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() - navigationServer Supervisor::crea: WorkSite::WorkSite -- Finished loading parameters te: WorkSite::WorkSite -- Starting Depth is 0.000000 meters Tas: 0: 1 600674.187500E 4067388.750000N 73.699997 m 10.000000 ms channel:2 k() : 1: 2 600531.687500E 4065156.000000N 73.199997 m 10.000000 ms channel:4 - la: 2: 3 598447.000000E 4067412.250000N 91.400002 m 10.000000 ms channel:5 yer: 3: 4 600848.125000E 4069389.500000N 80.199997 m 10.000000 ms channel:6 edC: 4: 5 602732.187500E 4067093.000000N 57.299999 m 10.000000 ms channel:7 ont: WorkSite server: 0x22f8c rol: New Navigation component constructor Server Supervisor::c: Navigation - Using only the Dvl to compute altitude. reateTask() - dynamicControlServer Supervisor::createTask() - newTailConeServer Supervisor::createTask() - simulator Supervisor::createTask() - simAhrs : Create simulator... Supervisor::createTask() - gp: SerialDevice: done... s: TailConeServer -- Maximum Elevator Actuator Excursion is 0 Counts S: Create VehicleConfigurationIF... er: TailConeServer:: -- Minimum Elevator Actuator Excursion is 0 Counts ver : Okay... S: TailConeServer -- Maximum Rudder Actuator Excursion is 0 Counts upervi: TailConeServer -- Minimum Rudder Actuator Excursion is 0 Counts sor: SerialDevice: done... ::cre: SerialDevice: done... a: Create attributes... teT: Simulator:: initPsi = 0.000000 ask(): Done creating attributes. Parse 'em... - parosciServer Supervisor::createTask() - seabirdServer Supervisor: SerialDevice: done... ::createTask() - bluefinBattD: Simulator:: initPsi = 225.000000 ri: Simulator:: zMax = 210.000000 ver: Gps: initializing Su: SerialDevice: done... p: SerialDevice: done... e: The utm zone is 10 : SerialDevice: done... rvi: SerialDevice: done... sor: Gps: done initializing... ::: Simulator: The lat/long in workSite.cfg is 0.641196, -2.12721 createT: **** EventTriggers::add() - attaching proxy ask(: Simulator: The lat/long in workSite.cfg, cvt'ed to UTM is 4.06638e+006, 599958 ) - dvlServe: Invoke simulator->run()... : BluefinBatt driver - running with 1 batteries r Super: SerialDevice: done... vis: seabirdDriver RUNNING... or: BluefineBatt::init() - 1 batteries on 10 second interval ::cr: AshtechGps::processRecord() - GpsUtils::parseFix() - incomplete GGA sentence? $PASHR,ACK*3D ea: SerialDevice: done... t: **** EventTriggers::add() - attaching proxy eTask() - f: BluefinBatt.cc - Looking for Parosci server anSer: SerialDevice: done... ver : BluefinBatt::init() - querying for batt ids : Seabird/ctdDriver -- Loading CTD constants from /home/dorado1/auv/altex/onboard/config/docking/ctdDriver.cfg Supervisor: AshtechGps::processRecord() - GpsUtils::parseFix() - incomplete GGA sentence? $PASHR,ACK*3D ::createTask() - dropWeightSer: SerialDevice: done... ver Supervisor::createTa: SerialDevice: done... sk() - sonardyneServer : 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 : ahrs if is Ahrs : Seabird/ctdDriver::Seabird() - create interface to depth sensor... : Seabird/ctdDriver -- constructing Log... : CTDLog.cc -- beginning constructor... : CTDLog.cc -- constructor succeeded : Seabird/ctdDriver -- constructor succeeded : seabirdDriver -- constructor succeeded : Seabird/ctdDriver:initializing Seabird... : SerialDevice: done... : SerialDevice: done... : SerialDevice: done... : DropWeight::initialize - Resetting counters. : **** EventTriggers::add() - attaching proxy : SerialDevice: done... : 3 Modules found : SerialDeviceDriver::initialize() : Starting DVL Initialization. : SerialDevice: done... : DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize() : DynamicControlServer - Got event 1 from TailCone : PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200 : 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 = 30.138630 : CR1 [Parameters set to FACTORY defaults] > : Parosci.cc -- Parosci initial temp period = 5.841836 : PD5 > : Parosci.cc -- Paroscientific configured. : 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 > : **** EventTriggers::add() - attaching proxy : 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...(29101) : 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...(29101) : 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 3.18 16.01 3.80 3.84 0 -20017.14 02:26:56 m : batts online 1, min cell voltage 3.800000, mean min cell voltage 3.800000 : 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 : SonardyneDriver - caught exception: Timed Out 15 : 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 : Seabird/ctdDriver::initialize() - starting logging... : GetGPS::execute() -- Got a new GPS hit: 2 of 10 needed : 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 : GetGPS::execute() -- Got a new GPS hit: 10 of 10 needed : LayeredControl::execute() -- (t = 8.199438) Behavior getgps has changed to state Finished : LayeredControl::execute() -- (t = 8.199438) Behavior setRudder has changed to state Active : BluefinBatt Reply: $b6q0 d- 30.58 7.79 15.91 3.81 3.84 0 -20017.58 02:27:06 m : batts online 1, min cell voltage 3.810000, mean min cell voltage 3.810000 : SonardyneDriver - caught exception: Timed Out 15 : BluefinBatt Reply: $b6q0 d- 30.55 5.18 16.01 3.81 3.84 0 -20018.18 02:27:16 m : batts online 1, min cell voltage 3.810000, mean min cell voltage 3.810000 : SonardyneDriver - caught exception: Timed Out 15 : BluefinBatt Reply: $b6q0 d- 30.62 3.83 16.01 3.80 3.83 0 -20018.61 02:27:26 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- 30.47 5.54 16.01 3.80 3.83 0 -20019.28 02:27:36 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- 30.55 6.52 16.01 3.79 3.83 0 -20019.61 02:27:46 m : batts online 1, min cell voltage 3.790000, mean min cell voltage 3.790000 : SonardyneDriver - caught exception: Timed Out 15 : BluefinBatt Reply: $b6q0 d- 30.55 5.36 16.01 3.79 3.83 0 -20020.21 02:27:56 m : batts online 1, min cell voltage 3.790000, mean min cell voltage 3.790000 : BluefinBatt Reply: $b6q0 d- 30.51 4.20 16.01 3.79 3.83 0 -20020.59 02:28:06 m : SonardyneDriver - caught exception: Timed Out 15 : batts online 1, min cell voltage 3.790000, mean min cell voltage 3.790000 : BluefinBatt Reply: $b6q0 d- 30.55 5.03 16.01 3.79 3.83 0 -20021.27 02:28:16 m : batts online 1, min cell voltage 3.790000, mean min cell voltage 3.790000 : SonardyneDriver - caught exception: Timed Out 15 : BluefinBatt Reply: $b6q0 d- 30.55 5.61 16.01 3.79 3.83 0 -20021.63 02:28:26 m : batts online 1, min cell voltage 3.790000, mean min cell voltage 3.790000 : SonardyneDriver - caught exception: Timed Out 15 : BluefinBatt Reply: $b6q0 d- 30.47 4.71 16.01 3.79 3.83 0 -20022.32 02:28:36 m : batts online 1, min cell voltage 3.790000, mean min cell voltage 3.790000 : SonardyneDriver - caught exception: Timed Out 12 : BluefinBatt Reply: $b6q0 d- 30.55 5.14 16.01 3.78 3.82 0 -20022.74 02:28:46 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- 30.51 4.78 16.01 3.78 3.82 0 -20023.30 02:28:56 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- 30.51 4.63 16.01 3.79 3.83 0 -20023.65 02:29:06 m : batts online 1, min cell voltage 3.790000, mean min cell voltage 3.790000 : SonardyneDriver - caught exception: Timed Out 15 : BluefinBatt Reply: $b6q0 d- 30.55 4.56 16.01 3.79 3.83 0 -20024.14 02:29:16 m : batts online 1, min cell voltage 3.790000, mean min cell voltage 3.790000 : SonardyneDriver - caught exception: Timed Out 15 : BluefinBatt Reply: $b6q0 d- 30.55 5.39 16.01 3.80 3.83 0 -20024.44 02:29:26 m : batts online 1, min cell voltage 3.800000, mean min cell voltage 3.800000 : BluefinBatt Reply: $b6q0 d- 30.51 6.19 16.01 3.80 3.83 0 -20024.93 02:29:36 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- 30.55 3.98 16.01 3.78 3.82 0 -20025.31 02:29:46 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- 30.51 4.12 16.01 3.78 3.82 0 -20025.79 02:29:56 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- 30.43 6.05 16.01 3.79 3.83 0 -20026.16 02:30:06 m : batts online 1, min cell voltage 3.790000, mean min cell voltage 3.790000 : SonardyneDriver - caught exception: Timed Out 15 : BluefinBatt Reply: $b6q0 d- 30.47 5.98 16.01 3.79 3.83 0 -20026.82 02:30:16 m : batts online 1, min cell voltage 3.790000, mean min cell voltage 3.790000 : SonardyneDriver - caught exception: Timed Out 232824 : BluefinBatt Reply: $b6q0 d- 30.55 3.80 16.01 3.79 3.83 0 -20027.15 02:30:26 m : batts online 1, min cell voltage 3.790000, mean min cell voltage 3.790000 : SonardyneDriver - caught exception: Timed Out 15 : BluefinBatt Reply: $b6q0 d- 30.47 5.39 16.01 3.79 3.83 0 -20027.71 02:30:36 m : batts online 1, min cell voltage 3.790000, mean min cell voltage 3.790000 : SonardyneDriver - caught exception: Timed Out 12 : BluefinBatt Reply: $b6q0 d- 30.58 5.47 16.11 3.79 3.83 0 -20028.07 02:30:46 m : batts online 1, min cell voltage 3.790000, mean min cell voltage 3.790000 : SonardyneDriver - caught exception: Timed Out 15 : BluefinBatt Reply: $b6q0 d- 30.51 4.63 16.01 3.79 3.83 0 -20028.68 02:30:56 m : batts online 1, min cell voltage 3.790000, mean min cell voltage 3.790000 : SonardyneDriver - caught exception: Timed Out 15 : BluefinBatt Reply: $b6q0 d- 30.51 8.55 16.01 3.78 3.82 0 -20029.01 02:31:06 m : batts online 1, min cell voltage 3.780000, mean min cell voltage 3.780000 : BluefinBatt Reply: $b6q0 d- 30.51 6.16 16.01 3.78 3.82 0 -20029.61 02:31:16 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: , : BluefinBatt Reply: $b6q0 d- 30.55 4.49 16.01 3.79 3.83 0 -20030.00 02:31:26 m : batts online 1, min cell voltage 3.790000, mean min cell voltage 3.790000 : SonardyneDriver - caught exception: Timed Out 15 : BluefinBatt Reply: $b6q0 d- 30.39 6.66 16.01 3.79 3.83 0 -20030.67 02:31:36 m : batts online 1, min cell voltage 3.790000, mean min cell voltage 3.790000 : SonardyneDriver - caught exception: Timed Out 232824 : BluefinBatt Reply: $b6q0 d- 30.51 4.45 16.11 3.79 3.83 0 -20030.99 02:31:46 m : batts online 1, min cell voltage 3.790000, mean min cell voltage 3.790000 : SonardyneDriver - caught exception: Timed Out 15 : BluefinBatt Reply: $b6q0 d- 30.51 4.20 16.01 3.79 3.83 0 -20031.50 02:31:56 m : batts online 1, min cell voltage 3.790000, mean min cell voltage 3.790000 : SonardyneDriver - caught exception: Timed Out 15 : BluefinBatt Reply: $b6q0 d- 30.47 7.68 16.11 3.78 3.82 0 -20031.86 02:32:06 m : LayeredControl::execute() -- (t = 308.398873) Behavior setRudder has changed to state Finished : LayeredControl::execute() -- (t = 308.398873) Behavior setRudder has changed to state Active : batts online 1, min cell voltage 3.780000, mean min cell voltage 3.780000 : SonardyneDriver - caught exception: Timed Out 15 : BluefinBatt Reply: $b6q0 d- 30.51 5.39 16.01 3.78 3.82 0 -20032.42 02:32:16 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- 30.51 5.98 16.01 3.80 3.83 0 -20032.83 02:32:26 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- 30.55 4.23 16.11 3.80 3.83 0 -20033.35 02:32:36 m : batts online 1, min cell voltage 3.800000, mean min cell voltage 3.800000 : SonardyneDriver - caught exception: Timed Out 232824 : BluefinBatt Reply: $b6q0 d- 30.55 4.12 16.01 3.79 3.83 0 -20033.69 02:32:46 m : batts online 1, min cell voltage 3.790000, mean min cell voltage 3.790000 : SonardyneDriver - caught exception: Timed Out 15 : BluefinBatt Reply: $b6q0 d- 30.55 3.91 16.11 3.79 3.83 0 -20034.18 02:32:56 m : batts online 1, min cell voltage 3.790000, mean min cell voltage 3.790000 : SonardyneDriver - caught exception: Timed Out 15 : BluefinBatt Reply: $b6q0 d- 30.43 5.54 16.11 3.78 3.82 0 -20034.53 02:33:06 m : batts online 1, min cell voltage 3.780000, mean min cell voltage 3.780000 : BluefinBatt Reply: $b6q0 d- 30.55 3.47 16.11 3.78 3.82 0 -20035.04 02:33:16 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 4.82 16.11 3.79 3.83 0 -20035.42 02:33:26 m : batts online 1, min cell voltage 3.790000, mean min cell voltage 3.790000 : SonardyneDriver - caught exception: Timed Out 15 : BluefinBatt Reply: $b6q0 d- 30.39 5.39 16.11 3.79 3.83 0 -20035.88 02:33:36 m : batts online 1, min cell voltage 3.790000, mean min cell voltage 3.790000 : SonardyneDriver - caught exception: Timed Out 15 : BluefinBatt Reply: $b6q0 d- 30.55 3.91 16.11 3.79 3.83 0 -20036.15 02:33:46 m : batts online 1, min cell voltage 3.790000, mean min cell voltage 3.790000 : SonardyneDriver - caught exception: Timed Out 15 : BluefinBatt Reply: $b6q0 d- 30.55 5.00 16.11 3.79 3.83 0 -20036.70 02:33:56 m : batts online 1, min cell voltage 3.790000, mean min cell voltage 3.790000 : BluefinBatt Reply: $b6q0 d- 30.51 5.00 16.11 3.79 3.83 0 -20037.06 02:34:06 m : SonardyneDriver - caught exception: Timed Out 15 : batts online 1, min cell voltage 3.790000, mean min cell voltage 3.790000 : BluefinBatt Reply: $b6q0 d- 30.51 4.85 16.11 3.79 3.83 0 -20037.62 02:34:16 m : batts online 1, min cell voltage 3.790000, mean min cell voltage 3.790000 : SonardyneDriver - caught exception: Timed Out 15 : BluefinBatt Reply: $b6q0 d- 30.43 6.30 16.11 3.78 3.82 0 -20038.09 02:34:26 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- 30.55 8.19 16.11 3.78 3.82 0 -20038.67 02:34:36 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 6.01 16.11 3.78 3.82 0 -20039.02 02:34:46 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- 30.55 3.98 16.11 3.78 3.82 0 -20039.54 02:34:56 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- 30.51 8.26 16.11 3.79 3.82 0 -20039.91 02:35:06 m : batts online 1, min cell voltage 3.790000, mean min cell voltage 3.790000 : SonardyneDriver - caught exception: Timed Out 15 : BluefinBatt Reply: $b6q0 d- 30.58 3.91 16.11 3.79 3.82 0 -20040.43 02:35:16 m : batts online 1, min cell voltage 3.790000, mean min cell voltage 3.790000 : BluefinBatt Reply: $b6q0 d- 30.47 5.39 16.11 3.79 3.83 0 -20040.73 02:35:26 m : SonardyneDriver - caught exception: Timed Out 15 : batts online 1, min cell voltage 3.790000, mean min cell voltage 3.790000 : BluefinBatt Reply: $b6q0 d- 30.51 5.25 16.11 3.79 3.83 0 -20041.23 02:35:36 m : batts online 1, min cell voltage 3.790000, mean min cell voltage 3.790000 : SonardyneDriver - caught exception: Timed Out 15 : BluefinBatt Reply: $b6q0 d- 30.51 3.69 16.11 3.79 3.83 0 -20041.52 02:35:46 m : batts online 1, min cell voltage 3.790000, mean min cell voltage 3.790000 : SonardyneDriver - caught exception: Timed Out 15 : BluefinBatt Reply: $b6q0 d- 30.47 4.71 16.11 3.79 3.83 0 -20042.03 02:35:56 m : batts online 1, min cell voltage 3.790000, mean min cell voltage 3.790000 : SonardyneDriver - caught exception: Timed Out 15 : BluefinBatt Reply: $b6q0 d- 30.43 5.25 16.21 3.79 3.83 0 -20042.43 02:36:06 m : batts online 1, min cell voltage 3.790000, mean min cell voltage 3.790000 : SonardyneDriver - caught exception: Timed Out 15 : BluefinBatt Reply: $b6q0 d- 30.51 3.80 16.11 3.79 3.83 0 -20042.98 02:36:16 m : batts online 1, min cell voltage 3.790000, mean min cell voltage 3.790000 : SonardyneDriver - caught exception: Timed Out 15 : BluefinBatt Reply: $b6q0 d- 30.47 3.80 16.11 3.79 3.82 0 -20043.38 02:36:26 m : batts online 1, min cell voltage 3.790000, mean min cell voltage 3.790000 : SonardyneDriver - caught exception: Timed Out 15 : BluefinBatt Reply: $b6q0 d- 30.51 7.42 16.21 3.79 3.82 0 -20043.92 02:36:36 m : batts online 1, min cell voltage 3.790000, mean min cell voltage 3.790000 : BluefinBatt Reply: $b6q0 d- 30.51 4.45 16.11 3.78 3.82 0 -20044.26 02:36:46 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 4.09 16.11 3.78 3.82 0 -20044.84 02:36:56 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- 30.47 4.71 16.11 3.78 3.82 0 -20045.13 02:37:06 m : LayeredControl::execute() -- (t = 608.598308) 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 = 608.798295) Behavior setpoint has changed to state Active : LayeredControl::execute() -- (t = 608.798295) Behavior missionTimer has changed to state Active : batts online 1, min cell voltage 3.780000, mean min cell voltage 3.780000 : SonardyneDriver - caught exception: Timed Out 15 : BluefinBatt Reply: $b6q0 d- 30.58 2.93 16.11 3.78 3.82 0 -20045.54 02:37:16 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- 30.55 2.93 16.11 3.80 3.83 0 -20045.76 02:37:26 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- 30.58 5.68 16.11 3.80 3.83 0 -20046.09 02:37:36 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- 30.58 2.89 16.11 3.80 3.83 0 -20046.30 02:37:46 m : batts online 1, min cell voltage 3.800000, mean min cell voltage 3.800000 : BluefinBatt Reply: $b6q0 d- 30.55 3.04 16.11 3.80 3.83 0 -20046.62 02:37:56 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- 30.51 4.34 16.21 3.80 3.83 0 -20046.86 02:38:06 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 DvlIFServer - exit() : TaskServer::signalHandler() for task UsblIFServer - exit() //10/home/dorado1/auv/altex/onboard/bin/layeredControl terminated (SIGSEGV) at 0007:00039AD8. : NavigationOutput::~NavigationOutput() : TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit() : TaskServer::signalHandler() for task NavigationIFServer - exit() : TaskServer::signalHandler() for task DynamicControlIFServer - exit() : TaskServer::signalHandler() for task TailConeIFServer - exit() : TaskServer::signalHandler() for task LayeredControlIFServer - exit() : Supervisor::shutdown() - done() : TaskServer::signalHandler() for task EventLogIFServer - exit() : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() : TaskServer::signalHandler() for task DepthSensorIFServer - exit() : TaskServer::signalHandler() for task ctdDriver - exit() : **** SharedData destructor for object BluefinBattOutput **** : TaskServer::signalHandler() for task FanIFServer - exit() : TaskServer::signalHandler() for task DropWeightIFServer - exit() : Fan Destructor Executing. : 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 SonardyneOutput_ShmemName **** : **** SharedData destructor for object DvlOutput_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 **** : **** SharedData destructor for object TailConeInput_ShmemName **** : NavigationOutput::~NavigationOutput() : **** SharedData destructor for object TailConeInput_ShmemName **** : **** SharedData destructor for object LayeredControlInput_ShmemName **** : **** SharedData destructor for object fanOutput **** : **** SharedData destructor for object ctdDriverSeabirdOutput_ShmemName **** : **** SharedData destructor for object dropWeightOutput **** : **** SharedData destructor for object fanOutput **** : **** SharedData destructor for object dropWeightOutput **** : **** SharedData destructor for object ParosciOutput_ShmemName **** //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 NavigationIFServer - exit() : TaskServer::signalHandler() for task ctdDriver - exit() : **** 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() : TaskServer::signalHandler() for task TailConeIFServer - exit() : SerialDevice: done... : Dvl::~Dvl: Destructor Finished. //10/home/dorado1/auv/altex/onboard/bin/dvl terminated (SIGSEGV) at 0007:0002436F.