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() - navigat: WorkSite::WorkSite -- Finished loading parameters ion: WorkSite::WorkSite -- Starting Depth is 0.000000 meters Serv: 0: 1 600674.187500E 4067388.750000N 73.699997 m 10.000000 ms channel:2 er : 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 Sup: 3: 4 600848.125000E 4069389.500000N 80.199997 m 10.000000 ms channel:6 ervi: 4: 5 602732.187500E 4067093.000000N 57.299999 m 10.000000 ms channel:7 sor: WorkSite server: 0x22f8c ::createTask() - layeredControlServer Supervisor::createTask() - dynamicControlServer : New Navigation component constructor : Navigation - Using only the Dvl to compute altitude. Supervisor::createTask() - newTailConeServer Supervisor::createTask() - simulator Supervisor::createTask() - simAhrs Supervisor::createTask() - gpsServer Supervisor::createTask() - parosciServer Supervisor::createTask() - seabirdServer Supervisor::createTask() - bluefinBattDriver : Create simulator... : SerialDevice: done... : TailConeServer -- Maximum Elevator Actuator Excursion is 0 Counts : Create VehicleConfigurationIF... : TailConeServer:: -- Minimum Elevator Actuator Excursion is 0 Counts : Okay... : TailConeServer -- Maximum Rudder Actuator Excursion is 0 Counts : TailConeServer -- Minimum Rudder Actuator Excursion is 0 Counts : SerialDevice: done... : Create attributes... : Simulator:: initPsi = 0.000000 : Done creating attributes. Parse 'em... : SerialDevice: done... Supervisor::createTask() - dvlServer : DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize() : DynamicControlServer - Got event 1 from TailCone : PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200 Supervi: BluefinBatt driver - running with 1 batteries sor::cre: SerialDevice: done... ateTas: BluefineBatt::init() - 1 batteries on 10 second interval k() - fanServer : BluefinBatt.cc - Looking for Parosci server : SerialDevice: done... : BluefinBatt::init() - querying for batt ids Superv: SerialDevice: done... isor::createTask(): SerialDevice: done... - dropWeightServer : Gps: initializing : SerialDevice: done... : SerialDevice: done... Super: Simulator:: initPsi = 225.000000 visor: Simulator:: zMax = 210.000000 :: Gps: done initializing... :createTa: **** EventTriggers::add() - attaching proxy sk: The utm zone is 10 () - so: Simulator: The lat/long in workSite.cfg is 0.641196, -2.12721 nar: Simulator: The lat/long in workSite.cfg, cvt'ed to UTM is 4.06638e+006, 599958 dyneServer: Invoke simulator->run()... : AshtechGps::processRecord() - GpsUtils::parseFix() - incomplete GGA sentence? $PASHR,ACK*3D : **** EventTriggers::add() - attaching proxy : AshtechGps::processRecord() - GpsUtils::parseFix() - incomplete GGA sentence? $PASHR,ACK*3D : SerialDevice: done... : 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... : SerialDevice: done... : SerialDevice: done... : 3 Modules found : 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 : SerialDevice: done... : Seabird/ctdDriver::Seabird() - create interface to depth sensor... : Seabird/ctdDriver -- constructing Log... : CTDLog.cc -- beginning constructor... : CTDLog.cc -- constructor succeeded : Seabird/ctdDriver -- constructor succeeded : seabirdDriver -- constructor succeeded : DropWeight::initialize - Resetting counters. : Seabird/ctdDriver:initializing Seabird... : **** EventTriggers::add() - attaching proxy : SerialDevice: done... : SerialDevice: done... : 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 : PeriodicTask::run() (sonardyneDriver) - sampleInterval=500, maxInterval=500 : SerialDevice: done... : PeriodicTask::run() (fanDriver) - sampleInterval=1000, maxInterval=1000 : Parosci.cc -- Initial pressure = 0.068948 : Parosci.cc -- Parosci initial pressure period = 30.138610 : Parosci.cc -- Parosci initial temp period = 5.841853 : 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...(6459) : 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...(6459) : 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- 30.70 3.40 15.72 3.81 3.85 0 -19978.67 02:11:17 m : batts online 1, min cell voltage 3.810000, mean min cell voltage 3.810000 : 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 *** : !!!! Simulator::missionStatusCallback() - Got event 0 from "layeredControl" : Event received at _simTime=0.02 : Simulator::missionStatusCallback() - mission started : GetGPS::execute() -- Got a new GPS hit: 2 of 10 needed : SonardyneDriver - caught exception: Timed Out 15 : 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: 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- 30.70 3.04 15.72 3.82 3.85 0 -19978.92 02:11:27 m : GetGPS::execute() -- Got a new GPS hit: 10 of 10 needed : LayeredControl::execute() -- (t = 8.399425) Behavior getgps has changed to state Finished : LayeredControl::execute() -- (t = 8.399425) Behavior setRudder has changed to state Active : batts online 1, min cell voltage 3.820000, mean min cell voltage 3.820000 : SonardyneDriver - caught exception: Timed Out 232820 : BluefinBatt Reply: $b6q0 d- 30.47 8.62 15.72 3.82 3.85 0 -19979.63 02:11:37 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- 30.28 10.21 15.72 3.77 3.81 0 -19980.32 02:11:47 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: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 30.32 11.23 15.72 3.77 3.81 0 -19981.38 02:11:57 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 : 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- 30.28 12.35 15.82 3.76 3.81 0 -19982.09 02:12:07 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 : BluefinBatt Reply: $b6q0 d- 30.20 10.25 15.91 3.76 3.81 0 -19983.11 02:12:17 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: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 30.35 10.54 15.82 3.77 3.82 0 -19983.73 02:12:27 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: , : SonardyneDriver - caught exception: Timed Out 232820 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 30.28 11.52 15.91 3.77 3.82 0 -19984.78 02:12:37 m : SonardyneDriver - caught exception: Timed Out 15 : batts online 1, min cell voltage 3.770000, mean min cell voltage 3.770000 : BluefinBatt Reply: $b6q0 d- 30.35 9.60 15.82 3.75 3.80 0 -19985.54 02:12:47 m : batts online 1, min cell voltage 3.750000, mean min cell voltage 3.750000 : SonardyneDriver - caught exception: Timed Out 15 : BluefinBatt Reply: $b6q0 d- 30.35 9.64 15.82 3.75 3.80 0 -19986.44 02:12:57 m : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 1, min cell voltage 3.750000, mean min cell voltage 3.750000 : 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- 30.28 11.78 15.82 3.75 3.80 0 -19987.18 02:13:07 m : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 1, min cell voltage 3.750000, mean min cell voltage 3.750000 : SonardyneDriver - caught exception: Timed Out 15 : BluefinBatt Reply: $b6q0 d- 30.24 10.69 15.82 3.75 3.80 0 -19988.15 02:13:17 m : batts online 1, min cell voltage 3.750000, mean min cell voltage 3.750000 : 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- 30.28 10.51 15.82 3.76 3.80 0 -19988.86 02:13:27 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: , : SonardyneDriver - caught exception: Timed Out 232820 : BluefinBatt Reply: $b6q0 d- 30.32 10.14 15.91 3.76 3.80 0 -19989.81 02:13:37 m : batts online 1, min cell voltage 3.760000, mean min cell voltage 3.760000 : 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- 30.16 10.94 15.91 3.76 3.80 0 -19990.46 02:13:47 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: , : SonardyneDriver - caught exception: Timed Out 232820 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 30.16 11.63 15.91 3.76 3.80 0 -19991.49 02:13:57 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 : BluefinBatt Reply: $b6q0 d- 30.28 9.75 16.01 3.75 3.79 0 -19992.13 02:14:07 m : batts online 1, min cell voltage 3.750000, mean min cell voltage 3.750000 : 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- 30.12 11.74 16.01 3.75 3.79 0 -19993.19 02:14:17 m : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 1, min cell voltage 3.750000, mean min cell voltage 3.750000 : 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) : SonardyneDriver - caught exception: Timed Out 15 : BluefinBatt Reply: $b6q0 d- 30.32 9.20 16.01 3.76 3.80 0 -19993.92 02:14:27 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: , : 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- 30.20 11.63 16.01 3.76 3.80 0 -19994.88 02:14:37 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: , : 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- 30.05 13.08 16.11 3.75 3.79 0 -19995.56 02:14:47 m : batts online 1, min cell voltage 3.750000, mean min cell voltage 3.750000 : SonardyneDriver - caught exception: Timed Out 15 : BluefinBatt Reply: $b6q0 d- 30.28 10.94 16.21 3.75 3.79 0 -19996.57 02:14:57 m : batts online 1, min cell voltage 3.750000, mean min cell voltage 3.750000 : SonardyneDriver - caught exception: Timed Out 232820 : BluefinBatt Reply: $b6q0 d- 30.24 10.76 16.21 3.75 3.79 0 -19997.31 02:15:07 m : batts online 1, min cell voltage 3.750000, mean min cell voltage 3.750000 : SonardyneDriver - caught exception: Timed Out 232820 : BluefinBatt Reply: $b6q0 d- 30.12 11.16 16.21 3.75 3.79 0 -19998.30 02:15:17 m : batts online 1, min cell voltage 3.750000, mean min cell voltage 3.750000 : SonardyneDriver - caught exception: Timed Out 15 : BluefinBatt Reply: $b6q0 d- 30.20 10.98 16.21 3.75 3.80 0 -19998.92 02:15:27 m : batts online 1, min cell voltage 3.750000, mean min cell voltage 3.750000 : SonardyneDriver - caught exception: Timed Out 15 : BluefinBatt Reply: $b6q0 d- 30.20 11.37 16.30 3.75 3.80 0 -19999.97 02:15:37 m : batts online 1, min cell voltage 3.750000, mean min cell voltage 3.750000 : SonardyneDriver - caught exception: Timed Out 15 : BluefinBatt Reply: $b6q0 d- 30.12 11.99 16.30 3.75 3.79 0 -20000.67 02:15:47 m : batts online 1, min cell voltage 3.750000, mean min cell voltage 3.750000 : SonardyneDriver - caught exception: Timed Out 232820 : BluefinBatt Reply: $b6q0 d- 30.24 10.40 16.30 3.75 3.79 0 -20001.66 02:15:57 m : batts online 1, min cell voltage 3.750000, mean min cell voltage 3.750000 : 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- 30.24 10.03 16.30 3.74 3.78 0 -20002.39 02:16:07 m : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 1, min cell voltage 3.740000, mean min cell voltage 3.740000 : 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- 30.08 12.64 16.30 3.74 3.78 0 -20003.42 02:16:17 m : batts online 1, min cell voltage 3.740000, mean min cell voltage 3.740000 : SonardyneDriver - caught exception: Timed Out 232820 : BluefinBatt Reply: $b6q0 d- 30.24 10.07 16.40 3.75 3.80 0 -20004.12 02:16:27 m : LayeredControl::execute() -- (t = 308.598860) Behavior setRudder has changed to state Finished : Stack empty after processing. Aborting. : *** LayeredControl - initiating mission abort... *** : Initiating Mission Abort! : **** EventTriggers::add() - attaching proxy : LayeredControl::execute() -- (t = 308.798846) Behavior setpoint has changed to state Active : LayeredControl::execute() -- (t = 308.798846) Behavior missionTimer has changed to state Active : batts online 1, min cell voltage 3.750000, mean min cell voltage 3.750000 : SonardyneDriver - caught exception: Timed Out 15 : BluefinBatt Reply: $b6q0 d- 30.55 3.47 16.40 3.75 3.80 0 -20004.69 02:16:37 m : batts online 1, min cell voltage 3.750000, mean min cell voltage 3.750000 : 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- 30.51 3.51 16.40 3.80 3.83 0 -20004.89 02:16:47 m : batts online 1, min cell voltage 3.800000, mean min cell voltage 3.800000 : SonardyneDriver - caught exception: Timed Out 15 : BluefinBatt Reply: $b6q0 d- 30.66 2.82 16.40 3.80 3.83 0 -20005.19 02:16:57 m : batts online 1, min cell voltage 3.800000, mean min cell voltage 3.800000 : BluefinBatt Reply: $b6q0 d- 30.62 3.33 16.40 3.80 3.83 0 -20005.39 02:17:07 m : SonardyneDriver - caught exception: Timed Out 15 : batts online 1, min cell voltage 3.800000, mean min cell voltage 3.800000 : BluefinBatt Reply: $b6q0 d- 30.55 3.44 16.40 3.80 3.83 0 -20005.71 02:17:17 m : batts online 1, min cell voltage 3.800000, mean min cell voltage 3.800000 : SonardyneDriver - caught exception: Timed Out 15 : 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 SimulatorIFServer - 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() : NavigationOutput::~NavigationOutput() //10/home/dorado1/auv/altex/onboard/bin/layeredControl terminated (SIGSEGV) at 0007:00039AD8. : TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit() : TaskServer::signalHandler() for task NavigationIFServer - exit() : TaskServer::signalHandler() for task DynamicControlIFServer - exit() : TaskServer::signalHandler() for task TailConeIFServer - exit() : Supervisor::shutdown() - done() : Fan Destructor Executing. : TaskServer::signalHandler() for task EventLogIFServer - exit() : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() : TaskServer::signalHandler() for task LayeredControlIFServer - 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. : **** SharedData destructor for object GpsOutput_ShmemName **** : **** SharedData destructor for object ctdDriverSeabirdOutput_ShmemName **** : TaskServer::signalHandler() for task DepthSensorIFServer - exit() : **** SharedData destructor for object DvlOutput_ShmemName **** : **** SharedData destructor for object SonardyneOutput_ShmemName **** : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() : **** SharedData destructor for object GpsOutput_ShmemName **** : **** SharedData destructor for object DvlOutput_ShmemName **** : **** SharedData destructor for object SonardyneOutput_ShmemName **** : **** SharedData destructor for object navigationOutput **** : NavigationOutput::~NavigationOutput() : **** SharedData destructor for object TailConeInput_ShmemName **** : **** SharedData destructor for object TailConeInput_ShmemName **** : **** SharedData destructor for object fanOutput **** : **** SharedData destructor for object ParosciOutput_ShmemName **** : **** SharedData destructor for object dropWeightOutput **** : **** SharedData destructor for object LayeredControlInput_ShmemName **** : **** SharedData destructor for object ctdDriverSeabirdOutput_ShmemName **** : **** SharedData destructor for object fanOutput **** : **** SharedData destructor for object dropWeightOutput **** //10/home/dorado1/auv/altex/onboard/bin/sonardyneDriver terminated (SIGSEGV) at 0007:00021DE8. : TaskServer::signalHandler() for task UsblIFServer - exit() : TaskServer::signalHandler() for task NavigationIFServer - exit() : **** SharedData destructor for object TailConeOutput_ShmemName **** : TaskServer::signalHandler() for task ctdDriver - exit() : **** SharedData destructor for object TailConeOutput_ShmemName **** : TaskServer::signalHandler() for task FanIFServer - exit() : **** SharedData destructor for object LayeredControlOutput_ShmemName **** : 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.