Supervisor::createCoreTasks()
Supervisor::createTask() - eventLogServer
Supervisor::createTask() - workSite
Supervisor::createTask() - vehicleCo: Initializing worksiteServer
nfigurat: WorkSite::WorkSite -- Adding attributes
ion: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv/altex/onboard/config/docking/workSite.cfg
Server
Supervisor::createTask() - external: Using default vehicle config file "/home/dorado1/auv/altex/onboard/config/docking/vehicle.cfg"
CommsServer
Supervisor::createTask() - navigationSer: WorkSite::WorkSite -- Finished loading parameters
ve: WorkSite::WorkSite -- Starting Depth is 0.000000 meters
r
: 0:	1	600674.187500E	4067388.750000N	73.699997 m	10.000000 ms	channel:2
Supe: 1:	2	600531.687500E	4065156.000000N	73.199997 m	10.000000 ms	channel:4
rvi: 2:	3	598447.000000E	4067412.250000N	91.400002 m	10.000000 ms	channel:5
sor: 3:	4	600848.125000E	4069389.500000N	80.199997 m	10.000000 ms	channel:6
::cr: 4:	5	602732.187500E	4067093.000000N	57.299999 m	10.000000 ms	channel:7
eat: WorkSite server: 0x22f8c
eTask() - layeredCont: New Navigation component constructor
r: Navigation - Using only the Dvl to compute altitude.
olServer
Supervisor::createTask() - dynamicControlServer
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
 pa: TailConeServer -- Maximum Rudder Actuator Excursion is 0 Counts
ros: TailConeServer -- Minimum Rudder Actuator Excursion is 0 Counts
c: Preparing to fork

iS: SerialDevice: done...

erver: I'm the child...forking


S: SerialDevice: done...

upervisor::createTask() - seabirdServer
Su: SerialDevice: done...

pervisor::c: SerialDevice: done...

reateTask() - bluefinBattDriver
: Gps: initializing

Supe: SerialDevice: done...

r: SerialDevice: done...

visor: Gps: done initializing...

::: SerialDevice: done...

: **** EventTriggers::add() - attaching proxy
cr: SerialDevice: done...

eateTask() -: Crossbow.cc: Setting polled mode
 dvlS: SerialDevice: done...

: Crossbow.cc: Setting polled mode
e: BluefinBatt driver - running with 1 batteries
rver
: Crossbow.cc: In getSerialNumber()
Sup: seabirdDriver RUNNING...

er: SerialDevice: done...

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

visor:: SerialDevice: done...

:: **** EventTriggers::add() - attaching proxy
: BluefineBatt::init() - 1 batteries on 10 second interval
createTask() - fanSe: Seabird/ctdDriver -- Loading CTD constants from /home/dorado1/auv/altex/onboard/config/docking/ctdDriver.cfg

rv: BluefinBatt.cc - Looking for Parosci server
er
Su: SerialDevice: done...

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

rvi: BluefinBatt::init() - querying for batt ids
sor::createTask() - dropWeightServer
Supervisor::cr: SerialDevice: done...

eate: SerialDevice: done...

Task() - sonardyne: 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

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

uper: ahrs if is Ahrs

visor::createT: CTDLog.cc -- beginning constructor...

ask: CTDLog.cc -- constructor succeeded

() -: Seabird/ctdDriver -- constructor succeeded

 d: seabirdDriver -- constructor succeeded

ock: Seabird/ctdDriver:initializing Seabird...

Serve: SerialDevice: done...

r
: SerialDevice: done...

:  DropWeight::initialize - Resetting counters.
: **** EventTriggers::add() - attaching proxy
: SerialDevice: done...

: DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize()
: SerialDeviceDriver::initialize()
: DynamicControlServer - Got event 1 from TailCone

: PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200
: 
 Starting DVL Initialization.

: SerialDevice: done...

: 3 Modules found
: SerialDevice: done...

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

: SerialDevice: done...

: PeriodicTask::run() (sonardyneDriver) - sampleInterval=500, maxInterval=500
: 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
: Parosci.cc -- Initial pressure = 0.068948
: Parosci.cc -- Parosci initial pressure period = 30.138810
: Parosci.cc -- Parosci initial temp period = 5.841977
: Parosci.cc -- Paroscientific configured.
: **** EventTriggers::add() - attaching proxy
: CR1
[Parameters set to FACTORY defaults]
>
: PD5
>
: 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
: PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200
: SerialDevice::confirm() - Timed Out
: Seabird/ctdDriver::initialize() - confirm() timed out; sleep a bit
: BluefinBatt::init() - battery ids are b6  
: BluefinBatt::init() - found battery b6
: BluefinBatt::init() - battery echo is $b6wf 1


: Seabird/ctdDriver: sending configure commands...(5557)

: Seabird/ctdDriver: setting scans...

: BluefinBatt::init() - battery watchdog state is  
: PeriodicTask::run() (BluefinBatt) - sampleInterval=10000, maxInterval=10000
: SonardyneDriver - caught exception: Timed Out 15
: Lbl NavSensor - could not create LBL task interface
: Navigation: Server for aux sensor "Lbl" not found
: SerialDevice::confirm() - Timed Out
: 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...(5557)

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

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

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

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

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

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

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

: Seabird/ctdDriver: sending DS command...

: BluefinBatt Reply: $b6q0 d- 31.32  2.75 16.40 3.89 3.93 0 -19620.33 03:13:26 m

: batts online 1, min cell voltage 3.890000, mean min cell voltage 3.890000

: 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,  36.737845, -121.880423

:  Navigation: The lat/long in workSite.cfg, cvt'ed to UTM is 4066375.51, 599958.36

: PeriodicTask::run() (navigation) - sampleInterval=200, maxInterval=200
: **** 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...

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

: Ctd/ctdDriver:initialize() - ready!
: **** EventTriggers::add() - attaching proxy
: GetGPS::execute() -- Got a new GPS hit: 2 of 10 needed
: SonardyneDriver - caught exception: Timed Out 15
: GetGPS::execute() -- Got a new GPS hit: 3 of 10 needed
: GetGPS::execute() -- Got a new GPS hit: 4 of 10 needed
: GetGPS::execute() -- Got a new GPS hit: 5 of 10 needed
: GetGPS::execute() -- Got a new GPS hit: 6 of 10 needed
: GetGPS::execute() -- Got a new GPS hit: 7 of 10 needed
: GetGPS::execute() -- Got a new GPS hit: 8 of 10 needed
: GetGPS::execute() -- Got a new GPS hit: 9 of 10 needed
: BluefinBatt Reply: $b6q0 d- 31.24  3.58 16.40 3.89 3.93 0 -19620.81 03:13:36 m

: GetGPS::execute() -- Got a new GPS hit: 10 of 10 needed
: LayeredControl::execute() -- (t = 8.799397) Behavior getgps has changed to state Finished

: Waypoint Initialization: 
  Begin waypoint control at t= 8.80                              (wplog)
  The current location (N,E) = 4052135.6      , 600660.5         (wplog)
  The next waypoint          = 4052403.8      , 600426.4         (wplog)
  The bearing to the next w.p. is 318.9 Degrees.

: LayeredControl::execute() -- (t = 8.809397) Behavior waypoint has changed to state Active

: batts online 1, min cell voltage 3.890000, mean min cell voltage 3.890000

: SonardyneDriver - caught exception: Timed Out 15
: BluefinBatt Reply: $b6q0 d- 30.93 11.19 16.50 3.87 3.91 0 -19621.44 03:13:46 m

: batts online 1, min cell voltage 3.870000, mean min cell voltage 3.870000

: SonardyneDriver - caught exception: Timed Out 15
: BluefinBatt Reply: $b6q0 d- 30.93 11.85 16.50 3.87 3.91 0 -19622.69 03:13:56 m

: batts online 1, min cell voltage 3.870000, mean min cell voltage 3.870000

: SonardyneDriver - caught exception: Timed Out 15
: BluefinBatt Reply: $b6q0 d- 30.89 11.12 16.50 3.83 3.88 0 -19623.45 03:14:06 m

: batts online 1, min cell voltage 3.830000, mean min cell voltage 3.830000

: BluefinBatt Reply: $b6q0 d- 30.89 10.98 16.50 3.83 3.88 0 -19624.65 03:14:16 m

: SonardyneDriver - caught exception: Timed Out 15
: batts online 1, min cell voltage 3.830000, mean min cell voltage 3.830000

: BluefinBatt Reply: $b6q0 d- 31.01  9.46 16.50 3.84 3.89 0 -19625.33 03:14:26 m

: batts online 1, min cell voltage 3.840000, mean min cell voltage 3.840000

: SonardyneDriver - caught exception: Timed Out 15
: BluefinBatt Reply: $b6q0 d- 30.93  9.78 16.50 3.84 3.89 0 -19626.36 03:14:36 m

: batts online 1, min cell voltage 3.840000, mean min cell voltage 3.840000

: SonardyneDriver - caught exception: Timed Out 15
: BluefinBatt Reply: $b6q0 d- 30.93  9.96 16.60 3.83 3.89 0 -19627.08 03:14:46 m

: batts online 1, min cell voltage 3.830000, mean min cell voltage 3.830000

: SonardyneDriver - caught exception: Timed Out 232824
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $b6q0 d- 31.05  7.82 16.50 3.83 3.89 0 -19627.98 03:14:56 m

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.830000, mean min cell voltage 3.830000

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception: Timed Out 15
: 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- 30.85 13.19 16.60 3.83 3.88 0 -19628.73 03:15:06 m

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.830000, mean min cell voltage 3.830000

: 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: ,
: SonardyneDriver - caught exception: Timed Out 15
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $b6q0 d- 30.97  8.80 16.60 3.83 3.88 0 -19629.75 03:15:16 m

: batts online 1, min cell voltage 3.830000, mean min cell voltage 3.830000

: SonardyneDriver - caught exception: Timed Out 15
: 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- 30.97  9.02 16.60 3.84 3.89 0 -19630.30 03:15:26 m

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.840000, mean min cell voltage 3.840000

: 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: ,
: SonardyneDriver - caught exception: Timed Out 15
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $b6q0 d- 30.85 11.12 16.60 3.84 3.89 0 -19631.48 03:15:36 m

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.840000, mean min cell voltage 3.840000

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $b6q0 d- 31.01  7.46 16.69 3.84 3.89 0 -19632.17 03:15:46 m

: SonardyneDriver - caught exception: Timed Out 15
: batts online 1, min cell voltage 3.840000, mean min cell voltage 3.840000

: 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: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $b6q0 d- 30.85 10.76 16.60 3.84 3.89 0 -19633.18 03:15:56 m

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.840000, mean min cell voltage 3.840000

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception: Timed Out 232824
: 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: ,
: SonardyneDriver - caught exception: Timed Out 15
: BluefinBatt Reply: $b6q0 d- 30.93  9.35 16.69 3.83 3.88 0 -19633.87 03:16:06 m

: batts online 1, min cell voltage 3.830000, mean min cell voltage 3.830000

: 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- 30.89  9.92 16.60 3.83 3.88 0 -19634.91 03:16:16 m

: batts online 1, min cell voltage 3.830000, mean min cell voltage 3.830000

: SonardyneDriver - caught exception: Timed Out 232824
: 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- 30.85 10.72 16.69 3.84 3.89 0 -19635.60 03:16:26 m

: SonardyneDriver - caught exception: Timed Out 232824
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.840000, mean min cell voltage 3.840000

: 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: ,
: SonardyneDriver - caught exception: Timed Out 15
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $b6q0 d- 30.85 10.91 16.69 3.84 3.89 0 -19636.67 03:16:36 m

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.840000, mean min cell voltage 3.840000

: 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- 30.93  9.27 16.69 3.83 3.88 0 -19637.41 03:16:46 m

: SonardyneDriver - caught exception: Timed Out 15
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.830000, mean min cell voltage 3.830000

: 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: ,
: BluefinBatt Reply: $b6q0 d- 30.89  9.09 16.69 3.83 3.88 0 -19638.45 03:16:56 m

: batts online 1, min cell voltage 3.830000, mean min cell voltage 3.830000

: SonardyneDriver - caught exception: Timed Out 15
: 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- 30.82 11.01 16.79 3.83 3.88 0 -19639.10 03:17:06 m

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.830000, mean min cell voltage 3.830000

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception: Timed Out 15
: 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- 30.85 10.80 16.79 3.83 3.88 0 -19640.20 03:17:16 m

: batts online 1, min cell voltage 3.830000, mean min cell voltage 3.830000

: SonardyneDriver - caught exception: Timed Out 232824
: 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- 30.85  9.78 16.89 3.83 3.88 0 -19640.81 03:17:26 m

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.830000, mean min cell voltage 3.830000

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception: Timed Out 15
: 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: ,
: BluefinBatt Reply: $b6q0 d- 30.82 10.83 16.89 3.83 3.88 0 -19641.85 03:17:36 m

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.830000, mean min cell voltage 3.830000

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception: Timed Out 15
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $b6q0 d- 30.89  9.27 16.89 3.83 3.88 0 -19642.50 03:17:46 m

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.830000, mean min cell voltage 3.830000

: 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: ,
: SonardyneDriver - caught exception: Timed Out 15
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $b6q0 d- 30.89  8.80 16.89 3.83 3.88 0 -19643.60 03:17:56 m

: batts online 1, min cell voltage 3.830000, mean min cell voltage 3.830000

: 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: ,
: SonardyneDriver - caught exception: Timed Out 15
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $b6q0 d- 30.85 10.65 16.89 3.84 3.89 0 -19644.14 03:18:06 m

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.840000, mean min cell voltage 3.840000

: 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: ,
: SonardyneDriver - caught exception: Timed Out 15
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $b6q0 d- 30.85 10.18 16.89 3.84 3.89 0 -19645.29 03:18:16 m

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.840000, mean min cell voltage 3.840000

: 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- 30.82  9.89 16.99 3.83 3.88 0 -19646.02 03:18:26 m

: SonardyneDriver - caught exception: Timed Out 15
: batts online 1, min cell voltage 3.830000, mean min cell voltage 3.830000

:  Waypoint has set the state to finished.

: Waypoint (4052403.8, 600426.4), 
  reached at t = 304.80                                          (wplog)

: Vehicle Position is error is (-2.4, -2.2)

: LayeredControl::execute() -- (t = 304.799120) Behavior waypoint has changed to state Finished

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

: **** EventTriggers::add() - attaching proxy
: LayeredControl::execute() -- (t = 304.999106) Behavior setpoint has changed to state Active

: LayeredControl::execute() -- (t = 304.999106) Behavior missionTimer has changed to state Active

: BluefinBatt Reply: $b6q0 d- 31.05  4.31 16.99 3.83 3.88 0 -19646.94 03:18:36 m

: batts online 1, min cell voltage 3.830000, mean min cell voltage 3.830000

: SonardyneDriver - caught exception: Timed Out 15
: BluefinBatt Reply: $b6q0 d- 31.12  2.86 17.08 3.87 3.91 0 -19647.16 03:18:46 m

: batts online 1, min cell voltage 3.870000, mean min cell voltage 3.870000

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception: Timed Out 15
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $b6q0 d- 31.12  3.47 16.99 3.87 3.91 0 -19647.54 03:18:56 m

: batts online 1, min cell voltage 3.870000, mean min cell voltage 3.870000

: SonardyneDriver - caught exception: Timed Out 15
: BluefinBatt Reply: $b6q0 d- 31.08  3.76 16.99 3.87 3.91 0 -19647.79 03:19:06 m

: batts online 1, min cell voltage 3.870000, mean min cell voltage 3.870000

: 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 UsblIFServer - exit()
: 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 VehicleConfigurationIFServer - exit()
: NavigationOutput::~NavigationOutput()

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

:  Fan Destructor Executing.
: TaskServer::signalHandler() for task DockIFServer - exit()
: **** SharedData destructor for object DockOutput_ShmemName ****

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

: TaskServer::signalHandler() for task EventLogIFServer - exit()
: TaskServer::signalHandler() for task ExternalCommsIFServer - exit()
: TaskServer::signalHandler() for task ctdDriver - exit()
: **** SharedData destructor for object BluefinBattOutput ****

: TaskServer::signalHandler() for task FanIFServer - exit()
: TaskServer::signalHandler() for task DropWeightIFServer - exit()
:  DropWeight Destructor Executing.
: StepGetStat(2): checksum error
: **** SharedData destructor for object GpsOutput_ShmemName ****

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

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

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

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

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

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

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

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

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

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

: NavigationOutput::~NavigationOutput()

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

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

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

: SerialDeviceExt::closeSD() - closed

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

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


//10/home/dorado1/auv/altex/onboard/bin/layeredControl terminated (SIGSEGV) at 0007:00039AD8.
: TaskServer::signalHandler() for task DepthSensorIFServer - exit()
: TaskServer::signalHandler() for task LayeredControlIFServer - exit()
: TaskServer::signalHandler() for task ExternalCommsIFServer - exit()
: **** SharedData destructor for object ctdDriverSeabirdOutput_ShmemName ****

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

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

: TaskServer::signalHandler() for task FanIFServer - exit()
: TaskServer::signalHandler() for task DropWeightIFServer - exit()
: **** SharedData destructor for object TailConeInput_ShmemName ****

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

: SerialDevice: done...

:  Dvl::~Dvl: Destructor Finished.


//10/home/dorado1/auv/altex/onboard/bin/dvl terminated (SIGSEGV) at 0007:0002436F.
