Supervisor::createCoreTasks() Supervisor::createTask() - eventLogServer Supervisor::createTask() - workSite Supervisor::createTask() - vehicleCon: Initializing worksiteServer figurati: WorkSite::WorkSite -- Adding attributes onS: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv/altex/onboard/config/docking/workSite.cfg erver Supervisor::createTask() - external: Using default vehicle config file "/home/dorado1/auv/altex/onboard/config/docking/vehicle.cfg" CommsServer Supervisor::createTask() - navigati: WorkSite::WorkSite -- Finished loading parameters onS: WorkSite::WorkSite -- Starting Depth is 0.000000 meters erve: 0: 1 600674.187500E 4067388.750000N 73.699997 m 10.000000 ms channel:2 r : 1: 2 600531.687500E 4065156.000000N 73.199997 m 10.000000 ms channel:4 : 2: 3 598447.000000E 4067412.250000N 91.400002 m 10.000000 ms channel:5 : 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 : WorkSite server: 0x22f8c Supervisor::createTask() - layeredControlServer Supervisor::createTask() - dynamicControlSe: New Navigation component constructor rver : Navigation - Using only the Dvl to compute altitude. Supervisor::createTask() - newTailConeServer Supervisor::createTask() - crossbowServer Supervisor::createTask() - gpsServer Supervisor::createTask() - parosciS: Preparing to fork erver : SerialDevice: done... : I'm the child...forking : TailConeServer -- Maximum Elevator Actuator Excursion is 0 Counts Su: TailConeServer:: -- Minimum Elevator Actuator Excursion is 0 Counts perviso: TailConeServer -- Maximum Rudder Actuator Excursion is 0 Counts r::c: TailConeServer -- Minimum Rudder Actuator Excursion is 0 Counts reat: SerialDevice: done... eTask() - seabirdServer : SerialDevice: done... Supervisor::createTask() - bluefinBattDriver Superv: SerialDevice: done... isor::createTask() - dvlServer Supervisor::createTask() - fanServ: DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize() e: SerialDevice: done... : DynamicControlServer - Got event 1 from TailCone : PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200 r : SerialDevice: done... : Crossbow.cc: Setting polled mode : Crossbow.cc: Setting polled mode : Crossbow.cc: In getSerialNumber() Superv: SerialDevice: done... isor::createTask() - dropWeightServer : BluefinBatt driver - running with 1 batteries : SerialDevice: done... : BluefineBatt::init() - 1 batteries on 10 second interval : Gps: initializing : SerialDevice: done... : SerialDevice: done... Supervis: BluefinBatt.cc - Looking for Parosci server o: Gps: done initializing... r::c: SerialDevice: done... reate: **** EventTriggers::add() - attaching proxy Task() -: BluefinBatt::init() - querying for batt ids sonardyneServer : AshtechGps::processRecord() - GpsUtils::parseFix() - incomplete GGA sentence? $PASHR,ACK*3D : **** EventTriggers::add() - attaching proxy Supervisor::create: SerialDevice: done... : SerialDevice: done... Task() - : AshtechGps::processRecord() - GpsUtils::parseFix() - incomplete GGA sentence? $PASHR,ACK*3D dockServer : ahrs if is Ahrs : seabirdDriver RUNNING... : SerialDevice: done... : Seabird/ctdDriver -- Loading CTD constants from /home/dorado1/auv/altex/onboard/config/docking/ctdDriver.cfg : SerialDevice: done... : 3 Modules found : Crossbow.cc: device->read succeeded : Crossbow.cc: I think the serial number is 4278190499 (ff0001a3) : Crossbow.cc: Setting polled mode : PeriodicTask::run() (crossbow) - sampleInterval=100, maxInterval=100 : SerialDevice: done... : 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 : SerialDevice: done... : Seabird/ctdDriver -- constructor succeeded : seabirdDriver -- constructor succeeded : Seabird/ctdDriver:initializing Seabird... : SerialDevice: done... : SerialDevice: done... : DropWeight::initialize - Resetting counters. : **** EventTriggers::add() - attaching proxy : Seabird/ctdDriver: sending configure commands...(30327) : PeriodicTask::run() (dockDriver) - sampleInterval=400, maxInterval=400 : PeriodicTask::run() (vehicleDriver) - sampleInterval=200, maxInterval=200 : SerialDeviceDriver::initialize() : Starting DVL Initialization. : SerialDevice: done... : Sonardyne -- configuration: PollPeriod = 500 ms PresetGain = 1 PowerLevel = 1 LblWait = 3 s ESV = 1485.000000 m/s Beacon = V7,7 : Seabird/ctdDriver: setting scans... : PeriodicTask::run() (sonardyneDriver) - sampleInterval=500, maxInterval=500 : Parosci.cc -- Initial pressure = 0.068948 : SerialDevice: done... : PeriodicTask::run() (fanDriver) - sampleInterval=1000, maxInterval=1000 : Parosci.cc -- Parosci initial pressure period = 30.138810 : Parosci.cc -- Parosci initial temp period = 5.842135 : Parosci.cc -- Paroscientific configured. : **** EventTriggers::add() - attaching proxy : PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200 : 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 : BluefinBatt::init() - battery ids are b6 : BluefinBatt::init() - found battery b6 : BluefinBatt::init() - battery echo is $b6wf 1 : 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...(30327) : Seabird/ctdDriver::initialize() - confirming voltage... : Seabird/ctdDriver::initialize() - confirming voltage... : Seabird/ctdDriver::initialize() - confirming voltage... : BluefinBatt::init() - battery watchdog state is : Seabird/ctdDriver::initialize() - confirming voltage... : PeriodicTask::run() (BluefinBatt) - sampleInterval=10000, maxInterval=10000 : Seabird/ctdDriver::initialize() - confirming voltage... : SonardyneDriver - caught exception: Timed Out 12 : Seabird/ctdDriver::initialize() - confirming voltage... : Seabird/ctdDriver::initialize() - disabling switch... : Seabird/ctdDriver: sending DS command... : Lbl NavSensor - could not create LBL task interface : Navigation: Server for aux sensor "Lbl" not found : Seabird/ctdDriver::initialize() - starting logging... : Ctd/ctdDriver:initialize() - Logging Started... : Ctd/ctdDriver:initialize() - ready! : **** EventTriggers::add() - attaching proxy : SonardyneDriver - caught exception: Timed Out 12 : BluefinBatt Reply: $b6q0 d- 30.89 2.86 15.42 3.83 3.88 0 -19912.68 01:36:22 m : batts online 1, min cell voltage 3.830000, mean min cell voltage 3.830000 : 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 *** : GetGPS::execute() -- Got a new GPS hit: 2 of 10 needed : 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 : SonardyneDriver - caught exception: Timed Out 12 : GetGPS::execute() -- Got a new GPS hit: 9 of 10 needed : BluefinBatt Reply: $b6q0 d- 30.85 3.80 15.42 3.83 3.88 0 -19913.06 01:36:32 m : GetGPS::execute() -- Got a new GPS hit: 10 of 10 needed : LayeredControl::execute() -- (t = 8.399425) Behavior getgps has changed to state Finished : Waypoint Initialization: Begin waypoint control at t= 8.40 (wplog) The current location (N,E) = 4051936.0 , 600639.6 (wplog) The next waypoint = 4052403.8 , 600426.4 (wplog) The bearing to the next w.p. is 335.5 Degrees. : LayeredControl::execute() -- (t = 8.399425) Behavior waypoint has changed to state Active : batts online 1, min cell voltage 3.830000, mean min cell voltage 3.830000 : SonardyneDriver - caught exception: Timed Out 232824 : BluefinBatt Reply: $b6q0 d- 30.51 11.05 15.33 3.78 3.83 0 -19913.69 01:36:42 m : batts online 1, min cell voltage 3.780000, mean min cell voltage 3.780000 : SonardyneDriver - caught exception: Timed Out 15 : BluefinBatt Reply: $b6q0 d- 30.39 12.68 15.42 3.78 3.83 0 -19914.90 01:36:52 m : batts online 1, min cell voltage 3.780000, mean min cell voltage 3.780000 : SonardyneDriver - caught exception: Timed Out 15 : BluefinBatt Reply: $b6q0 d- 30.47 11.30 15.42 3.76 3.82 0 -19915.69 01:37:02 m : batts online 1, min cell voltage 3.760000, mean min cell voltage 3.760000 : 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- 30.62 8.19 15.42 3.76 3.82 0 -19916.66 01:37:12 m : Seabird/ctdDriver: error reading voltages : Seabird/ctdDriver: error reading voltages : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 1, min cell voltage 3.760000, mean min cell voltage 3.760000 : 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- 30.47 11.01 15.52 3.77 3.82 0 -19917.36 01:37:22 m : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver - caught exception: Timed Out 15 : batts online 1, min cell voltage 3.770000, mean min cell voltage 3.770000 : 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- 30.51 9.31 15.52 3.77 3.82 0 -19918.49 01:37:32 m : batts online 1, min cell voltage 3.770000, mean min cell voltage 3.770000 : 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- 30.43 11.01 15.52 3.78 3.83 0 -19919.12 01:37:42 m : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver - caught exception: Timed Out 15 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 1, min cell voltage 3.780000, mean min cell voltage 3.780000 : 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() - nSats = 3; setting quality to 0 (invalid) : BluefinBatt Reply: $b6q0 d- 30.47 10.21 15.52 3.78 3.83 0 -19920.18 01:37:52 m : batts online 1, min cell voltage 3.780000, mean min cell voltage 3.780000 : 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- 30.43 10.69 15.52 3.79 3.83 0 -19920.74 01:38:02 m : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 1, min cell voltage 3.790000, mean min cell voltage 3.790000 : 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 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: , : BluefinBatt Reply: $b6q0 d- 30.43 11.74 15.52 3.79 3.83 0 -19921.87 01:38:12 m : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 1, min cell voltage 3.790000, mean min cell voltage 3.790000 : 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- 30.47 9.31 15.52 3.78 3.83 0 -19922.57 01:38:22 m : batts online 1, min cell voltage 3.780000, mean min cell voltage 3.780000 : SonardyneDriver - caught exception: Timed Out 232824 : BluefinBatt Reply: $b6q0 d- 30.43 10.11 15.52 3.78 3.83 0 -19923.59 01:38:32 m : batts online 1, min cell voltage 3.780000, mean min cell voltage 3.780000 : SonardyneDriver - caught exception: Timed Out 15 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 30.51 8.91 15.52 3.78 3.83 0 -19924.24 01:38:42 m : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 1, min cell voltage 3.780000, mean min cell voltage 3.780000 : 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- 30.43 10.11 15.52 3.78 3.83 0 -19925.32 01:38:52 m : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 1, min cell voltage 3.780000, mean min cell voltage 3.780000 : 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: , : SonardyneDriver - caught exception: Timed Out 15 : BluefinBatt Reply: $b6q0 d- 30.47 9.38 15.52 3.77 3.82 0 -19926.02 01:39:02 m : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 1, min cell voltage 3.770000, mean min cell voltage 3.770000 : 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- 30.43 10.32 15.52 3.77 3.82 0 -19927.12 01:39:12 m : batts online 1, min cell voltage 3.770000, mean min cell voltage 3.770000 : 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: , : SonardyneDriver - caught exception: Timed Out 15 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 30.43 10.54 15.52 3.78 3.82 0 -19927.72 01:39:22 m : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 1, min cell voltage 3.780000, mean min cell voltage 3.780000 : 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- 30.43 9.46 15.62 3.78 3.82 0 -19928.72 01:39:32 m : SonardyneDriver - caught exception: Timed Out 15 : batts online 1, min cell voltage 3.780000, mean min cell voltage 3.780000 : 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- 30.43 10.29 15.62 3.77 3.82 0 -19929.30 01:39:42 m : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 1, min cell voltage 3.770000, mean min cell voltage 3.770000 : 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: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 30.43 10.80 15.62 3.77 3.82 0 -19930.43 01:39:52 m : batts online 1, min cell voltage 3.770000, mean min cell voltage 3.770000 : SonardyneDriver - caught exception: Timed Out 15 : BluefinBatt Reply: $b6q0 d- 30.39 9.13 15.72 3.76 3.82 0 -19931.14 01:40:02 m : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 1, min cell voltage 3.760000, mean min cell voltage 3.760000 : 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: , : 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- 30.35 10.69 15.82 3.76 3.82 0 -19932.20 01:40:12 m : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 1, min cell voltage 3.760000, mean min cell voltage 3.760000 : 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- 30.39 10.25 15.82 3.77 3.82 0 -19932.90 01:40:22 m : AshtechGps::processRecord() - nSats = 3; setting quality to 0 (invalid) : SonardyneDriver - caught exception: Timed Out 15 : batts online 1, min cell voltage 3.770000, mean min cell voltage 3.770000 : BluefinBatt Reply: $b6q0 d- 30.47 6.01 15.82 3.77 3.82 0 -19933.76 01:40:32 m : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 1, min cell voltage 3.770000, mean min cell voltage 3.770000 : 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: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 30.35 11.19 15.82 3.77 3.82 0 -19934.44 01:40:42 m : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 1, min cell voltage 3.770000, mean min cell voltage 3.770000 : 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: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 30.47 8.84 15.91 3.77 3.82 0 -19935.50 01:40:52 m : batts online 1, min cell voltage 3.770000, mean min cell voltage 3.770000 : SonardyneDriver - caught exception: Timed Out 15 : BluefinBatt Reply: $b6q0 d- 30.28 10.62 15.91 3.76 3.81 0 -19936.18 01:41:02 m : batts online 1, min cell voltage 3.760000, mean min cell voltage 3.760000 : BluefinBatt Reply: $b6q0 d- 30.47 8.37 15.91 3.76 3.81 0 -19937.22 01:41:12 m : SonardyneDriver - caught exception: Timed Out 15 : batts online 1, min cell voltage 3.760000, mean min cell voltage 3.760000 : 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- 30.39 10.69 16.01 3.76 3.82 0 -19937.92 01:41:22 m : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 1, min cell voltage 3.760000, mean min cell voltage 3.760000 : 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: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 30.35 10.94 15.91 3.76 3.82 0 -19939.01 01:41:32 m : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 1, min cell voltage 3.760000, mean min cell voltage 3.760000 : 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- 30.39 9.67 16.01 3.77 3.82 0 -19939.68 01:41:42 m : batts online 1, min cell voltage 3.770000, mean min cell voltage 3.770000 : SonardyneDriver - caught exception: Timed Out 15 : BluefinBatt Reply: $b6q0 d- 30.43 9.20 16.01 3.77 3.82 0 -19940.72 01:41:52 m : batts online 1, min cell voltage 3.770000, mean min cell voltage 3.770000 : 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- 30.43 10.21 16.01 3.77 3.82 0 -19941.40 01:42:02 m : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 1, min cell voltage 3.770000, mean min cell voltage 3.770000 : 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: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 30.35 10.98 16.01 3.77 3.82 0 -19942.51 01:42:12 m : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 1, min cell voltage 3.770000, mean min cell voltage 3.770000 : 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- 30.35 11.16 16.11 3.77 3.82 0 -19943.21 01:42:22 m : batts online 1, min cell voltage 3.770000, mean min cell voltage 3.770000 : 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- 30.32 11.48 16.21 3.77 3.82 0 -19944.26 01:42:32 m : SonardyneDriver - caught exception: Timed Out 15 : batts online 1, min cell voltage 3.770000, mean min cell voltage 3.770000 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Waypoint has set the state to finished. : Waypoint (4052403.8, 600426.4), reached at t = 375.79 (wplog) : Vehicle Position is error is (-0.2, 0.0) : LayeredControl::execute() -- (t = 375.794256) 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 = 375.994243) Behavior setpoint has changed to state Active : LayeredControl::execute() -- (t = 375.994243) Behavior missionTimer has changed to state Active : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 30.55 6.84 16.11 3.78 3.82 0 -19944.89 01:42:42 m : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 1, min cell voltage 3.780000, mean min cell voltage 3.780000 : 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: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 30.70 2.75 16.11 3.78 3.82 0 -19945.27 01:42:52 m : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 1, min cell voltage 3.780000, mean min cell voltage 3.780000 : 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- 30.74 3.07 16.11 3.82 3.85 0 -19945.47 01:43:02 m : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 1, min cell voltage 3.820000, mean min cell voltage 3.820000 : 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- 30.58 4.02 16.21 3.82 3.85 0 -19945.80 01:43:12 m : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 1, min cell voltage 3.820000, mean min cell voltage 3.820000 : 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: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 30.78 2.75 16.11 3.82 3.86 0 -19946.02 01:43:22 m : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 1, min cell voltage 3.820000, mean min cell voltage 3.820000 : SonardyneDriver - caught exception: Timed Out 15 : BluefinBatt Reply: $b6q0 d- 30.66 3.33 16.11 3.82 3.86 0 -19946.34 01:43:32 m : batts online 1, min cell voltage 3.820000, mean min cell voltage 3.820000 : SonardyneDriver - caught exception: Timed Out 15 : BluefinBatt Reply: $b6q0 d- 30.70 6.08 16.11 3.81 3.85 0 -19946.57 01:43:42 m : batts online 1, min cell voltage 3.810000, mean min cell voltage 3.810000 : BluefinBatt Reply: $b6q0 d- 30.74 2.89 16.21 3.81 3.85 0 -19946.89 01:43:52 m : SonardyneDriver - caught exception: Timed Out 15 : batts online 1, min cell voltage 3.810000, mean min cell voltage 3.810000 : 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 AhrsIFServer - exit() : TaskServer::signalHandler() for task GpsIFServer - exit() : TaskServer::signalHandler() for task DvlIFServer - exit() : TaskServer::signalHandler() for task UsblIFServer - exit() : TaskServer::signalHandler() for task WorkSiteIFServer - exit() //10/home/dorado1/auv/altex/onboard/bin/layeredControl terminated (SIGSEGV) at 0007:00039AD8. : NavigationOutput::~NavigationOutput() : TaskServer::signalHandler() for task DynamicControlIFServer - exit() : TaskServer::signalHandler() for task TailConeIFServer - exit() : TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit() : TaskServer::signalHandler() for task NavigationIFServer - exit() : TaskServer::signalHandler() for task LayeredControlIFServer - exit() : Supervisor::shutdown() - done() : DropWeight Destructor Executing. : TaskServer::signalHandler() for task DepthSensorIFServer - exit() : TaskServer::signalHandler() for task ctdDriver - exit() : TaskServer::signalHandler() for task FanIFServer - exit() : TaskServer::signalHandler() for task DropWeightIFServer - exit() : TaskServer::signalHandler() for task DockIFServer - exit() : Fan Destructor Executing. : **** SharedData destructor for object DockOutput_ShmemName **** : **** SharedData destructor for object VehicleOutput_ShmemName **** : TaskServer::signalHandler() for task EventLogIFServer - exit() : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() : **** SharedData destructor for object BluefinBattOutput **** : **** SharedData destructor for object GpsOutput_ShmemName **** : **** SharedData destructor for object ctdDriverSeabirdOutput_ShmemName **** : **** SharedData destructor for object crossbowOutput **** : TaskServer::signalHandler() for task DepthSensorIFServer - exit() : **** SharedData destructor for object DvlOutput_ShmemName **** : **** SharedData destructor for object SonardyneOutput_ShmemName **** : **** SharedData destructor for object navigationOutput **** : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() : **** SharedData destructor for object crossbowCommand **** : **** SharedData destructor for object GpsOutput_ShmemName **** : **** SharedData destructor for object DvlOutput_ShmemName **** : **** SharedData destructor for object fanOutput **** : **** SharedData destructor for object SonardyneOutput_ShmemName **** : **** SharedData destructor for object TailConeInput_ShmemName **** : **** SharedData destructor for object TailConeInput_ShmemName **** : NavigationOutput::~NavigationOutput() : **** SharedData destructor for object LayeredControlInput_ShmemName **** : **** SharedData destructor for object dropWeightOutput **** : **** SharedData destructor for object ctdDriverSeabirdOutput_ShmemName **** : **** SharedData destructor for object fanOutput **** : SerialDeviceExt::closeSD() - closed : **** SharedData destructor for object dropWeightOutput **** : TaskServer::signalHandler() for task DockIFServer - exit() : **** SharedData destructor for object crossbowCommand **** : **** SharedData destructor for object ParosciOutput_ShmemName **** : TaskServer::signalHandler() for task NavigationIFServer - exit() : TaskServer::signalHandler() for task GpsIFServer - exit() : TaskServer::signalHandler() for task ctdDriver - exit() //10/home/dorado1/auv/altex/onboard/bin/sonardyneDriver terminated (SIGSEGV) at 0007:00021DE8. : TaskServer::signalHandler() for task UsblIFServer - exit() : **** SharedData destructor for object crossbowOutput **** : **** SharedData destructor for object TailConeOutput_ShmemName **** : **** SharedData destructor for object TailConeOutput_ShmemName **** : **** SharedData destructor for object LayeredControlOutput_ShmemName **** : TaskServer::signalHandler() for task FanIFServer - exit() : TaskServer::signalHandler() for task DropWeightIFServer - exit() : SerialDevice: done... : Dvl::~Dvl: Destructor Finished. //10/home/dorado1/auv/altex/onboard/bin/dvl terminated (SIGSEGV) at 0007:0002436F.