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 Ser: 0: 1 600674.187500E 4067388.750000N 73.699997 m 10.000000 ms channel:2 ver : 1: 2 600531.687500E 4065156.000000N 73.199997 m 10.000000 ms channel:4 Su: 2: 3 598447.000000E 4067412.250000N 91.400002 m 10.000000 ms channel:5 perv: 3: 4 600848.125000E 4069389.500000N 80.199997 m 10.000000 ms channel:6 isor::: 4: 5 602732.187500E 4067093.000000N 57.299999 m 10.000000 ms channel:7 cre: WorkSite server: 0x22f8c ateTask() - layeredContr: New Navigation component constructor olServer Supervisor::createTask() - dyn: Navigation - Using only the Dvl to compute altitude. amicControlServer Supervisor::createTask() - newTailConeServer Supervisor::createTask() - crossbowServer Supervisor::createTask() - gpsServer Supervisor::createTask: SerialDevice: done... (: TailConeServer -- Maximum Elevator Actuator Excursion is 0 Counts ) -: TailConeServer:: -- Minimum Elevator Actuator Excursion is 0 Counts pa: TailConeServer -- Maximum Rudder Actuator Excursion is 0 Counts ros: TailConeServer -- Minimum Rudder Actuator Excursion is 0 Counts c: Preparing to fork iS: SerialDevice: done... erver: I'm the child...forking Supervi: SerialDevice: done... sor::createTask() - seabirdServer : SerialDevice: done... Supervisor:: SerialDevice: done... :createTask() - bluefinBattDrive: Gps: initializing r S: SerialDevice: done... : SerialDevice: done... upervis: SerialDevice: done... or:: Gps: done initializing... :: SerialDevice: done... cr: **** EventTriggers::add() - attaching proxy eateTas: Crossbow.cc: Setting polled mode k() - : Crossbow.cc: Setting polled mode dvlS: Crossbow.cc: In getSerialNumber() erver: SerialDevice: done... : BluefinBatt driver - running with 1 batteries Super: seabirdDriver RUNNING... vi: SerialDevice: done... sor::cr: SerialDevice: done... e: BluefineBatt::init() - 1 batteries on 10 second interval ateTa: AshtechGps::processRecord() - GpsUtils::parseFix() - incomplete GGA sentence? $PASHR,ACK*3D sk(: **** EventTriggers::add() - attaching proxy ) - fanSe: BluefinBatt.cc - Looking for Parosci server rv: Seabird/ctdDriver -- Loading CTD constants from /home/dorado1/auv/altex/onboard/config/docking/ctdDriver.cfg er: SerialDevice: done... Sup: BluefinBatt::init() - querying for batt ids ervisor:: AshtechGps::processRecord() - GpsUtils::parseFix() - incomplete GGA sentence? $PASHR,ACK*3D :createTask() - dropWeightServer Supervisor: SerialDevice: done... ::create: SerialDevice: done... Task() - 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 S: Seabird/ctdDriver::Seabird() - create interface to depth sensor... upervi: Seabird/ctdDriver -- constructing Log... sor::createTask: CTDLog.cc -- beginning constructor... () : CTDLog.cc -- constructor succeeded - do: Seabird/ctdDriver -- constructor succeeded ckS: seabirdDriver -- constructor succeeded erve: Seabird/ctdDriver:initializing Seabird... r : SerialDevice: done... : ahrs if is Ahrs : SerialDevice: done... : DropWeight::initialize - Resetting counters. : **** EventTriggers::add() - attaching proxy : SerialDevice: done... : SerialDeviceDriver::initialize() : SerialDevice: done... : Starting DVL Initialization. : 3 Modules found : SerialDevice: done... : DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize() : DynamicControlServer - Got event 1 from TailCone : PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200 : PeriodicTask::run() (dockDriver) - sampleInterval=400, maxInterval=400 : PeriodicTask::run() (vehicleDriver) - sampleInterval=200, maxInterval=200 : Sonardyne -- configuration: PollPeriod = 500 ms PresetGain = 1 PowerLevel = 1 LblWait = 3 s ESV = 1485.000000 m/s Beacon = V7,7 : PeriodicTask::run() (sonardyneDriver) - sampleInterval=500, maxInterval=500 : SerialDevice: done... : Crossbow.cc: device->read succeeded : Crossbow.cc: I think the serial number is 107382 (1a376) : Crossbow.cc: Setting polled mode : PeriodicTask::run() (crossbow) - sampleInterval=100, maxInterval=100 : PeriodicTask::run() (fanDriver) - sampleInterval=1000, maxInterval=1000 : Parosci.cc -- Initial pressure = 0.068948 : Parosci.cc -- Parosci initial pressure period = 30.138790 : Parosci.cc -- Parosci initial temp period = 5.842039 : Parosci.cc -- Paroscientific configured. : CR1 [Parameters set to FACTORY defaults] > : PD5 > : BK1 > : **** EventTriggers::add() - attaching proxy : 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...(16768) : 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...(16768) : 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- 30.24 2.89 16.01 3.75 3.79 0 -20281.89 04:16:45 m : SonardyneDriver - caught exception: Timed Out 232824 : batts online 1, min cell voltage 3.750000, mean min cell voltage 3.750000 : Navigation: Server for aux sensor "Altimeter" not found : Navigation: Server for aux sensor "Velocimeter" not found : Navigation: The utm zone is 10 : Navigation: The lat/long in workSite.cfg, 36.737845, -121.880423 : Navigation: The lat/long in workSite.cfg, cvt'ed to UTM is 4066375.51, 599958.36 : PeriodicTask::run() (navigation) - sampleInterval=200, maxInterval=200 : **** EventTriggers::add() - attaching proxy : GetGPS::execute() -- Got a new GPS hit: 1 of 10 needed : LayeredControl::execute() -- (t = 0.000000) Behavior getgps has changed to state Active : LayeredControl::execute() -- (t = 0.000000) Behavior depthEnvelope has changed to state Active : LayeredControl::execute() -- (t = 0.000000) Behavior missionTimer has changed to state Active : **** EventTriggers::add() - attaching proxy : *** Mission started *** : Seabird/ctdDriver::initialize() - starting logging... : Ctd/ctdDriver:initialize() - Logging Started... : Ctd/ctdDriver:initialize() - ready! : **** EventTriggers::add() - attaching proxy : GetGPS::execute() -- Got a new GPS hit: 2 of 10 needed : 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 : SonardyneDriver - caught exception: Timed Out 232824 : 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- 30.20 4.45 16.01 3.75 3.79 0 -20282.16 04:16:55 m : GetGPS::execute() -- Got a new GPS hit: 10 of 10 needed : LayeredControl::execute() -- (t = 8.799397) Behavior getgps has changed to state Finished : Waypoint Initialization: Begin waypoint control at t= 8.80 (wplog) The current location (N,E) = 4052549.1 , 600777.8 (wplog) The next waypoint = 4052403.8 , 600426.4 (wplog) The bearing to the next w.p. is 247.5 Degrees. : LayeredControl::execute() -- (t = 8.809397) Behavior waypoint has changed to state Active : batts online 1, min cell voltage 3.750000, mean min cell voltage 3.750000 : BluefinBatt Reply: $b6q0 d- 29.74 13.12 16.11 3.71 3.76 0 -20282.98 04:17:05 m : batts online 1, min cell voltage 3.710000, mean min cell voltage 3.710000 : SonardyneDriver - caught exception: Timed Out 15 : BluefinBatt Reply: $b6q0 d- 29.89 10.94 16.11 3.71 3.76 0 -20283.61 04:17:15 m : batts online 1, min cell voltage 3.710000, mean min cell voltage 3.710000 : SonardyneDriver - caught exception: Timed Out 232824 : BluefinBatt Reply: $b6q0 d- 29.74 13.77 16.01 3.69 3.74 0 -20284.85 04:17:25 m : batts online 1, min cell voltage 3.690000, mean min cell voltage 3.690000 : SonardyneDriver - caught exception: Timed Out 15 : BluefinBatt Reply: $b6q0 d- 29.85 10.25 16.11 3.69 3.74 0 -20285.54 04:17:35 m : batts online 1, min cell voltage 3.690000, mean min cell voltage 3.690000 : SonardyneDriver - caught exception: Timed Out 15 : BluefinBatt Reply: $b6q0 d- 29.85 9.82 16.11 3.70 3.75 0 -20286.60 04:17:45 m : batts online 1, min cell voltage 3.700000, mean min cell voltage 3.700000 : SonardyneDriver - caught exception: Timed Out 15 : BluefinBatt Reply: $b6q0 d- 29.81 10.76 16.21 3.70 3.75 0 -20287.33 04:17:55 m : batts online 1, min cell voltage 3.700000, mean min cell voltage 3.700000 : 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- 29.81 11.12 16.21 3.71 3.76 0 -20288.32 04:18:05 m : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 1, min cell voltage 3.710000, mean min cell voltage 3.710000 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver - caught exception: Timed Out 15 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 29.81 9.96 16.21 3.71 3.76 0 -20289.09 04:18:15 m : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 1, min cell voltage 3.710000, mean min cell voltage 3.710000 : 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- 29.89 8.55 16.11 3.70 3.75 0 -20290.01 04:18:25 m : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 1, min cell voltage 3.700000, mean min cell voltage 3.700000 : 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- 29.81 10.76 16.11 3.70 3.75 0 -20290.73 04:18:35 m : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver - caught exception: Timed Out 232824 : batts online 1, min cell voltage 3.700000, mean min cell voltage 3.700000 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 29.85 9.53 16.21 3.69 3.74 0 -20291.77 04:18:45 m : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 1, min cell voltage 3.690000, mean min cell voltage 3.690000 : 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: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 29.74 14.89 16.11 3.69 3.74 0 -20292.48 04:18:55 m : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 1, min cell voltage 3.690000, mean min cell voltage 3.690000 : 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- 29.78 9.85 16.21 3.69 3.74 0 -20293.63 04:19:05 m : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 1, min cell voltage 3.690000, mean min cell voltage 3.690000 : SonardyneDriver - caught exception: Timed Out 232824 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 29.81 9.64 16.30 3.69 3.74 0 -20294.21 04:19:15 m : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 1, min cell voltage 3.690000, mean min cell voltage 3.690000 : 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- 29.74 11.59 16.30 3.69 3.73 0 -20295.32 04:19:25 m : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 1, min cell voltage 3.690000, mean min cell voltage 3.690000 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - nSats = 3; setting quality to 0 (invalid) : SonardyneDriver - caught exception: Timed Out 15 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 29.93 7.06 16.30 3.69 3.73 0 -20295.96 04:19:35 m : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 1, min cell voltage 3.690000, mean min cell voltage 3.690000 : 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 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: , : BluefinBatt Reply: $b6q0 d- 29.70 11.92 16.21 3.68 3.73 0 -20297.04 04:19:45 m : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 1, min cell voltage 3.680000, mean min cell voltage 3.680000 : 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- 29.89 9.09 16.30 3.68 3.73 0 -20297.82 04:19:55 m : batts online 1, min cell voltage 3.680000, mean min cell voltage 3.680000 : 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- 29.74 10.03 16.30 3.71 3.76 0 -20298.76 04:20:05 m : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 1, min cell voltage 3.710000, mean min cell voltage 3.710000 : 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- 29.78 10.47 16.30 3.71 3.76 0 -20299.53 04:20:15 m : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 1, min cell voltage 3.710000, mean min cell voltage 3.710000 : 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- 29.81 9.09 16.30 3.69 3.74 0 -20300.55 04:20:25 m : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 1, min cell voltage 3.690000, mean min cell voltage 3.690000 : 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- 29.70 11.48 16.40 3.69 3.74 0 -20301.30 04:20:35 m : SonardyneDriver - caught exception: Timed Out 15 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 1, min cell voltage 3.690000, mean min cell voltage 3.690000 : 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- 29.81 9.27 16.40 3.68 3.73 0 -20302.46 04:20:45 m : batts online 1, min cell voltage 3.680000, mean min cell voltage 3.680000 : SonardyneDriver - caught exception: Timed Out 15 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 29.78 10.47 16.50 3.68 3.73 0 -20303.07 04:20:55 m : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 1, min cell voltage 3.680000, mean min cell voltage 3.680000 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver - caught exception: Timed Out 15 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 29.78 10.54 16.50 3.69 3.74 0 -20304.22 04:21:05 m : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 1, min cell voltage 3.690000, mean min cell voltage 3.690000 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver - caught exception: Timed Out 15 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 29.74 10.47 16.50 3.69 3.74 0 -20304.93 04:21:15 m : batts online 1, min cell voltage 3.690000, mean min cell voltage 3.690000 : 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- 29.74 10.69 16.50 3.70 3.75 0 -20305.95 04:21:25 m : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 1, min cell voltage 3.700000, mean min cell voltage 3.700000 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver - caught exception: Timed Out 15 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 29.70 10.36 16.60 3.70 3.75 0 -20306.69 04:21:35 m : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 1, min cell voltage 3.700000, mean min cell voltage 3.700000 : 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- 29.81 9.64 16.69 3.69 3.74 0 -20307.75 04:21:45 m : batts online 1, min cell voltage 3.690000, mean min cell voltage 3.690000 : 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- 29.70 11.30 16.69 3.69 3.74 0 -20308.44 04:21:55 m : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver - caught exception: Timed Out 15 : batts online 1, min cell voltage 3.690000, mean min cell voltage 3.690000 : 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: , : Waypoint has set the state to finished. : Waypoint (4052403.8, 600426.4), reached at t = 316.60 (wplog) : Vehicle Position is error is (-0.2, 0.2) : LayeredControl::execute() -- (t = 316.598312) Behavior waypoint has changed to state Finished : Stack empty after processing. Aborting. : *** LayeredControl - initiating mission abort... *** : Initiating Mission Abort! : **** EventTriggers::add() - attaching proxy : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl::execute() -- (t = 316.798298) Behavior setpoint has changed to state Active : LayeredControl::execute() -- (t = 316.798298) Behavior missionTimer has changed to state Active : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 29.70 10.54 16.69 3.68 3.73 0 -20309.57 04:22:05 m : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 1, min cell voltage 3.680000, mean min cell voltage 3.680000 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver - caught exception: Timed Out 15 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 30.05 3.87 16.69 3.68 3.73 0 -20309.88 04:22:15 m : batts online 1, min cell voltage 3.680000, mean min cell voltage 3.680000 : SonardyneDriver - caught exception: Timed Out 15 : BluefinBatt Reply: $b6q0 d- 30.08 3.80 16.69 3.73 3.77 0 -20310.32 04:22:25 m : batts online 1, min cell voltage 3.730000, mean min cell voltage 3.730000 : SonardyneDriver - caught exception: Timed Out 12 : BluefinBatt Reply: $b6q0 d- 30.05 3.51 16.69 3.73 3.77 0 -20310.66 04:22:35 m : batts online 1, min cell voltage 3.730000, mean min cell voltage 3.730000 : SonardyneDriver - caught exception: Timed Out 12 : BluefinBatt Reply: $b6q0 d- 30.12 2.89 16.69 3.73 3.77 0 -20311.09 04:22:45 m : batts online 1, min cell voltage 3.730000, mean min cell voltage 3.730000 : SonardyneDriver - caught exception: Timed Out 15 : BluefinBatt Reply: $b6q0 d- 30.16 2.96 16.69 3.73 3.77 0 -20311.36 04:22:55 m : batts online 1, min cell voltage 3.730000, mean min cell voltage 3.730000 : Supervisor::signalHandler(); caught signal 15 : Supervisor::signalHandler(); Received a SIGTERM or SIGQUIT. DropWeightServer NOT started. : Supervisor::cleanup() - delete _theSupervisor : Supervisor::shutdown() : **** SharedData destructor for object ParosciOutput_ShmemName **** : TaskServer::signalHandler() for task WorkSiteIFServer - exit() : TaskServer::signalHandler() for task AhrsIFServer - exit() : TaskServer::signalHandler() for task GpsIFServer - exit() : TaskServer::signalHandler() for task DepthSensorIFServer - exit() : TaskServer::signalHandler() for task DvlIFServer - exit() : TaskServer::signalHandler() for task UsblIFServer - exit() : TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit() : TaskServer::signalHandler() for task NavigationIFServer - exit() : TaskServer::signalHandler() for task LayeredControlIFServer - exit() : TaskServer::signalHandler() for task DynamicControlIFServer - exit() : TaskServer::signalHandler() for task TailConeIFServer - exit() : Supervisor::shutdown() - done() : TaskServer::signalHandler() for task EventLogIFServer - exit() : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() : TaskServer::signalHandler() for task ctdDriver - exit() : TaskServer::signalHandler() for task FanIFServer - exit() : TaskServer::signalHandler() for task DropWeightIFServer - exit() : Fan Destructor Executing. : TaskServer::signalHandler() for task DockIFServer - exit() : **** SharedData destructor for object DockOutput_ShmemName **** : **** SharedData destructor for object VehicleOutput_ShmemName **** : **** SharedData destructor for object BluefinBattOutput **** : DropWeight Destructor Executing. : **** SharedData destructor for object GpsOutput_ShmemName **** : **** SharedData destructor for object ctdDriverSeabirdOutput_ShmemName **** : NavigationOutput::~NavigationOutput() : **** SharedData destructor for object crossbowOutput **** : **** SharedData destructor for object DvlOutput_ShmemName **** : **** SharedData destructor for object SonardyneOutput_ShmemName **** : **** SharedData destructor for object crossbowCommand **** : **** SharedData destructor for object GpsOutput_ShmemName **** : **** SharedData destructor for object ParosciOutput_ShmemName **** : **** SharedData destructor for object DvlOutput_ShmemName **** : **** SharedData destructor for object SonardyneOutput_ShmemName **** //10/home/dorado1/auv/altex/onboard/bin/layeredControl terminated (SIGSEGV) at 0007:00039AD8. : TaskServer::signalHandler() for task DepthSensorIFServer - exit() : TaskServer::signalHandler() for task LayeredControlIFServer - exit() : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() : NavigationOutput::~NavigationOutput() : **** SharedData destructor for object TailConeInput_ShmemName **** : **** SharedData destructor for object crossbowOutput **** : **** SharedData destructor for object fanOutput **** : SerialDeviceExt::closeSD() - closed : **** SharedData destructor for object dropWeightOutput **** : **** SharedData destructor for object ctdDriverSeabirdOutput_ShmemName **** : **** SharedData destructor for object fanOutput **** : TaskServer::signalHandler() for task DockIFServer - exit() : **** SharedData destructor for object dropWeightOutput **** : **** SharedData destructor for object navigationOutput **** : **** SharedData destructor for object crossbowCommand **** : TaskServer::signalHandler() for task GpsIFServer - exit() : TaskServer::signalHandler() for task NavigationIFServer - exit() : TaskServer::signalHandler() for task AhrsIFServer - exit() : TaskServer::signalHandler() for task ctdDriver - exit() //10/home/dorado1/auv/altex/onboard/bin/sonardyneDriver terminated (SIGSEGV) at 0007:00021DE8. : StepGetStat (3) failed to read chars, rcvd=2, want=8 : TaskServer::signalHandler() - _theTaskServer doesn't exist : **** SharedData destructor for object LayeredControlInput_ShmemName **** : **** SharedData destructor for object TailConeOutput_ShmemName **** : TaskServer::signalHandler() for task FanIFServer - exit() : **** SharedData destructor for object DockOutput_ShmemName **** : TaskServer::signalHandler() for task DropWeightIFServer - exit() : StepGetStat (3) 5d 5d 00 00 01 00 00 : **** SharedData destructor for object LayeredControlOutput_ShmemName **** : **** SharedData destructor for object VehicleOutput_ShmemName **** : SerialDevice: done... : StepGetStat (3) failed to read chars, rcvd=2, want=8 : StepGetStat (3) 18 18 00 00 01 00 00 : **** SharedData destructor for object TailConeInput_ShmemName **** : **** SharedData destructor for object TailConeOutput_ShmemName **** : Dvl::~Dvl: Destructor Finished. //10/home/dorado1/auv/altex/onboard/bin/dvl terminated (SIGSEGV) at 0007:0002436F.