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() - naviga: WorkSite::WorkSite -- Finished loading parameters ti: WorkSite::WorkSite -- Starting Depth is 0.000000 meters onS: 0: 1 600674.187500E 4067388.750000N 73.699997 m 10.000000 ms channel:2 erve: 1: 2 600531.687500E 4065156.000000N 73.199997 m 10.000000 ms channel:4 r S: 2: 3 598447.000000E 4067412.250000N 91.400002 m 10.000000 ms channel:5 uper: 3: 4 600848.125000E 4069389.500000N 80.199997 m 10.000000 ms channel:6 viso: 4: 5 602732.187500E 4067093.000000N 57.299999 m 10.000000 ms channel:7 r::: WorkSite server: 0x22f8c createTask() - layeredCont: New Navigation component constructor rolServer Supe: Navigation - Using only the Dvl to compute altitude. rvisor::createTask() - dynamicControlServer Supervisor::createTask() - newTailConeServer Supervisor::createTask() - crossbowServer Supervisor::createTask() - gpsServer Supervisor::createTask: SerialDevice: done... (: TailConeServer -- Maximum Elevator Actuator Excursion is 0 Counts ) -: TailConeServer:: -- Minimum Elevator Actuator Excursion is 0 Counts pa: TailConeServer -- Maximum Rudder Actuator Excursion is 0 Counts ros: TailConeServer -- Minimum Rudder Actuator Excursion is 0 Counts c: Preparing to fork iS: SerialDevice: done... erver: I'm the child...forking Supervisor::createTask(: SerialDevice: done... ) - seabirdServer : SerialDevice: done... Supervisor::: SerialDevice: done... createTask() - bluefinBattDriver : Gps: initializing Su: SerialDevice: done... p: SerialDevice: done... ervisor::: Gps: done initializing... cr: **** EventTriggers::add() - attaching proxy eateTask() - dvlServer : SerialDevice: done... : BluefinBatt driver - running with 1 batteries : SerialDevice: done... Supe: SerialDevice: done... rv: seabirdDriver RUNNING... i: SerialDevice: done... : Crossbow.cc: Setting polled mode sor::cre: SerialDevice: done... at: BluefineBatt::init() - 1 batteries on 10 second interval e: AshtechGps::processRecord() - GpsUtils::parseFix() - incomplete GGA sentence? $PASHR,ACK*3D T: Crossbow.cc: Setting polled mode ask() -: **** EventTriggers::add() - attaching proxy fan: Crossbow.cc: In getSerialNumber() Server : BluefinBatt.cc - Looking for Parosci server : Seabird/ctdDriver -- Loading CTD constants from /home/dorado1/auv/altex/onboard/config/docking/ctdDriver.cfg Sup: SerialDevice: done... erviso: BluefinBatt::init() - querying for batt ids r::crea: AshtechGps::processRecord() - GpsUtils::parseFix() - incomplete GGA sentence? $PASHR,ACK*3D teTask() - dropWeightServer Supervisor::cre: SerialDevice: done... : SerialDevice: done... ateTask() - sonardyneServer S: ahrs if is Ahrs : 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 uperviso: Seabird/ctdDriver::Seabird() - create interface to depth sensor... r::: Seabird/ctdDriver -- constructing Log... createTask() -: CTDLog.cc -- beginning constructor... do: CTDLog.cc -- constructor succeeded ckS: Seabird/ctdDriver -- constructor succeeded erv: seabirdDriver -- constructor succeeded er : Seabird/ctdDriver:initializing Seabird... : SerialDevice: done... : SerialDevice: done... : Seabird/ctdDriver: sending configure commands...(14712) : DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize() : DynamicControlServer - Got event 1 from TailCone : PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200 : DropWeight::initialize - Resetting counters. : SerialDevice: done... : SerialDevice: done... : **** EventTriggers::add() - attaching proxy : 3 Modules found : SerialDeviceDriver::initialize() : Starting DVL Initialization. : SerialDevice: done... : PeriodicTask::run() (dockDriver) - sampleInterval=400, maxInterval=400 : PeriodicTask::run() (vehicleDriver) - sampleInterval=200, maxInterval=200 : Sonardyne -- configuration: PollPeriod = 500 ms PresetGain = 1 PowerLevel = 1 LblWait = 3 s ESV = 1485.000000 m/s Beacon = V7,7 : Seabird/ctdDriver: setting scans... : 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 = 30.138660 : Parosci.cc -- Parosci initial temp period = 5.841955 : 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 > : PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200 : 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 : SerialDevice::confirm() - Timed Out : BluefinBatt::init() - battery ids are b6 : BluefinBatt::init() - found battery b6 : BluefinBatt::init() - battery echo is $b6wf 1 : 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...(14712) : 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... : SonardyneDriver - caught exception: Timed Out 12 : BluefinBatt::init() - battery watchdog state is : PeriodicTask::run() (BluefinBatt) - sampleInterval=10000, maxInterval=10000 : Seabird/ctdDriver::initialize() - disabling switch... : Seabird/ctdDriver: sending DS command... : Lbl NavSensor - could not create LBL task interface : Navigation: Server for aux sensor "Lbl" not found : Seabird/ctdDriver::initialize() - starting logging... : Ctd/ctdDriver:initialize() - Logging Started... : Ctd/ctdDriver:initialize() - ready! : **** EventTriggers::add() - attaching proxy : BluefinBatt Reply: $b6q0 d- 30.20 3.33 16.50 3.75 3.78 0 -20314.54 04:25:21 m : 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 *** : 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 : SonardyneDriver - caught exception: Timed Out 15 : 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 : Waypoint Initialization: Begin waypoint control at t= 8.20 (wplog) The current location (N,E) = 4052354.7 , 600454.2 (wplog) The next waypoint = 4052136.3 , 600561.4 (wplog) The bearing to the next w.p. is 153.8 Degrees. : LayeredControl::execute() -- (t = 8.199438) Behavior waypoint has changed to state Active : BluefinBatt Reply: $b6q0 d- 30.12 5.90 16.50 3.75 3.78 0 -20314.86 04:25:31 m : batts online 1, min cell voltage 3.750000, mean min cell voltage 3.750000 : SonardyneDriver - caught exception: Timed Out 12 : BluefinBatt Reply: $b6q0 d- 29.89 9.64 16.50 3.69 3.74 0 -20315.75 04:25:41 m : batts online 1, min cell voltage 3.690000, mean min cell voltage 3.690000 : SonardyneDriver - caught exception: Timed Out 12 : BluefinBatt Reply: $b6q0 d- 29.78 10.58 16.50 3.69 3.74 0 -20316.36 04:25:51 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- 29.58 12.68 16.40 3.69 3.74 0 -20317.44 04:26:01 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: , : BluefinBatt Reply: $b6q0 d- 29.85 7.86 16.50 3.69 3.74 0 -20318.24 04:26:11 m : 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: , : BluefinBatt Reply: $b6q0 d- 29.81 10.72 16.40 3.69 3.74 0 -20319.17 04:26:21 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: , : 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- 29.70 10.65 16.50 3.69 3.74 0 -20319.97 04:26:31 m : batts online 1, min cell voltage 3.690000, mean min cell voltage 3.690000 : SonardyneDriver - caught exception: Timed Out 12 : 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 9.67 16.50 3.69 3.73 0 -20320.90 04:26:41 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: , : 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 10.87 16.50 3.69 3.73 0 -20321.63 04:26:51 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: , : SonardyneDriver - caught exception: Timed Out 12 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 29.74 12.50 16.50 3.69 3.74 0 -20322.72 04:27:01 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: , : 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- 29.74 10.69 16.50 3.69 3.74 0 -20323.47 04:27:11 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 15 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 29.78 9.67 16.50 3.70 3.75 0 -20324.52 04:27:21 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: , : 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 12 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 29.66 11.63 16.50 3.70 3.75 0 -20325.25 04:27:31 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: , : BluefinBatt Reply: $b6q0 d- 29.81 8.98 16.50 3.68 3.73 0 -20326.39 04:27:41 m : batts online 1, min cell voltage 3.680000, mean min cell voltage 3.680000 : SonardyneDriver - caught exception: Timed Out 12 : 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 10.43 16.50 3.68 3.73 0 -20327.04 04:27:51 m : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver - caught exception: Timed Out 12 : 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: , : 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 14.75 16.50 3.68 3.73 0 -20328.19 04:28:01 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: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 29.74 10.36 16.50 3.68 3.73 0 -20328.85 04:28:11 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- 29.78 9.02 16.60 3.69 3.74 0 -20329.89 04:28:21 m : batts online 1, min cell voltage 3.690000, mean min cell voltage 3.690000 : 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- 29.66 12.75 16.60 3.69 3.74 0 -20330.50 04:28:31 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: , : Waypoint has set the state to finished. : Waypoint (4052136.3, 600561.4), reached at t = 194.00 (wplog) : Vehicle Position is error is (0.6, 1.2) : LayeredControl::execute() -- (t = 193.996710) 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 = 194.196697) Behavior setpoint has changed to state Active : LayeredControl::execute() -- (t = 194.196697) Behavior missionTimer has changed to state Active : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 30.05 4.23 16.60 3.72 3.76 0 -20331.34 04:28:41 m : SonardyneDriver - caught exception: Timed Out 232824 : batts online 1, min cell voltage 3.720000, mean min cell voltage 3.720000 : 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 3.47 16.60 3.72 3.76 0 -20331.62 04:28:51 m : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 1, min cell voltage 3.720000, mean min cell voltage 3.720000 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 30.05 7.42 16.60 3.73 3.77 0 -20332.06 04:29:01 m : SonardyneDriver - caught exception: Timed Out 15 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 1, min cell voltage 3.730000, mean min cell voltage 3.730000 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 30.08 3.00 16.60 3.73 3.77 0 -20332.39 04:29:11 m : batts online 1, min cell voltage 3.730000, mean min cell voltage 3.730000 : SonardyneDriver - caught exception: Timed Out 232824 : 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() : NavigationOutput::~NavigationOutput() : Supervisor::shutdown() - done() : Fan Destructor Executing. : TaskServer::signalHandler() for task EventLogIFServer - exit() : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() : TaskServer::signalHandler() for task ctdDriver - exit() : **** SharedData destructor for object BluefinBattOutput **** : TaskServer::signalHandler() for task FanIFServer - exit() : TaskServer::signalHandler() for task DropWeightIFServer - exit() : TaskServer::signalHandler() for task DockIFServer - exit() : **** SharedData destructor for object DockOutput_ShmemName **** : **** SharedData destructor for object VehicleOutput_ShmemName **** : DropWeight Destructor Executing. : **** SharedData destructor for object GpsOutput_ShmemName **** : **** SharedData destructor for object ctdDriverSeabirdOutput_ShmemName **** : **** SharedData destructor for object navigationOutput **** : **** SharedData destructor for object DvlOutput_ShmemName **** : **** SharedData destructor for object SonardyneOutput_ShmemName **** : **** SharedData destructor for object crossbowOutput **** : **** SharedData destructor for object GpsOutput_ShmemName **** : **** SharedData destructor for object crossbowCommand **** : **** SharedData destructor for object ParosciOutput_ShmemName **** : **** SharedData destructor for object DvlOutput_ShmemName **** : **** SharedData destructor for object SonardyneOutput_ShmemName **** : NavigationOutput::~NavigationOutput() : **** SharedData destructor for object LayeredControlInput_ShmemName **** : **** SharedData destructor for object TailConeInput_ShmemName **** : **** SharedData destructor for object fanOutput **** //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() : SerialDeviceExt::closeSD() - closed : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() : **** SharedData destructor for object dropWeightOutput **** : **** SharedData destructor for object TailConeInput_ShmemName **** : **** SharedData destructor for object ctdDriverSeabirdOutput_ShmemName **** : **** SharedData destructor for object fanOutput **** : **** SharedData destructor for object dropWeightOutput **** : TaskServer::signalHandler() for task DockIFServer - exit() : TaskServer::signalHandler() for task NavigationIFServer - exit() : **** SharedData destructor for object crossbowCommand **** : TaskServer::signalHandler() for task GpsIFServer - exit() : TaskServer::signalHandler() for task ctdDriver - exit() //10/home/dorado1/auv/altex/onboard/bin/sonardyneDriver terminated (SIGSEGV) at 0007:00021DE8. : TaskServer::signalHandler() for task UsblIFServer - exit() : **** SharedData destructor for object TailConeOutput_ShmemName **** : **** SharedData destructor for object crossbowOutput **** : TaskServer::signalHandler() for task FanIFServer - exit() : **** SharedData destructor for object TailConeOutput_ShmemName **** : **** SharedData destructor for object DockOutput_ShmemName **** : TaskServer::signalHandler() - _theTaskServer doesn't exist : **** SharedData destructor for object VehicleOutput_ShmemName **** : SerialDevice: done... : Dvl::~Dvl: Destructor Finished. //10/home/dorado1/auv/altex/onboard/bin/dvl terminated (SIGSEGV) at 0007:0002436F.