Supervisor::createCoreTasks()
Supervisor::createTask() - eventLogServer
Supervisor::createTask() - workSite
Supervisor::createTask() - vehicleConfigurationServ: Initializing worksiteServer
er
Superv: WorkSite::WorkSite -- Adding attributes
is: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv/altex/onboard/config/docking/workSite.cfg
or::createTask() - externalCommsServer
Supe: Using default vehicle config file "/home/dorado1/auv/altex/onboard/config/docking/vehicle.cfg"
rvisor::createTask() - navigationServer
Supervisor: WorkSite::WorkSite -- Finished loading parameters
::c: 0:	1	600674.187500E	4067388.750000N	73.699997 m	10.000000 ms	channel:2
reat: 1:	2	600531.687500E	4065156.000000N	73.199997 m	10.000000 ms	channel:4
eTa: 2:	3	598447.000000E	4067412.250000N	91.400002 m	10.000000 ms	channel:5
sk: 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
- la: WorkSite server: 0x22f54
yeredControlServer
Sup: New Navigation component constructor
e: Navigation - Using only the Dvl to compute altitude.
rvisor::createTask() - dynamicControlServer
Supervisor::createTask() - newTailConeServer
Supervisor::createTask() - crossbowServer
Supervisor::createTask() - gpsServer
Supervisor::createTask() - parosciServer
Supervisor::: Preparing to fork

cre: I'm the child...forking

at: SerialDevice: done...

eTa: TailConeServer -- Maximum Elevator Actuator Excursion is 0 Counts
sk(: TailConeServer:: -- Minimum Elevator Actuator Excursion is 0 Counts
) -: TailConeServer -- Maximum Rudder Actuator Excursion is 0 Counts
 sea: TailConeServer -- Minimum Rudder Actuator Excursion is 0 Counts
bi: SerialDevice: done...

rdSer: SerialDevice: done...

ver
Supervisor::createTask() - : SerialDevice: done...

bluefinBattDrive: SerialDevice: done...

r
Supervisor::createTask() - dvl: Gps: initializing

Se: SerialDevice: done...

rv: SerialDevice: done...

er
S: SerialDevice: done...

uperv: Gps: done initializing...

is: SerialDevice: done...

o: **** EventTriggers::add() - attaching proxy
r::c: SerialDevice: done...

r: BluefinBatt driver - running with 1 batteries
eate: Crossbow.cc: Setting polled mode
Task() - fa: SerialDevice: done...

nS: Crossbow.cc: Setting polled mode
erve: AshtechGps::processRecord() - GpsUtils::parseFix() - incomplete GGA sentence?
,ACK*3D

r: BluefineBatt::init() - 1 batteries on 10 second interval

: Crossbow.cc: In getSerialNumber()
: seabirdDriver RUNNING...

S: **** EventTriggers::add() - attaching proxy
upervisor::crea: SerialDevice: done...

teT: BluefinBatt.cc - Looking for Parosci server
ask(): SerialDevice: done...

 - dr: BluefinBatt::init() - querying for batt ids
opWeight: Seabird/ctdDriver -- Loading CTD constants from /home/dorado1/auv/altex/onboard/config/docking/ctdDriver.cfg

Ser: AshtechGps::processRecord() - GpsUtils::parseFix() - incomplete GGA sentence?
$PASHR,ACK*3D

ver
Supervisor::createTask() - sonardyneServe: SerialDevice: done...

r
Superv: SerialDevice: done...

isor::createTask(: ahrs if is Ahrs

) - dockServer
: CTD/ctdDriver -- Calibration constants:
	T_a  = 3.681217e-003
	T_b  = 6.006525e-004
	T_c  = 1.574158e-005
	T_d  = 1.973049e-006
	T_f0 = 3081.132000
	C_a  = 8.440420e-007
	C_b  = 1.341363e+000
	C_c  = -10.325094
	C_d  = -8.517875e-005
	C_m  = 5.900
	EPS  = -9.570000e-008
	SOc  = 3.985000e-001
	BOc  = 0.000000e+000
	Voff = -5.038000e-001
	TCor = 4.000000e-004
	PCor = 1.350000e-004

: Seabird/ctdDriver::Seabird() - create interface to depth sensor...
: Seabird/ctdDriver -- constructing Log...

: CTDLog.cc -- beginning constructor...

: CTDLog.cc -- constructor succeeded

: Seabird/ctdDriver -- constructor succeeded

: seabirdDriver -- constructor succeeded

: Seabird/ctdDriver:initializing Seabird...

: SerialDevice: done...

: SerialDevice: done...

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize()
: DynamicControlServer - Got event 1 from TailCone

: SerialDevice: done...

: PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200
: 3 Modules found
:  DropWeight::initialize - Resetting counters.
: **** EventTriggers::add() - attaching proxy
: SerialDeviceDriver::initialize()
: PeriodicTask::run() (dockDriver) - sampleInterval=400, maxInterval=400
: 
 Starting DVL Initialization.

: SerialDevice: done...

: PeriodicTask::run() (vehicleDriver) - sampleInterval=200, maxInterval=200
: Sonardyne -- configuration:
	PollPeriod = 500 ms
	PresetGain = 0
	PowerLevel = 0
	LblWait    = 3 s
	ESV        = 1485.000000 m/s
	Beacon     = V7,7

: SerialDevice/tcp:172.20.64.214:10001::Buffer full! 63 64
: SerialDevice/tcp:172.20.64.214:10001::Buffer full! 63 64
: SerialDevice/tcp:172.20.64.214:10001::Buffer full! 63 64
: PeriodicTask::run() (sonardyneDriver) - sampleInterval=500, maxInterval=500
: SerialDevice: done...

: SerialDeviceExt::Ping response = 0.

: Crossbow.cc: device->read succeeded
: Crossbow.cc: I think the serial number is 107382 (1a376)
: Crossbow.cc: Setting polled mode
: PeriodicTask::run() (crossbow) - sampleInterval=100, maxInterval=100
: Seabird/ctdDriver: sending configure commands...(1102)

: PeriodicTask::run() (fanDriver) - sampleInterval=1000, maxInterval=1000
: PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200
: Seabird/ctdDriver: setting scans...

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Parosci.cc -- Initial pressure = 1.792638
: DockDriver:: _pingCtr = 1.
: Parosci.cc -- Parosci initial pressure period = 30.131830
: Parosci.cc -- Parosci initial temp period = 5.840423
: Parosci.cc -- Paroscientific configured.
: **** EventTriggers::add() - attaching proxy
: CR1
[Parameters set to FACTORY defaults]
>
: PD5
>
: SerialDeviceExt::Ping response = 0.

: BK1
>
: TP00:00.00
>
: TE00:00:00.60
>
: BL,10,010,100
>
: BP001
>
: CF11010
>
: CB611
>
: SerialDevice: done...

:  Dvl::initialize - Baud rate set to 38400.

: EX10011
>
: EA+04500
>
: WP0001
>
: WN25
>
:  Dvl::initialize - The number of cells is 25.

: WV210
>
:  Dvl::initialize - 14 valid commands read in from dvl.cfg.

: EC1490
>
: 
>
:  Dvl::initialize() - The DVL is initialized.

: **** EventTriggers::add() - attaching proxy
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DockDriver:: _pingCtr = 2.
: SerialDeviceExt::Ping response = 0.

: DockDriver:: _pingCtr = 3.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DockDriver:: Opened the TCP port.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SerialDevice::confirm() - Timed Out
: SerialDeviceExt::Ping response = 0.

: BluefinBatt::init() - battery ids are b6  
: BluefinBatt::init() - found battery b6
: BluefinBatt::init() - battery echo is $b6wf 1


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DockDriver:: _pingCtr = 3.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SerialDeviceExt::Ping response = 0.

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DockDriver:: _pingCtr = 3.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SerialDevice::confirm() - Timed Out
: Seabird/ctdDriver: setting pump freq...

: Seabird/ctdDriver: setting upcast...

: Seabird/ctdDriver: setting battery type...

: Seabird/ctdDriver: setting external voltages to 6...(1102)

: Seabird/ctdDriver::initialize() - confirming voltage...

: Seabird/ctdDriver::initialize() - confirming voltage...

: Seabird/ctdDriver::initialize() - confirming voltage...

: Seabird/ctdDriver::initialize() - confirming voltage...

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Seabird/ctdDriver::initialize() - confirming voltage...

: Seabird/ctdDriver::initialize() - confirming voltage...

: SerialDeviceExt::Ping response = 0.

: BluefinBatt::init() - battery watchdog state is  
: PeriodicTask::run() (BluefinBatt) - sampleInterval=10000, maxInterval=10000
: DockDriver:: _pingCtr = 3.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Seabird/ctdDriver::initialize() - disabling switch...

: Seabird/ctdDriver: sending DS command...

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SerialDeviceExt::Ping response = 0.

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Lbl NavSensor - could not create LBL task interface
: Navigation: Server for aux sensor "Lbl" not found
: DockDriver:: _pingCtr = 3.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SerialDeviceExt::Ping response = 0.

: Seabird/ctdDriver::initialize() - starting logging...

: Ctd/ctdDriver:initialize() - Logging Started...

: Ctd/ctdDriver:initialize() - ready!
: **** EventTriggers::add() - attaching proxy
: DockDriver:: _pingCtr = 3.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SerialDeviceExt::Ping response = 0.

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DockDriver:: _pingCtr = 3.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SerialDeviceExt::Ping response = 0.

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DockDriver:: _pingCtr = 3.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $b6q0 d- 33.28  0.00 21.38 4.12 4.14 0 -22955.15 10:28:06 m

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SerialDeviceExt::Ping response = 0.

: DockDriver:: _pingCtr = 3.
: batts online 1, min cell voltage 4.120000, mean min cell voltage 4.120000

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Navigation: Server for aux sensor "Altimeter" not found
: Navigation: Server for aux sensor "Velocimeter" not found
:  Navigation: The utm zone is 10

:  Navigation: The lat/long in workSite.cfg,  36.802442, -121.787831

:  Navigation: The lat/long in workSite.cfg, cvt'ed to UTM is 4073642.29, 608134.77

: PeriodicTask::run() (navigation) - sampleInterval=200, maxInterval=200
: **** EventTriggers::add() - attaching proxy
: LayeredControl::execute() -- (t = 0.000000) Behavior setpoint has changed to state Active

: LayeredControl::execute() -- (t = 0.000000) Behavior missionTimer has changed to state Active

: **** EventTriggers::add() - attaching proxy
: *** Mission started ***

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SerialDeviceExt::Ping response = 0.

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DockDriver:: _pingCtr = 3.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SerialDeviceExt::Ping response = 0.

: DockDriver:: _pingCtr = 3.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SerialDeviceExt::Ping response = 0.

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DockDriver:: _pingCtr = 3.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $b6q0 d- 33.24  0.00 21.38 4.12 4.14 0 -22955.15 10:28:16 m

: SerialDeviceExt::Ping response = 0.

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DockDriver:: _pingCtr = 3.
: batts online 1, min cell voltage 4.120000, mean min cell voltage 4.120000

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SerialDeviceExt::Ping response = 0.

: DockDriver:: _pingCtr = 3.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SerialDeviceExt::Ping response = 0.

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DockDriver:: _pingCtr = 3.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SerialDeviceExt::Ping response = 0.

: DockDriver:: _pingCtr = 3.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SerialDeviceExt::Ping response = 0.

: BluefinBatt Reply: $b6q0 d- 33.24  0.00 21.38 4.12 4.14 0 -22955.15 10:28:26 m

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DockDriver:: _pingCtr = 3.
: batts online 1, min cell voltage 4.120000, mean min cell voltage 4.120000

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SerialDeviceExt::Ping response = 0.

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DockDriver:: _pingCtr = 3.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SerialDeviceExt::Ping response = 0.

: DockDriver:: _pingCtr = 3.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SerialDeviceExt::Ping response = 0.

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DockDriver:: _pingCtr = 3.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SerialDeviceExt::Ping response = 0.

: DockDriver:: _pingCtr = 3.
: BluefinBatt Reply: $b6q0 d- 33.24  0.00 21.38 4.12 4.14 0 -22955.15 10:28:36 m

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 4.120000, mean min cell voltage 4.120000

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SerialDeviceExt::Ping response = 0.

: LayeredControl::execute() -- (t = 30.197931) Behavior setpoint has changed to state Finished

: Undock duration is 100.000000

: Undock:: Network present.
: Undock: Lowering the Probe:
: LayeredControl::execute() -- (t = 30.197931) Behavior undock has changed to state Active

: LayeredControl::execute() -- (t = 30.207931) Behavior setpoint has changed to state Active

: Undock:: Network present.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DockDriver:: _pingCtr = 3.
: Undock:: Network present.
: Undock:: Network present.
: Undock:: Network present.
: Undock:: Time = 0.0, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 0.2, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 0.4, Prop ON.
: Undock:: Thrust duration = 45.0.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Undock:: Network present.
: Undock:: Time = 0.6, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 0.8, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 1.0, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 1.2, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 1.4, Prop ON.
: Undock:: Thrust duration = 45.0.
: Probe Command: down

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Undock:: Network present.
: Undock:: Time = 1.6, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 1.8, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 2.0, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 2.2, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 2.4, Prop ON.
: Undock:: Thrust duration = 45.0.
: SerialDeviceExt::Ping response = 0.

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Undock:: Network present.
: Undock:: Time = 2.6, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 2.8, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 3.0, Prop ON.
: Undock:: Thrust duration = 45.0.
: DockDriver:: _pingCtr = 3.
: Undock:: Network present.
: Undock:: Time = 3.2, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 3.4, Prop ON.
: Undock:: Thrust duration = 45.0.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Undock:: Network present.
: Undock:: Time = 3.6, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 3.8, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 4.0, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 4.2, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 4.4, Prop ON.
: Undock:: Thrust duration = 45.0.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Undock:: Network present.
: Undock:: Time = 4.6, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 4.8, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 5.0, Prop ON.
: Undock:: Thrust duration = 45.0.
: SerialDeviceExt::Ping response = 0.

: Undock:: Network present.
: Undock:: Time = 5.2, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 5.4, Prop ON.
: Undock:: Thrust duration = 45.0.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DockDriver:: _pingCtr = 3.
: Undock:: Network present.
: Undock:: Time = 5.6, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 5.8, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 6.0, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 6.2, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 6.4, Prop ON.
: Undock:: Thrust duration = 45.0.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Undock:: Network present.
: Undock:: Time = 6.6, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 6.8, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 7.0, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 7.2, Prop ON.
: Undock:: Thrust duration = 45.0.
: BluefinBatt Reply: $b6q0 d- 33.24  0.00 21.38 4.13 4.14 0 -22955.15 10:28:46 m

: Undock:: Network present.
: Undock:: Time = 7.4, Prop ON.
: Undock:: Thrust duration = 45.0.
: SerialDeviceExt::Ping response = 0.

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Undock:: Network present.
: Undock:: Time = 7.6, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 7.8, Prop ON.
: Undock:: Thrust duration = 45.0.
: DockDriver:: _pingCtr = 3.
: Undock:: Network present.
: Undock:: Time = 8.0, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 8.2, Prop ON.
: Undock:: Thrust duration = 45.0.
: batts online 1, min cell voltage 4.130000, mean min cell voltage 4.130000

: Undock:: Network present.
: Undock:: Time = 8.4, Prop ON.
: Undock:: Thrust duration = 45.0.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Undock:: Network present.
: Undock:: Time = 8.6, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 8.8, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 9.0, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 9.2, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 9.4, Prop ON.
: Undock:: Thrust duration = 45.0.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Undock:: Network present.
: Undock:: Time = 9.6, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 9.8, Prop ON.
: Undock:: Thrust duration = 45.0.
: SerialDeviceExt::Ping response = 0.

: Undock:: Network present.
: Undock:: Time = 10.0, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 10.2, Prop ON.
: Undock:: Thrust duration = 45.0.
: DockDriver:: _pingCtr = 3.
: Undock:: Network present.
: Undock:: Time = 10.4, Prop ON.
: Undock:: Thrust duration = 45.0.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Undock:: Network present.
: Undock:: Time = 10.6, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 10.8, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 11.0, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 11.2, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 11.4, Prop ON.
: Undock:: Thrust duration = 45.0.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Undock:: Network present.
: Undock:: Time = 11.6, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 11.8, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 12.0, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 12.2, Prop ON.
: Undock:: Thrust duration = 45.0.
: SerialDeviceExt::Ping response = 0.

: Undock:: Network present.
: Undock:: Time = 12.4, Prop ON.
: Undock:: Thrust duration = 45.0.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Undock:: Network present.
: Undock:: Time = 12.6, Prop ON.
: Undock:: Thrust duration = 45.0.
: DockDriver:: _pingCtr = 3.
: Undock:: Network present.
: Undock:: Time = 12.8, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 13.0, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 13.2, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 13.4, Prop ON.
: Undock:: Thrust duration = 45.0.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Undock:: Network present.
: Undock:: Time = 13.6, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 13.8, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 14.0, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 14.2, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 14.4, Prop ON.
: Undock:: Thrust duration = 45.0.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Undock:: Network present.
: Undock:: Time = 14.6, Prop ON.
: Undock:: Thrust duration = 45.0.
: SerialDeviceExt::Ping response = 0.

: Undock:: Network present.
: Undock:: Time = 14.8, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 15.0, Prop ON.
: Undock:: Thrust duration = 45.0.
: DockDriver:: _pingCtr = 3.
: Undock:: Network present.
: Undock:: Time = 15.2, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 15.4, Prop ON.
: Undock:: Thrust duration = 45.0.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Undock:: Network present.
: Undock:: Time = 15.6, Prop ON.
: Undock:: Thrust duration = 45.0.
: Seabird/ctdDriver: error reading voltages

: Seabird/ctdDriver: error reading voltages

: Undock:: Network present.
: Undock:: Time = 15.8, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 16.0, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 16.2, Prop ON.
: Undock:: Thrust duration = 45.0.
: Seabird/ctdDriver: error reading voltages

: Seabird/ctdDriver: error reading voltages

: Undock:: Network present.
: Undock:: Time = 16.4, Prop ON.
: Undock:: Thrust duration = 45.0.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Undock:: Network present.
: Undock:: Time = 16.6, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 16.8, Prop ON.
: Undock:: Thrust duration = 45.0.
: Seabird/ctdDriver: error reading voltages

: Seabird/ctdDriver: error reading voltages

: Undock:: Network present.
: Undock:: Time = 17.0, Prop ON.
: Undock:: Thrust duration = 45.0.
: SerialDeviceExt::Ping response = 0.

: Undock:: Network present.
: Undock:: Time = 17.2, Prop ON.
: Undock:: Thrust duration = 45.0.
: BluefinBatt Reply: $b6q0 d- 33.24  0.03 21.38 4.13 4.14 0 -22955.16 10:28:56 m

: Undock:: Network present.
: Undock:: Time = 17.4, Prop ON.
: Undock:: Thrust duration = 45.0.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DockDriver:: _pingCtr = 3.
: Undock:: Network present.
: Undock:: Time = 17.6, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 17.8, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 18.0, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 18.2, Prop ON.
: Undock:: Thrust duration = 45.0.
: batts online 1, min cell voltage 4.130000, mean min cell voltage 4.130000

: Undock:: Network present.
: Undock:: Time = 18.4, Prop ON.
: Undock:: Thrust duration = 45.0.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Undock:: Network present.
: Undock:: Time = 18.6, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 18.8, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 19.0, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 19.2, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 19.4, Prop ON.
: Undock:: Thrust duration = 45.0.
: SerialDeviceExt::Ping response = 0.

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Undock:: Network present.
: Undock:: Time = 19.6, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 19.8, Prop ON.
: Undock:: Thrust duration = 45.0.
: DockDriver:: _pingCtr = 3.
: Undock:: Network present.
: Undock:: Time = 20.0, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 20.2, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 20.4, Prop ON.
: Undock:: Thrust duration = 45.0.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Undock:: Network present.
: Undock:: Time = 20.6, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 20.8, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 21.0, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 21.2, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 21.4, Prop ON.
: Undock:: Thrust duration = 45.0.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Undock:: Network present.
: Undock:: Time = 21.6, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 21.8, Prop ON.
: Undock:: Thrust duration = 45.0.
: SerialDeviceExt::Ping response = 0.

: Undock:: Network present.
: Undock:: Time = 22.0, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 22.2, Prop ON.
: Undock:: Thrust duration = 45.0.
: DockDriver:: _pingCtr = 3.
: Undock:: Network present.
: Undock:: Time = 22.4, Prop ON.
: Undock:: Thrust duration = 45.0.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Undock:: Network present.
: Undock:: Time = 22.6, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 22.8, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 23.0, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 23.2, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 23.4, Prop ON.
: Undock:: Thrust duration = 45.0.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Undock:: Network present.
: Undock:: Time = 23.6, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 23.8, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 24.0, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 24.2, Prop ON.
: Undock:: Thrust duration = 45.0.
: SerialDeviceExt::Ping response = 0.

: Undock:: Network present.
: Undock:: Time = 24.4, Prop ON.
: Undock:: Thrust duration = 45.0.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Undock:: Network present.
: Undock:: Time = 24.6, Prop ON.
: Undock:: Thrust duration = 45.0.
: DockDriver:: _pingCtr = 3.
: Undock:: Network present.
: Undock:: Time = 24.8, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 25.0, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 25.2, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 25.4, Prop ON.
: Undock:: Thrust duration = 45.0.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Undock:: Network present.
: Undock:: Time = 25.6, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 25.8, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 26.0, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 26.2, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 26.4, Prop ON.
: Undock:: Thrust duration = 45.0.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Undock:: Network present.
: Undock:: Time = 26.6, Prop ON.
: Undock:: Thrust duration = 45.0.
: SerialDeviceExt::Ping response = 0.

: Undock:: Network present.
: Undock:: Time = 26.8, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 27.0, Prop ON.
: Undock:: Thrust duration = 45.0.
: DockDriver:: _pingCtr = 3.
: Undock:: Network present.
: Undock:: Time = 27.2, Prop ON.
: Undock:: Thrust duration = 45.0.
: BluefinBatt Reply: $b6q0 d- 33.28  0.00 21.38 4.12 4.14 0 -22955.16 10:29:06 m

: Undock:: Network present.
: Undock:: Time = 27.4, Prop ON.
: Undock:: Thrust duration = 45.0.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Undock:: Network present.
: Undock:: Time = 27.6, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 27.8, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 28.0, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 28.2, Prop ON.
: Undock:: Thrust duration = 45.0.
: batts online 1, min cell voltage 4.120000, mean min cell voltage 4.120000

: Undock:: Network present.
: Undock:: Time = 28.4, Prop ON.
: Undock:: Thrust duration = 45.0.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Undock:: Network present.
: Undock:: Time = 28.6, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 28.8, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 29.0, Prop ON.
: Undock:: Thrust duration = 45.0.
: SerialDeviceExt::Ping response = 0.

: Undock:: Network present.
: Undock:: Time = 29.2, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 29.4, Prop ON.
: Undock:: Thrust duration = 45.0.
: LayeredControl::execute() -- (t = 60.395863) Behavior setpoint has changed to state Finished

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DockDriver:: _pingCtr = 3.
: Undock:: Network present.
: Undock:: Time = 29.6, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 29.8, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 30.0, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 30.2, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 30.4, Prop ON.
: Undock:: Thrust duration = 45.0.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Undock:: Network present.
: Undock:: Time = 30.6, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 30.8, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 31.0, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 31.2, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 31.4, Prop ON.
: Undock:: Thrust duration = 45.0.
: SerialDeviceExt::Ping response = 0.

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Undock:: Network present.
: Undock:: Time = 31.6, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 31.8, Prop ON.
: Undock:: Thrust duration = 45.0.
: DockDriver:: _pingCtr = 3.
: Undock:: Network present.
: Undock:: Time = 32.0, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 32.2, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 32.4, Prop ON.
: Undock:: Thrust duration = 45.0.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Undock:: Network present.
: Undock:: Time = 32.6, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 32.8, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 33.0, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 33.2, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 33.4, Prop ON.
: Undock:: Thrust duration = 45.0.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Undock:: Network present.
: Undock:: Time = 33.6, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 33.8, Prop ON.
: Undock:: Thrust duration = 45.0.
: SerialDeviceExt::Ping response = 0.

: Undock:: Network present.
: Undock:: Time = 34.0, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 34.2, Prop ON.
: Undock:: Thrust duration = 45.0.
: DockDriver:: _pingCtr = 3.
: Undock:: Network present.
: Undock:: Time = 34.4, Prop ON.
: Undock:: Thrust duration = 45.0.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Undock:: Network present.
: Undock:: Time = 34.6, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 34.8, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 35.0, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 35.2, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 35.4, Prop ON.
: Undock:: Thrust duration = 45.0.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Undock:: Network present.
: Undock:: Time = 35.6, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 35.8, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 36.0, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 36.2, Prop ON.
: Undock:: Thrust duration = 45.0.
: SerialDeviceExt::Ping response = 0.

: Undock:: Network present.
: Undock:: Time = 36.4, Prop ON.
: Undock:: Thrust duration = 45.0.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Undock:: Network present.
: Undock:: Time = 36.6, Prop ON.
: Undock:: Thrust duration = 45.0.
: DockDriver:: _pingCtr = 3.
: Undock:: Network present.
: Undock:: Time = 36.8, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 37.0, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 37.2, Prop ON.
: Undock:: Thrust duration = 45.0.
: BluefinBatt Reply: $b6q0 d- 33.24  0.57 21.38 4.12 4.14 0 -22955.22 10:29:16 m

: Undock:: Network present.
: Undock:: Time = 37.4, Prop ON.
: Undock:: Thrust duration = 45.0.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Undock:: Network present.
: Undock:: Time = 37.6, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 37.8, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 38.0, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 38.2, Prop ON.
: Undock:: Thrust duration = 45.0.
: batts online 1, min cell voltage 4.120000, mean min cell voltage 4.120000

: Undock:: Network present.
: Undock:: Time = 38.4, Prop ON.
: Undock:: Thrust duration = 45.0.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Undock:: Network present.
: Undock:: Time = 38.6, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 38.8, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 39.0, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 39.2, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 39.4, Prop ON.
: Undock:: Thrust duration = 45.0.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Undock:: Network present.
: Undock:: Time = 39.6, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 39.8, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 40.0, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 40.2, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 40.4, Prop ON.
: Undock:: Thrust duration = 45.0.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Undock:: Network present.
: Undock:: Time = 40.6, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 40.8, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 41.0, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 41.2, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 41.4, Prop ON.
: Undock:: Thrust duration = 45.0.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Undock:: Network present.
: Undock:: Time = 41.6, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 41.8, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 42.0, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 42.2, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 42.4, Prop ON.
: Undock:: Thrust duration = 45.0.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Undock:: Network present.
: Undock:: Time = 42.6, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 42.8, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 43.0, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 43.2, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 43.4, Prop ON.
: Undock:: Thrust duration = 45.0.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Undock:: Network present.
: Undock:: Time = 43.6, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 43.8, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 44.0, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 44.2, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 44.4, Prop ON.
: Undock:: Thrust duration = 45.0.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Undock:: Network present.
: Undock:: Time = 44.6, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 44.8, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 45.0, Prop ON.
: Undock:: Thrust duration = 45.0.
: Undock:: Network present.
: Undock:: Time = 45.2, Prop OFF.
: Undock:: Network present.
: Undock:: Time = 45.4, Prop OFF.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Undock:: Network present.
: Undock:: Time = 45.6, Prop OFF.
: Undock:: Network present.
: Undock:: Time = 45.8, Prop OFF.
: Undock:: Network present.
: Undock:: Time = 46.0, Prop OFF.
: Undock:: Network present.
: Undock:: Time = 46.2, Prop OFF.
: Undock:: Network present.
: Undock:: Time = 46.4, Prop OFF.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Undock:: Network present.
: Undock:: Time = 46.6, Prop OFF.
: Undock:: Network present.
: Undock:: Time = 46.8, Prop OFF.
: Undock:: Network present.
: Undock:: Time = 47.0, Prop OFF.
: Undock:: Network present.
: Undock:: Time = 47.2, Prop OFF.
: BluefinBatt Reply: $b6q0 d- 32.97  6.95 21.38 4.08 4.10 0 -22955.81 10:29:26 m

: Undock:: Network present.
: Undock:: Time = 47.4, Prop OFF.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Undock:: Network present.
: Undock:: Time = 47.6, Prop OFF.
: Undock:: Network present.
: Undock:: Time = 47.8, Prop OFF.
: Undock:: Network present.
: Undock:: Time = 48.0, Prop OFF.
: Undock:: Network present.
: Undock:: Time = 48.2, Prop OFF.
: batts online 1, min cell voltage 4.080000, mean min cell voltage 4.080000

: Undock:: Network present.
: Undock:: Time = 48.4, Prop OFF.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Undock:: Network present.
: Undock:: Time = 48.6, Prop OFF.
: Undock:: Network present.
: Undock:: Time = 48.8, Prop OFF.
: Undock:: Network present.
: Undock:: Time = 49.0, Prop OFF.
: Undock:: Network present.
: Undock:: Time = 49.2, Prop OFF.
: Undock:: Network present.
: Undock:: Time = 49.4, Prop OFF.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Undock:: Network present.
: Undock:: Time = 49.6, Prop OFF.
: Undock:: Network present.
: Undock:: Time = 49.8, Prop OFF.
: Undock:: Network present.
: Undock:: Time = 50.0, Prop OFF.
: Undock:: Network present.
: Undock:: Time = 50.2, Prop OFF.
: Undock:: Network present.
: Undock:: Time = 50.4, Prop OFF.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Undock:: Network present.
: Undock:: Time = 50.6, Prop OFF.
: Undock:: Network present.
: Undock:: Time = 50.8, Prop OFF.
: Undock:: Network present.
: Undock:: Time = 51.0, Prop OFF.
: Undock:: Network present.
: Undock:: Time = 51.2, Prop OFF.
: Undock:: Network present.
: Undock:: Time = 51.4, Prop OFF.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Undock:: Network present.
: Undock:: Time = 51.6, Prop OFF.
: Undock:: Network present.
: Undock:: Time = 51.8, Prop OFF.
: Undock:: Network present.
: Undock:: Time = 52.0, Prop OFF.
: Undock:: Network present.
: Undock:: Time = 52.2, Prop OFF.
: Undock:: Network present.
: Undock:: Time = 52.4, Prop OFF.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Undock:: Network present.
: Undock:: Time = 52.6, Prop OFF.
: Undock:: Network present.
: Undock:: Time = 52.8, Prop OFF.
: Undock:: Network present.
: Undock:: Time = 53.0, Prop OFF.
: Undock:: Network present.
: Undock:: Time = 53.2, Prop OFF.
: Undock:: Network present.
: Undock:: Time = 53.4, Prop OFF.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Undock:: Network present.
: Undock:: Time = 53.6, Prop OFF.
: Undock:: Network present.
: Undock:: Time = 53.8, Prop OFF.
: Undock:: Network present.
: Undock:: Time = 54.0, Prop OFF.
: Undock:: Network present.
: Undock:: Time = 54.2, Prop OFF.
: Undock:: Network present.
: Undock:: Time = 54.4, Prop OFF.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Undock:: Network present.
: Undock:: Time = 54.6, Prop OFF.
: Undock:: Network present.
: Undock:: Time = 54.8, Prop OFF.
: Undock:: Network present.
: Undock:: Time = 55.0, Prop OFF.
: Undock:: Network present.
: Undock:: Time = 55.2, Prop OFF.
: Undock:: Network present.
: Undock:: Time = 55.4, Prop OFF.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Undock:: Network present.
: Undock:: Time = 55.6, Prop OFF.
: Undock:: Network present.
: Undock:: Time = 55.8, Prop OFF.
: Undock:: Network present.
: Undock:: Time = 56.0, Prop OFF.
: Undock:: Network present.
: Undock:: Time = 56.2, Prop OFF.
: Undock:: Network present.
: Undock:: Time = 56.4, Prop OFF.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Undock:: Network present.
: Undock:: Time = 56.6, Prop OFF.
: Undock:: Network present.
: Undock:: Time = 56.8, Prop OFF.
: Undock:: Network present.
: Undock:: Time = 57.0, Prop OFF.
: Undock:: Network present.
: Undock:: Time = 57.2, Prop OFF.
: BluefinBatt Reply: $b6q0 d- 33.20  0.00 21.38 4.08 4.10 0 -22955.81 10:29:36 m

: Undock:: Network present.
: Undock:: Time = 57.4, Prop OFF.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Undock:: Network present.
: Undock:: Time = 57.6, Prop OFF.
: Undock:: Network present.
: Undock:: Time = 57.8, Prop OFF.
: Undock:: Network present.
: Undock:: Time = 58.0, Prop OFF.
: Undock:: Network present.
: Undock:: Time = 58.2, Prop OFF.
: batts online 1, min cell voltage 4.080000, mean min cell voltage 4.080000

: Undock:: Network present.
: Undock:: Time = 58.4, Prop OFF.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Undock:: Network present.
: Undock:: Time = 58.6, Prop OFF.
: Undock:: Network present.
: Undock:: Time = 58.8, Prop OFF.
: Undock:: Network present.
: Undock:: Time = 59.0, Prop OFF.
: Undock:: Network present.
: Undock:: Time = 59.2, Prop OFF.
: Undock:: Network present.
: Undock:: Time = 59.4, Prop OFF.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Undock:: Network present.
: Undock:: Time = 59.6, Prop OFF.
: Undock:: Network present.
: Undock:: Time = 59.8, Prop OFF.
: Undock:: Network present.
: Undock:: Time = 60.0, Prop OFF.
: Undock:: Network present.
: Undock:: Time = 60.2, Prop OFF.
: Undock:: Network present.
: Undock:: Time = 60.4, Prop OFF.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Undock:: Network present.
: Undock:: Time = 60.6, Prop OFF.
: Undock::execute() - depth = -3.0; above endDepth - all finished.

: LayeredControl::execute() -- (t = 91.593725) Behavior undock has changed to state Finished

: Stack empty after processing.  Aborting.
: *** LayeredControl - initiating mission abort... ***
: Initiating Mission Abort!

: **** EventTriggers::add() - attaching proxy
: LayeredControl::execute() -- (t = 91.993698) Behavior setpoint has changed to state Active

: LayeredControl::execute() -- (t = 91.993698) Behavior missionTimer has changed to state Active

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $b6q0 d- 33.28  0.03 21.38 4.12 4.14 0 -22955.81 10:29:46 m

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 4.120000, mean min cell voltage 4.120000

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: **** SharedData destructor for object ParosciOutput_ShmemName ****

: TaskServer::signalHandler() for task AhrsIFServer - exit()
: TaskServer::signalHandler() for task GpsIFServer - exit()
: TaskServer::signalHandler() for task DepthSensorIFServer - exit()
: TaskServer::signalHandler() for task DvlIFServer - exit()
: TaskServer::signalHandler() for task UsblIFServer - exit()
: TaskServer::signalHandler() for task WorkSiteIFServer - exit()
: TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit()

//10/home/dorado1/auv/altex/onboard/bin/layeredControl terminated (SIGSEGV) at 0007:00039A28.
: TaskServer::signalHandler() for task DockIFServer - exit()
: TaskServer::signalHandler() for task NavigationIFServer - exit()
: TaskServer::signalHandler() for task DynamicControlIFServer - exit()
: TaskServer::signalHandler() for task TailConeIFServer - exit()
: TaskServer::signalHandler() for task LayeredControlIFServer - exit()
: TaskServer::signalHandler() for task ctdDriver - exit()
: TaskServer::signalHandler() for task FanIFServer - exit()
: TaskServer::signalHandler() for task DropWeightIFServer - exit()
:  Fan Destructor Executing.
: **** SharedData destructor for object VehicleOutput_ShmemName ****

: Supervisor::signalHandler(); caught signal 2
: TaskServer::signalHandler() for task EventLogIFServer - exit()
: TaskServer::signalHandler() for task ExternalCommsIFServer - exit()
: **** SharedData destructor for object BluefinBattOutput ****

:  DropWeight Destructor Executing.
: **** SharedData destructor for object DockOutput_ShmemName ****

: **** SharedData destructor for object GpsOutput_ShmemName ****

: **** SharedData destructor for object ctdDriverSeabirdOutput_ShmemName ****

: Command checksum error!
: TaskServer::signalHandler() for task ExternalCommsIFServer - exit()
: **** SharedData destructor for object crossbowOutput ****

: NavigationOutput::~NavigationOutput()

: TaskServer::signalHandler() for task DepthSensorIFServer - exit()
: **** SharedData destructor for object SonardyneOutput_ShmemName ****

: **** SharedData destructor for object DvlOutput_ShmemName ****

: **** SharedData destructor for object crossbowCommand ****

: **** SharedData destructor for object GpsOutput_ShmemName ****

: **** SharedData destructor for object DvlOutput_ShmemName ****

: **** SharedData destructor for object SonardyneOutput_ShmemName ****

: **** SharedData destructor for object navigationOutput ****

: **** SharedData destructor for object DockOutput_ShmemName ****

: NavigationOutput::~NavigationOutput()

: **** SharedData destructor for object TailConeInput_ShmemName ****

: **** SharedData destructor for object LayeredControlInput_ShmemName ****

: Supervisor::signalHandler(); 
Never received a SIGTERM from slay, or a SIGQUIT.
I WILL START BURNING THE DROP WEIGHT WIRE IN 15 MINUTES!
To prevent a weight-drop, you must manually start
dropWeightServer before the countdown timer expires.
See devices.cfg for the syntax and serial port number.
: **** SharedData destructor for object fanOutput ****

: TaskServer::signalHandler() for task DockIFServer - exit()
: **** SharedData destructor for object dropWeightOutput ****

: **** SharedData destructor for object ctdDriverSeabirdOutput_ShmemName ****

: **** SharedData destructor for object fanOutput ****

: SerialDeviceExt::closeSD() - closed

: **** SharedData destructor for object dropWeightOutput ****

: **** SharedData destructor for object crossbowCommand ****

: TaskServer::signalHandler() for task GpsIFServer - exit()
: **** SharedData destructor for object ParosciOutput_ShmemName ****

: TaskServer::signalHandler() for task ctdDriver - exit()
: **** SharedData destructor for object crossbowOutput ****

: TaskServer::signalHandler() for task NavigationIFServer - exit()
: **** SharedData destructor for object TailConeOutput_ShmemName ****

: **** SharedData destructor for object LayeredControlOutput_ShmemName ****

: Supervisor::cleanup() - delete _theSupervisor

: TaskServer::signalHandler() for task FanIFServer - exit()
closeSD() tcsetattr error. : Inappropriate I/O control operation
: TaskServer::signalHandler() for task DropWeightIFServer - exit()
: Supervisor::shutdown()

: Supervisor::shutdown() - done()

: SerialDevice: done...

: StepGetStat (3) failed to read chars, rcvd=2, want=8
: StepGetStat (3) 5d 5d 00 00 01 00 00
: StepGetStat (3) failed to read chars, rcvd=2, want=8
: StepGetStat (3) 18 18 00 00 01 00 00
:  Dvl::~Dvl: Destructor Finished.


//10/home/dorado1/auv/altex/onboard/bin/dvl terminated (SIGSEGV) at 0007:000242FF.
: **** SharedData destructor for object TailConeInput_ShmemName ****

: **** SharedData destructor for object TailConeOutput_ShmemName ****

