan.cfg : Navigation::periodicCallback() - bad ahrs data? : Successfully loaded ../missions/abortMplan.cfg : MissionPlan::load() - file = ../missions/Lab4.cfg : Navigation::periodicCallback() - bad ahrs data? : Successfully loaded ../missions/Lab4.cfg : PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200 : Navigation::periodicCallback() - bad ahrs data? : KvhCompassDriver::initialize() - ready! : ParosciServer::depth() - device not ready : KvhCompassDriver::initialize() - finished : Navigation::periodicCallback() - bad parosci data? : **** 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? : indexing rudder ... : 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 = 1.654742 : ParosciServer::depth() - device not ready : Navigation::periodicCallback() - bad parosci data? : Parosci.cc -- Parosci initial pressure period = 30.259270 : Parosci.cc -- Parosci initial temp period = 5.833716 : 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 : 948173228: 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 = -58.340997 : 948173228: THNV1c, per 0x4bf, 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 = -58.874012 : 948173229: THNV1c, per 0x4b4, 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 = -58.874012 : 948173229: THNV1c, per 0x4b4, 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 = -58.825154 : 948173229: THNV1c, per 0x4b5, 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 = -58.874012 : 948173229: THNV1c, per 0x4b4, 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 = -58.922952 : 948173229: THNV1c, per 0x4b3, 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 = -58.971972 : 948173230: THNV1c, per 0x4b2, 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 = -59.070259 : 948173230: THNV1c, per 0x4b0, 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 = -58.874012 : 948173230: THNV1c, per 0x4b4, 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 = -58.874012 : 948173230: THNV1c, per 0x4b4, 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 = -58.874012 : 948173230: THNV1c, per 0x4b4, 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 = -58.922952 : 948173231: THNV1c, per 0x4b3, 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 = -58.874012 : 948173231: THNV1c, per 0x4b4, 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 = -58.971972 : 948173231: THNV1c, per 0x4b2, 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 = -59.119525 : 948173231: THNV1c, per 0x4af, 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 = -58.922952 : 948173231: THNV1c, per 0x4b3, 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 = -58.825154 : 948173232: THNV1c, per 0x4b5, 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 = -58.776377 : 948173232: THNV1c, per 0x4b6, 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 = -58.922952 : 948173232: THNV1c, per 0x4b3, 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 = -59.168874 : 948173232: THNV1c, per 0x4ae, 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 = -59.021075 : 948173232: THNV1c, per 0x4b1, 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 = -59.119525 : 948173233: THNV1c, per 0x4af, 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 = -58.922952 : 948173233: THNV1c, per 0x4b3, cur 0x03, batt 0x0 : SerialDevice::confirm() - Timed Out : Ctd::initialize() - confirm() timed out again, send multiple newlines : CTD: first Ctrl-Z sent... : CTD: sending configure commands... : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=-28 : OdysseyThruster::control() - write command #THV1C: : waterspd = 0.000004, pitch = 0.124000, omega_P = -58.874012 : 948173233: THNV1c, per 0x4b4, 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 = -58.922952 : 948173233: THNV1c, per 0x4b3, 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 = -59.119525 : 948173233: THNV1c, per 0x4af, 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 = -59.267818 : 948173234: THNV1c, per 0x4ac, 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 = -59.218305 : 948173234: THNV1c, per 0x4ad, 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 = -58.874012 : 948173234: THNV1c, per 0x4b4, 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 = -59.070259 : 948173234: THNV1c, per 0x4b0, cur 0x04, 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 = -59.021075 : 948173234: THNV1c, per 0x4b1, 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 = -59.119525 : 948173235: THNV1c, per 0x4af, 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 = -58.825154 : 948173235: THNV1c, per 0x4b5, 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 = -58.874012 : 948173235: THNV1c, per 0x4b4, 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 = -58.971972 : 948173235: THNV1c, per 0x4b2, 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 = -58.922952 : 948173235: THNV1c, per 0x4b3, 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 = -59.021075 : 948173236: THNV1c, per 0x4b1, 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 = -58.825154 : 948173236: THNV1c, per 0x4b5, cur 0x00, 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 = -58.874012 : 948173236: THNV1c, per 0x4b4, 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 = -58.971972 : 948173236: THNV1c, per 0x4b2, 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 = -58.922952 : 948173236: THNV1c, per 0x4b3, 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 = -58.922952 : 948173237: THNV1c, per 0x4b3, 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 = -59.218305 : 948173237: THNV1c, per 0x4ad, 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 = -59.021075 : 948173237: THNV1c, per 0x4b1, 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 = -58.922952 : 948173237: THNV1c, per 0x4b3, 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 = -59.021075 : 948173237: THNV1c, per 0x4b1, 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 = -58.971972 : 948173238: THNV1c, per 0x4b2, cur 0x00, batt 0x0 : Ctd::initialize() - disabling switch... : CTD: sending DS command... : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=-28 : OdysseyThruster::control() - write command #THV1C: : waterspd = 0.000004, pitch = 0.124000, omega_P = -58.922952 : 948173238: THNV1c, per 0x4b3, 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 = -58.971972 : 948173238: THNV1c, per 0x4b2, 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 = -59.021075 : 948173238: THNV1c, per 0x4b1, cur 0x00, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=28 : OdysseyThruster::control() - write command #THF1C: : waterspd = 7.300378, pitch = 0.124000, omega_P = 58.874012 : 948173238: THNF1c, per 0x4b4, 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 : 948173239: THNF1c, per 0x49d, 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 : 948173239: THNF1c, per 0x48d, cur 0x00, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=28 : OdysseyThruster::control() - write command #THF1C: : waterspd = 7.663169, pitch = 0.124000, omega_P = 61.799748 : 948173239: THNF1c, per 0x47b, cur 0x0f, 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 : 948173239: THNF1c, per 0x48b, cur 0x01, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=28 : OdysseyThruster::control() - write command #THF1C: : waterspd = 7.551250, pitch = 0.124000, omega_P = 60.897174 : 948173239: THNF1c, per 0x48c, cur 0x00, 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 : 948173240: THNF1c, per 0x49a, cur 0x08, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=28 : OdysseyThruster::control() - write command #THF1C: : waterspd = 7.367690, pitch = 0.124000, omega_P = 59.416857 : 948173240: THNF1c, per 0x4a9, 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 : 948173240: THNF1c, per 0x49b, cur 0x01, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=28 : OdysseyThruster::control() - write command #THF1C: : waterspd = 7.610091, pitch = 0.124000, omega_P = 61.371698 : 948173240: THNF1c, per 0x483, cur 0x02, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=28 : OdysseyThruster::control() - write command #THF1C: : waterspd = 7.480557, pitch = 0.124000, omega_P = 60.327073 : 948173240: THNF1c, per 0x497, cur 0x0b, 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 : 948173241: THNF1c, per 0x492, cur 0x01, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=28 : OdysseyThruster::control() - write command #THF1C: : waterspd = 7.486929, pitch = 0.124000, omega_P = 60.378459 : 948173241: THNF1c, per 0x496, cur 0x04, 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 : 948173241: THNF1c, per 0x491, cur 0x07, 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 : 948173241: THNF1c, per 0x492, 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 : 948173241: THNF1c, per 0x49b, cur 0x04, 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 : 948173242: THNF1c, per 0x492, cur 0x07, 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 : 948173242: THNF1c, per 0x491, cur 0x03, 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 : 948173242: THNF1c, per 0x48e, cur 0x02, 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 : 948173242: THNF1c, per 0x48d, cur 0x0f, batt 0x0 : Ctd::initialize() - starting logging... : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=28 : OdysseyThruster::control() - write command #THF1C: : waterspd = 7.486929, pitch = 0.124000, omega_P = 60.378459 : 948173242: THNF1c, per 0x496, 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 : 948173243: THNF1c, per 0x493, cur 0x07, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=28 : OdysseyThruster::control() - write command #THF1C: : waterspd = 7.448860, pitch = 0.124000, omega_P = 60.071450 : 948173243: THNF1c, per 0x49c, cur 0x05, 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 = 7.564247, pitch = 0.124000, omega_P = 61.001989 : 948173243: THNF1c, per 0x48a, cur 0x02, 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 : 948173243: THNF1c, per 0x48d, cur 0x05, 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 : 948173243: THNF1c, per 0x492, 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 : 948173244: THNF1c, per 0x498, cur 0x03, 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 : 948173244: THNF1c, per 0x49b, cur 0x00, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=28 : OdysseyThruster::control() - write command #THF1C: : waterspd = 7.480557, pitch = 0.124000, omega_P = 60.327073 : 948173244: THNF1c, per 0x497, cur 0x0b, 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 : 948173244: THNF1c, per 0x48e, 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 : 948173244: THNF1c, per 0x493, cur 0x00, 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 : 948173245: THNF1c, per 0x49a, cur 0x15, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=28 : OdysseyThruster::control() - write command #THF1C: : waterspd = 7.486929, pitch = 0.124000, omega_P = 60.378459 : 948173245: THNF1c, per 0x496, cur 0x04, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=28 : OdysseyThruster::control() - write command #THF1C: : waterspd = 7.480557, pitch = 0.124000, omega_P = 60.327073 : 948173245: THNF1c, per 0x497, cur 0x04, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=28 : OdysseyThruster::control() - write command #THF1C: : waterspd = 7.636537, pitch = 0.124000, omega_P = 61.584979 : 948173245: THNF1c, per 0x47f, cur 0x08, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=28 : OdysseyThruster::control() - write command #THF1C: : waterspd = 7.493312, pitch = 0.124000, omega_P = 60.429932 : 948173245: THNF1c, per 0x495, cur 0x08, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=28 : OdysseyThruster::control() - write command #THF1C: : waterspd = 7.480557, pitch = 0.124000, omega_P = 60.327073 : 948173246: THNF1c, per 0x497, cur 0x03, 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 : 948173246: THNF1c, per 0x498, cur 0x00, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=28 : OdysseyThruster::control() - write command #THF1C: : waterspd = 7.493312, pitch = 0.124000, omega_P = 60.429932 : 948173246: THNF1c, per 0x495, cur 0x07, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=28 : OdysseyThruster::control() - write command #THF1C: : waterspd = 7.480557, pitch = 0.124000, omega_P = 60.327073 : 948173246: THNF1c, per 0x497, cur 0x08, 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 : 948173246: THNF1c, per 0x4a4, cur 0x06, 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 : 948173247: THNF1c, per 0x492, cur 0x00, 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 : 948173247: THNF1c, per 0x48b, cur 0x07, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=28 : OdysseyThruster::control() - write command #THF1C: : waterspd = 7.486929, pitch = 0.124000, omega_P = 60.378459 : 948173247: THNF1c, per 0x496, cur 0x02, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=28 : OdysseyThruster::control() - write command #THF1C: : waterspd = 7.493312, pitch = 0.124000, omega_P = 60.429932 : 948173247: THNF1c, per 0x495, cur 0x07, 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 : 948173247: THNF1c, per 0x49e, cur 0x02, 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 : 948173248: THNF1c, per 0x49b, cur 0x01, 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 : 948173248: THNF1c, per 0x49d, cur 0x07, 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 : 948173248: THNF1c, per 0x48b, cur 0x00, batt 0x0 : *** LayeredControl - initiating mission abort... *** : OdysseyThruster::control() - NEW model : Initiating Mission Abort! : OdysseyThruster::control() - motor_units=28 : OdysseyThruster::control() - write command #THF1C: : waterspd = 7.467846, pitch = 0.124000, omega_P = 60.224563 : 948173248: THNF1c, per 0x499, cur 0x09, batt 0x0 : OdysseyThruster::control() - NEW model : Behavior::shouldBehaviorStart -- Checking to see if setRudder should run : OdysseyThruster::control() - motor_units=28 : -- it should : OdysseyThruster::control() - write command #THF1C: : Behavior::shouldBehaviorStart -- Checking to see if setElevator should run : waterspd = 7.499705, pitch = 0.124000, omega_P = 60.481494 : -- it should : 948173249: THNF1c, per 0x494, cur 0x01, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=0 : OdysseyThruster::control() - write command #THD: : waterspd = 7.596936, pitch = 0.124000, omega_P = 61.265610 : 948173249: THND00, per 0x485, cur 0x06, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=0 : OdysseyThruster::control() - write command #THD: : waterspd = 6.016191, pitch = 0.124000, omega_P = 48.517667 : 948173249: THFD00, per 0x5b5, cur 0x00, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=0 : OdysseyThruster::control() - write command #THD: : waterspd = 4.872314, pitch = 0.124000, omega_P = 39.292855 : 948173249: THFD00, per 0x70c, cur 0x00, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=0 : OdysseyThruster::control() - write command #THD: : waterspd = 3.834928, pitch = 0.124000, omega_P = 30.926837 : 948173249: THFD00, per 0x8f4, cur 0x01, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=0 : OdysseyThruster::control() - write command #THD: : waterspd = 2.910482, pitch = 0.124000, omega_P = 23.471626 : 948173249: THFD00, per 0xbcc, cur 0x00, batt 0x0 : OdysseyThruster::control() - NEW model : *** LayeredControl - initiating vehicle shutdown... *** : OdysseyThruster::control() - motor_units=0 : OdysseyThruster::control() - write command #THD: : waterspd = 2.059432, pitch = 0.124000, omega_P = 16.608320 : 948173250: THFD00, per 0x10ac, cur 0x01, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=0 : OdysseyThruster::control() - write command #THD: : waterspd = 1.515458, pitch = 0.124000, omega_P = 12.221433 : 948173250: THFD00, per 0x16a8, cur 0x00, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=0 : OdysseyThruster::control() - write command #THD: : waterspd = 1.140921, pitch = 0.124000, omega_P = 9.200975 : 948173250: THFD00, per 0x1e18, cur 0x01, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=0 : OdysseyThruster::control() - write command #THD: : waterspd = 0.611752, pitch = 0.124000, omega_P = 4.933485 : 948173250: THFD00, per 0x3820, cur 0x00, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=0 : OdysseyThruster::control() - write command #THD: : waterspd = 0.611752, pitch = 0.124000, omega_P = 4.933485 : 948173250: THFD00, per 0x3820, cur 0x00, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=0 : OdysseyThruster::control() - write command #THD: : waterspd = 0.611752, pitch = 0.124000, omega_P = 4.933485 : 948173251: THFD00, per 0x3820, cur 0x00, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=0 : OdysseyThruster::control() - write command #THD: : waterspd = 0.611752, pitch = 0.124000, omega_P = 4.933485 : 948173251: THFD00, per 0x3820, cur 0x01, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=0 : OdysseyThruster::control() - write command #THD: : waterspd = 0.611752, pitch = 0.124000, omega_P = 4.933485 : 948173251: THFD00, per 0x3820, cur 0x00, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=0 : OdysseyThruster::control() - write command #THD: : waterspd = 0.611752, pitch = 0.124000, omega_P = 4.933485 : 948173251: THFD00, per 0x3820, cur 0x01, batt 0x0 : OdysseyThruster::control() - NEW model : OdysseyThruster::control() - motor_units=0 : Task "layeredControlServer" died? : OdysseyThruster::control() - write command #THD: : waterspd = 0.611752, pitch = 0.124000, omega_P = 4.933485 : 948173252: THFD00, per 0x3820, cur 0x00, batt 0x0 : Supervisor::Supervisor() - task(s) died; exiting : **** 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 **** : Navigation::~Navigation() - delete parosci : **** SharedData destructor for object dynamicControlInput **** : **** SharedData destructor for object ParosciOutput_ShmemName **** : **** SharedData destructor for object KvhInclinoOutput_ShmemName **** : **** SharedData destructor for object GpsOutput_ShmemName **** : **** SharedData destructor for object GpsOutput_ShmemName **** : **** SharedData destructor for object CTDOutput_ShmemName **** : **** SharedData destructor for object navigationOutput **** : **** SharedData destructor for object DynamicControlOutput_ShmemName **** : **** SharedData destructor for object KvhCompassOutput_ShmemName ****