Supervisor::createCoreTasks()
Supervisor::createTask() - eventLogServer
Supervisor::createTask() - workSite
Supervisor::createTask() - vehicleC: Initializing worksiteServer
onfigura: WorkSite::WorkSite -- Adding attributes
tio: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv/altex/onboard/config/docking/workSite.cfg
nServer
Supervisor::createTask() - externalCo: Using default vehicle config file "/home/dorado1/auv/altex/onboard/config/docking/vehicle.cfg"
mmsServer
Supervisor::createTask() - navi: WorkSite::WorkSite -- Finished loading parameters
ga: 0:	1	600674.187500E	4067388.750000N	73.699997 m	10.000000 ms	channel:2
tio: 1:	2	600531.687500E	4065156.000000N	73.199997 m	10.000000 ms	channel:4
nS: 2:	3	598447.000000E	4067412.250000N	91.400002 m	10.000000 ms	channel:5
er: 3:	4	600848.125000E	4069389.500000N	80.199997 m	10.000000 ms	channel:6
ve: 4:	5	602732.187500E	4067093.000000N	57.299999 m	10.000000 ms	channel:7
r
: WorkSite server: 0x22efc
Supervisor::createTask() - layeredCo: New Navigation component constructor
ntrolServer
Supervisor::createTask() - dyn: Navigation - Using only the Dvl to compute altitude.
amicControlServer
Supervisor::createTask() - newTailConeServer
Supervisor::createTask() - crossbowServer
Supervisor::createTask() - gpsServer
Supervisor::createTask: SerialDevice: done...

(: TailConeServer -- Maximum Elevator Actuator Excursion is 0 Counts
) : TailConeServer:: -- Minimum Elevator Actuator Excursion is 0 Counts
- : TailConeServer -- Maximum Rudder Actuator Excursion is 0 Counts
pa: TailConeServer -- Minimum Rudder Actuator Excursion is 0 Counts
ros: SerialDevice: done...

c: Preparing to fork

iSer: I'm the child...forking

ver
: SerialDevice: done...

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

er
Supervisor: SerialDevice: done...

::createTask() - bluefinBattDriver
Su: SerialDevice: done...

pe: Gps: initializing

r: SerialDevice: done...

v: SerialDevice: done...

i: SerialDevice: done...

sor::: Crossbow.cc: Setting polled mode
cre: Gps: done initializing...

at: Crossbow.cc: Setting polled mode
: **** EventTriggers::add() - attaching proxy
eTa: Crossbow.cc: In getSerialNumber()
sk() - dvlServe: SerialDevice: done...

r
: BluefinBatt driver - running with 1 batteries
Super: SerialDevice: done...

vis: seabirdDriver RUNNING...

or: BluefineBatt::init() - 1 batteries on 10 second interval
::creat: SerialDevice: done...

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

ask: **** EventTriggers::add() - attaching proxy
() - f: BluefinBatt.cc - Looking for Parosci server
anSer: SerialDevice: done...

ver
: Seabird/ctdDriver -- Loading CTD constants from /home/dorado1/auv/altex/onboard/config/docking/ctdDriver.cfg

: BluefinBatt::init() - querying for batt ids
Supervisor:: AshtechGps::processRecord() - GpsUtils::parseFix() - incomplete GGA sentence?
$PASHR,ACK*3D

:createTask() - dropWeightServer
Supervisor::createTas: SerialDevice: done...

k() - s: SerialDevice: done...

onardyneServe: 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

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

ervisor::creat: CTDLog.cc -- beginning constructor...

eTa: CTDLog.cc -- constructor succeeded

sk(: Seabird/ctdDriver -- constructor succeeded

) -: seabirdDriver -- constructor succeeded

 do: Seabird/ctdDriver:initializing Seabird...

ckS: SerialDevice: done...

er: ahrs if is Ahrs

ver
: SerialDevice: done...

: SerialDevice: done...

:  DropWeight::initialize - Resetting counters.
: **** EventTriggers::add() - attaching proxy
: SerialDeviceDriver::initialize()
: 
 Starting DVL Initialization.

: SerialDevice: done...

: SerialDevice: done...

: 3 Modules found
: DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize()
: DynamicControlServer - Got event 1 from TailCone

: PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200
: PeriodicTask::run() (dockDriver) - sampleInterval=400, maxInterval=400
: PeriodicTask::run() (vehicleDriver) - sampleInterval=200, maxInterval=200
: Sonardyne -- configuration:
	PollPeriod = 500 ms
	PresetGain = 2
	PowerLevel = 1
	LblWait    = 3 s
	ESV        = 1485.000000 m/s
	Beacon     = V7,7

: PeriodicTask::run() (sonardyneDriver) - sampleInterval=500, maxInterval=500
: SerialDevice: done...

: 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
: PeriodicTask::run() (fanDriver) - sampleInterval=1000, maxInterval=1000
: SerialDeviceExt::Ping response = 1.

: Parosci.cc -- Initial pressure = 0.068948
: Parosci.cc -- Parosci initial pressure period = 30.138410
: Parosci.cc -- Parosci initial temp period = 5.841243
: Parosci.cc -- Paroscientific configured.
: DockDriver:: _pingCtr = 0.
: CR1
[Parameters set to FACTORY defaults]
>
: PD5
>
: **** EventTriggers::add() - attaching proxy
: 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
: SerialDeviceExt::Ping response = 1.

:  Dvl record header not found.  Resynchronize.

: DockDriver:: _pingCtr = 0.
: PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200
: SerialDeviceExt::Ping response = 1.

:  Dvl:: Serial resynchronization completed.

: **** EventTriggers::add() - attaching proxy
: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDevice::confirm() - Timed Out
: Seabird/ctdDriver::initialize() - confirm() timed out; sleep a bit
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: BluefinBatt::init() - battery ids are b6  
: BluefinBatt::init() - found battery b6
: BluefinBatt::init() - battery echo is $b6wf 1


: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: Seabird/ctdDriver: sending configure commands...(23889)

: Seabird/ctdDriver: setting scans...

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: SonardyneDriver - caught exception: Timed Out 232824
: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: BluefinBatt::init() - battery watchdog state is  
: PeriodicTask::run() (BluefinBatt) - sampleInterval=10000, maxInterval=10000
: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: Lbl NavSensor - could not create LBL task interface
: Navigation: Server for aux sensor "Lbl" not found
: DockDriver:: _pingCtr = 0.
: SerialDevice::confirm() - Timed Out
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDevice::confirm() - Timed Out
: Seabird/ctdDriver: setting pump freq...

: Seabird/ctdDriver: setting upcast...

: Seabird/ctdDriver: setting battery type...

: SerialDeviceExt::Ping response = 1.

: Seabird/ctdDriver: setting external voltages to 6...(23889)

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

: SonardyneDriver - caught exception: Timed Out 15
: Seabird/ctdDriver::initialize() - confirming voltage...

: DockDriver:: _pingCtr = 0.
: Seabird/ctdDriver::initialize() - confirming voltage...

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

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

: SerialDeviceExt::Ping response = 1.

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

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: Seabird/ctdDriver::initialize() - disabling switch...

: Seabird/ctdDriver: sending DS command...

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: BluefinBatt Reply: $b6q0 d- 30.16  2.93 18.06 3.73 3.78 0 -23336.24 06:13:34 m

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: batts online 1, min cell voltage 3.730000, mean min cell voltage 3.730000

: DockDriver:: _pingCtr = 0.
: 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,  36.609600, -121.878800

:  Navigation: The lat/long in workSite.cfg, cvt'ed to UTM is 4052150.57, 600269.53

: PeriodicTask::run() (navigation) - sampleInterval=200, maxInterval=200
: SerialDeviceExt::Ping response = 1.

: **** EventTriggers::add() - attaching proxy
: GetGPS::execute() -- Got a new GPS hit: 1 of 10 needed
: LayeredControl::execute() -- (t = 0.000000) Behavior getgps has changed to state Active

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

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

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

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

: DockDriver:: _pingCtr = 0.
: Ctd/ctdDriver:initialize() - Logging Started...

: Ctd/ctdDriver:initialize() - ready!
: **** EventTriggers::add() - attaching proxy
: SerialDeviceExt::Ping response = 1.

: GetGPS::execute() -- Got a new GPS hit: 2 of 10 needed
: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: GetGPS::execute() -- Got a new GPS hit: 3 of 10 needed
: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: GetGPS::execute() -- Got a new GPS hit: 4 of 10 needed
: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: GetGPS::execute() -- Got a new GPS hit: 5 of 10 needed
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: GetGPS::execute() -- Got a new GPS hit: 6 of 10 needed
: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: GetGPS::execute() -- Got a new GPS hit: 7 of 10 needed
: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: GetGPS::execute() -- Got a new GPS hit: 8 of 10 needed
: DockDriver:: _pingCtr = 0.
: SonardyneDriver - caught exception: Timed Out 12
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: GetGPS::execute() -- Got a new GPS hit: 9 of 10 needed
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: BluefinBatt Reply: $b6q0 d- 29.93  5.25 18.06 3.73 3.77 0 -23336.60 06:13:44 m

: SerialDeviceExt::Ping response = 1.

: GetGPS::execute() -- Got a new GPS hit: 10 of 10 needed
: LayeredControl::execute() -- (t = 8.599411) Behavior getgps has changed to state Finished

: LayeredControl::execute() -- (t = 8.599411) Behavior setpoint has changed to state Active

: DockDriver:: _pingCtr = 0.
: batts online 1, min cell voltage 3.730000, mean min cell voltage 3.730000

: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: SonardyneDriver - caught exception: Timed Out 12
: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: BluefinBatt Reply: $b6q0 d- 29.85  9.92 18.06 3.73 3.77 0 -23337.19 06:13:54 m

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: batts online 1, min cell voltage 3.730000, mean min cell voltage 3.730000

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: BluefinBatt Reply: $b6q0 d- 29.85  8.95 18.06 3.69 3.74 0 -23338.15 06:14:04 m

: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: batts online 1, min cell voltage 3.690000, mean min cell voltage 3.690000

: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SonardyneDriver - caught exception: Timed Out 15
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: BluefinBatt Reply: $b6q0 d- 29.78 10.72 18.06 3.69 3.74 0 -23338.89 06:14:14 m

: DockDriver:: _pingCtr = 0.
: LayeredControl::execute() -- (t = 38.797342) Behavior setpoint has changed to state Finished

: LayeredControl::execute() -- (t = 38.797342) Behavior descend has changed to state Active

: SerialDeviceExt::Ping response = 1.

: batts online 1, min cell voltage 3.690000, mean min cell voltage 3.690000

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: SonardyneDriver - caught exception: Timed Out 15
: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: BluefinBatt Reply: $b6q0 d- 29.93  7.53 18.06 3.69 3.74 0 -23339.82 06:14:24 m

: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: batts online 1, min cell voltage 3.690000, mean min cell voltage 3.690000

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SerialDeviceExt::Ping response = 1.

: SonardyneDriver - caught exception: Timed Out 15
: DockDriver:: _pingCtr = 0.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: BluefinBatt Reply: $b6q0 d- 29.66 12.50 18.06 3.69 3.74 0 -23340.51 06:14:34 m

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: batts online 1, min cell voltage 3.690000, mean min cell voltage 3.690000

: DockDriver:: _pingCtr = 0.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception: Timed Out 15
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: BluefinBatt Reply: $b6q0 d- 29.62 12.61 18.16 3.67 3.72 0 -23341.84 06:14:44 m

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: batts online 1, min cell voltage 3.670000, mean min cell voltage 3.670000

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: BluefinBatt Reply: $b6q0 d- 29.62 11.41 18.16 3.67 3.72 0 -23342.62 06:14:54 m

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: SonardyneDriver - caught exception: Timed Out 232824
: batts online 1, min cell voltage 3.670000, mean min cell voltage 3.670000

: DockDriver:: _pingCtr = 0.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DockDriver:: _pingCtr = 0.
: Descend::execute() - Descend terminating on depth 10.012271 > 10.000000 at time 82.794328

: LayeredControl::execute() -- (t = 82.794328) Behavior descend has changed to state Finished

: Waypoint Initialization: 
  Begin waypoint control at t= 82.79                             (wplog)
  The current location (N,E) = 4051974.9      , 600353.0         (wplog)
  The next waypoint          = 4052114.0      , 600516.6         (wplog)
  The bearing to the next w.p. is 49.6 Degrees.

: LayeredControl::execute() -- (t = 82.794328) Behavior waypoint has changed to state Active

: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SonardyneDriver - caught exception: Timed Out 15
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: BluefinBatt Reply: $b6q0 d- 29.66 11.30 18.16 3.67 3.72 0 -23343.77 06:15:04 m

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: batts online 1, min cell voltage 3.670000, mean min cell voltage 3.670000

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: BluefinBatt Reply: $b6q0 d- 29.74 10.14 18.26 3.67 3.72 0 -23344.49 06:15:14 m

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: batts online 1, min cell voltage 3.670000, mean min cell voltage 3.670000

: DockDriver:: _pingCtr = 0.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception: Timed Out 232824
: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: BluefinBatt Reply: $b6q0 d- 29.62 11.56 18.26 3.66 3.71 0 -23345.65 06:15:24 m

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: batts online 1, min cell voltage 3.660000, mean min cell voltage 3.660000

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: SonardyneDriver - caught exception: Timed Out 15
: DockDriver:: _pingCtr = 0.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SerialDeviceExt::Ping response = 1.

: DepthEnvelope -- Measured depth 13.013420 over allowable depth 13.000000.  Aborting!
: Abort request issued by behavior "depthEnvelope"

: *** LayeredControl - initiating mission abort... ***
: Initiating Mission Abort!

: **** EventTriggers::add() - attaching proxy
: LayeredControl::execute() -- (t = 116.791999) Behavior setpoint has changed to state Active

: LayeredControl::execute() -- (t = 116.791999) Behavior missionTimer has changed to state Active

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: BluefinBatt Reply: $b6q0 d- 29.70 10.58 18.26 3.66 3.71 0 -23346.39 06:15:34 m

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: batts online 1, min cell voltage 3.660000, mean min cell voltage 3.660000

: DockDriver:: _pingCtr = 0.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception: Timed Out 15
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: BluefinBatt Reply: $b6q0 d- 30.08  3.00 18.26 3.72 3.76 0 -23346.74 06:15:44 m

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: batts online 1, min cell voltage 3.720000, mean min cell voltage 3.720000

: SerialDeviceExt::Ping response = 1.

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SerialDeviceExt::Ping response = 1.

: SonardyneDriver - caught exception: Timed Out 12
: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: BluefinBatt Reply: $b6q0 d- 30.08  3.18 18.26 3.72 3.76 0 -23346.96 06:15:54 m

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: batts online 1, min cell voltage 3.720000, mean min cell voltage 3.720000

: DockDriver:: _pingCtr = 0.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: BluefinBatt Reply: $b6q0 d- 30.08  3.07 18.26 3.73 3.77 0 -23347.27 06:16:04 m

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SonardyneDriver - caught exception: Timed Out 15
: batts online 1, min cell voltage 3.730000, mean min cell voltage 3.730000

: SerialDeviceExt::Ping response = 1.

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: BluefinBatt Reply: $b6q0 d- 30.08  3.40 18.26 3.73 3.77 0 -23347.47 06:16:14 m

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: batts online 1, min cell voltage 3.730000, mean min cell voltage 3.730000

: DockDriver:: _pingCtr = 0.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SerialDeviceExt::Ping response = 1.

: SonardyneDriver - caught exception: Timed Out 232824
: DockDriver:: _pingCtr = 0.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: BluefinBatt Reply: $b6q0 d- 30.08  2.96 18.26 3.72 3.76 0 -23347.77 06:16:24 m

: SonardyneDriver - caught exception: Timed Out 15
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: batts online 1, min cell voltage 3.720000, mean min cell voltage 3.720000

: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: BluefinBatt Reply: $b6q0 d- 30.12  3.11 18.26 3.72 3.76 0 -23348.05 06:16:34 m

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: batts online 1, min cell voltage 3.720000, mean min cell voltage 3.720000

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: SonardyneDriver - caught exception: Timed Out 232824
: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: BluefinBatt Reply: $b6q0 d- 30.08  3.15 18.26 3.73 3.77 0 -23348.46 06:16:44 m

: SonardyneDriver - caught exception: Timed Out 15
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: batts online 1, min cell voltage 3.730000, mean min cell voltage 3.730000

: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SonardyneDriver - caught exception: Timed Out 12
: SerialDeviceExt::Ping response = 1.

: BluefinBatt Reply: $b6q0 d- 30.08  3.07 18.26 3.73 3.77 0 -23348.67 06:16:54 m

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: batts online 1, min cell voltage 3.730000, mean min cell voltage 3.730000

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: BluefinBatt Reply: $b6q0 d- 30.05  3.07 18.26 3.73 3.77 0 -23348.98 06:17:04 m

: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SonardyneDriver - caught exception: Timed Out 232824
: SerialDeviceExt::Ping response = 1.

: batts online 1, min cell voltage 3.730000, mean min cell voltage 3.730000

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: SonardyneDriver - caught exception: Timed Out 15
: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: BluefinBatt Reply: $b6q0 d- 30.05  3.69 18.35 3.73 3.77 0 -23349.31 06:17:14 m

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: batts online 1, min cell voltage 3.730000, mean min cell voltage 3.730000

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: BluefinBatt Reply: $b6q0 d- 30.12  2.89 18.35 3.72 3.77 0 -23349.62 06:17:24 m

: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SonardyneDriver - caught exception: Timed Out 232824
: SerialDeviceExt::Ping response = 1.

: batts online 1, min cell voltage 3.720000, mean min cell voltage 3.720000

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: SonardyneDriver - caught exception: Timed Out 232824
: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: BluefinBatt Reply: $b6q0 d- 30.05  3.15 18.26 3.72 3.77 0 -23349.96 06:17:34 m

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: batts online 1, min cell voltage 3.720000, mean min cell voltage 3.720000

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SonardyneDriver - caught exception: Timed Out 15
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: BluefinBatt Reply: $b6q0 d- 30.05  3.15 18.26 3.73 3.77 0 -23350.26 06:17:44 m

: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: batts online 1, min cell voltage 3.730000, mean min cell voltage 3.730000

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: SonardyneDriver - caught exception: Timed Out 12
: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: Supervisor::signalHandler(); caught signal 15
: Supervisor::signalHandler(); 
Received a SIGTERM or SIGQUIT. 
DropWeightServer NOT started.
: Supervisor::cleanup() - delete _theSupervisor

: Supervisor::shutdown()

: **** SharedData destructor for object ParosciOutput_ShmemName ****

: TaskServer::signalHandler() for task WorkSiteIFServer - exit()
: 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 VehicleConfigurationIFServer - exit()
: TaskServer::signalHandler() for task NavigationIFServer - exit()
: TaskServer::signalHandler() for task LayeredControlIFServer - exit()
: TaskServer::signalHandler() for task DynamicControlIFServer - exit()
: TaskServer::signalHandler() for task TailConeIFServer - exit()
: TaskServer::signalHandler() for task DockIFServer - exit()
: Supervisor::shutdown() - done()

:  DropWeight Destructor Executing.
:  Fan Destructor Executing.
: TaskServer::signalHandler() for task EventLogIFServer - exit()
: TaskServer::signalHandler() for task ExternalCommsIFServer - exit()
: TaskServer::signalHandler() for task ctdDriver - exit()
: TaskServer::signalHandler() for task FanIFServer - exit()
: TaskServer::signalHandler() for task DropWeightIFServer - exit()
: **** SharedData destructor for object DockOutput_ShmemName ****

: **** SharedData destructor for object VehicleOutput_ShmemName ****

: **** SharedData destructor for object BluefinBattOutput ****

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

: NavigationOutput::~NavigationOutput()

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

: **** SharedData destructor for object crossbowOutput ****

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

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

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

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

: **** SharedData destructor for object ParosciOutput_ShmemName ****

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

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

: SerialDeviceExt::closeSD() - closed

: NavigationOutput::~NavigationOutput()

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

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

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


//10/home/dorado1/auv/altex/onboard/bin/layeredControl terminated (SIGSEGV) at 0007:00039A58.
: TaskServer::signalHandler() for task DepthSensorIFServer - exit()
: TaskServer::signalHandler() for task LayeredControlIFServer - exit()
: TaskServer::signalHandler() for task DockIFServer - exit()
: TaskServer::signalHandler() for task ExternalCommsIFServer - exit()
: **** SharedData destructor for object navigationOutput ****

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

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

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

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

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

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


//10/home/dorado1/auv/altex/onboard/bin/sonardyneDriver terminated (SIGSEGV) at 0007:00021DE8.
: TaskServer::signalHandler() for task UsblIFServer - exit()
: **** SharedData destructor for object navigationOutput ****

: **** SharedData destructor for object crossbowOutput ****

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

: StepGetStat (3) failed to read chars, rcvd=2, want=8
: TaskServer::signalHandler() for task NavigationIFServer - exit()
: TaskServer::signalHandler() for task DropWeightIFServer - exit()
: TaskServer::signalHandler() - _theTaskServer doesn't exist
: StepGetStat (3) 5d 5d 00 00 01 00 00
: SerialDevice: done...

: StepGetStat (3) failed to read chars, rcvd=2, want=8
: StepGetStat (3) 18 18 00 00 01 00 00
: **** SharedData destructor for object TailConeInput_ShmemName ****

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

:  Dvl::~Dvl: Destructor Finished.


//10/home/dorado1/auv/altex/onboard/bin/dvl terminated (SIGSEGV) at 0007:000242FF.
