Supervisor::createCoreTasks()
Supervisor::createTask() - eventLogServer
Supervisor::createTask() - workSite
Supervisor::createTask() - vehicleCon: Initializing worksiteServer
figurati: WorkSite::WorkSite -- Adding attributes
onS: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv/altex/onboard/config/docking/workSite.cfg
erver
Supervisor::createTask() - external: Using default vehicle config file "/home/dorado1/auv/altex/onboard/config/docking/vehicle.cfg"
CommsServer
Supervisor::createTask() - navigat: WorkSite::WorkSite -- Finished loading parameters
ion: WorkSite::WorkSite -- Starting Depth is 0.000000 meters
Serv: 0:	1	600674.187500E	4067388.750000N	73.699997 m	10.000000 ms	channel:2
er
: 1:	2	600531.687500E	4065156.000000N	73.199997 m	10.000000 ms	channel:4
: 2:	3	598447.000000E	4067412.250000N	91.400002 m	10.000000 ms	channel:5
Sup: 3:	4	600848.125000E	4069389.500000N	80.199997 m	10.000000 ms	channel:6
ervi: 4:	5	602732.187500E	4067093.000000N	57.299999 m	10.000000 ms	channel:7
sor: WorkSite server: 0x22f8c
::createTask() - layeredControlServer
Supervisor::createTask() - dynamicControlServer
: New Navigation component constructor
: Navigation - Using only the Dvl to compute altitude.
Supervisor::createTask() - newTailConeServer
Supervisor::createTask() - simulator
Supervisor::createTask() - simAhrs
Supervisor::createTask() - gpsServer
Supervisor::createTask() - parosciServer
Supervisor::createTask() - seabirdServer
Supervisor::createTask() - bluefinBattDriver
: Create simulator...

: SerialDevice: done...

: TailConeServer -- Maximum Elevator Actuator Excursion is 0 Counts
: Create VehicleConfigurationIF...

: TailConeServer:: -- Minimum Elevator Actuator Excursion is 0 Counts
: Okay...

: TailConeServer -- Maximum Rudder Actuator Excursion is 0 Counts
: TailConeServer -- Minimum Rudder Actuator Excursion is 0 Counts
: SerialDevice: done...

: Create attributes...

: Simulator:: initPsi = 0.000000

: Done creating attributes. Parse 'em...

: SerialDevice: done...

Supervisor::createTask() - dvlServer
: DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize()
: DynamicControlServer - Got event 1 from TailCone

: PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200
Supervi: BluefinBatt driver - running with 1 batteries
sor::cre: SerialDevice: done...

ateTas: BluefineBatt::init() - 1 batteries on 10 second interval
k() - fanServer
: BluefinBatt.cc - Looking for Parosci server
: SerialDevice: done...

: BluefinBatt::init() - querying for batt ids
Superv: SerialDevice: done...

isor::createTask(): SerialDevice: done...

 - dropWeightServer
: Gps: initializing

: SerialDevice: done...

: SerialDevice: done...

Super: Simulator:: initPsi = 225.000000

visor: Simulator:: zMax = 210.000000

:: Gps: done initializing...

:createTa: **** EventTriggers::add() - attaching proxy
sk:  The utm zone is 10

() - so:  Simulator: The lat/long in workSite.cfg is 0.641196, -2.12721
nar:  Simulator: The lat/long in workSite.cfg, cvt'ed to UTM is 4.06638e+006, 599958
dyneServer: Invoke simulator->run()...


: AshtechGps::processRecord() - GpsUtils::parseFix() - incomplete GGA sentence?
$PASHR,ACK*3D

: **** EventTriggers::add() - attaching proxy
: AshtechGps::processRecord() - GpsUtils::parseFix() - incomplete GGA sentence?
$PASHR,ACK*3D

: SerialDevice: done...

: ahrs if is Ahrs

: seabirdDriver RUNNING...

: SerialDevice: done...

: Seabird/ctdDriver -- Loading CTD constants from /home/dorado1/auv/altex/onboard/config/docking/ctdDriver.cfg

: SerialDevice: done...

: SerialDevice: done...

: SerialDevice: done...

: 3 Modules found
: CTD/ctdDriver -- Calibration constants:
	T_a  = 3.681217e-003
	T_b  = 6.006525e-004
	T_c  = 1.574158e-005
	T_d  = 1.973049e-006
	T_f0 = 3081.132000
	C_a  = 8.440420e-007
	C_b  = 1.341363e+000
	C_c  = -10.325094
	C_d  = -8.517875e-005
	C_m  = 5.900
	EPS  = -9.570000e-008
	SOc  = 3.985000e-001
	BOc  = 0.000000e+000
	Voff = -5.038000e-001
	TCor = 4.000000e-004
	PCor = 1.350000e-004

: SerialDevice: done...

: Seabird/ctdDriver::Seabird() - create interface to depth sensor...
: Seabird/ctdDriver -- constructing Log...

: CTDLog.cc -- beginning constructor...

: CTDLog.cc -- constructor succeeded

: Seabird/ctdDriver -- constructor succeeded

: seabirdDriver -- constructor succeeded

:  DropWeight::initialize - Resetting counters.
: Seabird/ctdDriver:initializing Seabird...

: **** EventTriggers::add() - attaching proxy
: SerialDevice: done...

: SerialDevice: done...

: SerialDeviceDriver::initialize()
: 
 Starting DVL Initialization.

: SerialDevice: done...

: Sonardyne -- configuration:
	PollPeriod = 500 ms
	PresetGain = 1
	PowerLevel = 1
	LblWait    = 3 s
	ESV        = 1485.000000 m/s
	Beacon     = V7,7

: PeriodicTask::run() (sonardyneDriver) - sampleInterval=500, maxInterval=500
: SerialDevice: done...

: PeriodicTask::run() (fanDriver) - sampleInterval=1000, maxInterval=1000
: Parosci.cc -- Initial pressure = 0.068948
: Parosci.cc -- Parosci initial pressure period = 30.138610
: Parosci.cc -- Parosci initial temp period = 5.841853
: Parosci.cc -- Paroscientific configured.
: **** EventTriggers::add() - attaching proxy
: CR1
[Parameters set to FACTORY defaults]
>
: PD5
>
: BK1
>
: TP00:00.00
>
: TE00:00:00.60
>
: BL,10,010,100
>
: BP001
>
: CF11010
>
: CB611
>
: SerialDevice: done...

:  Dvl::initialize - Baud rate set to 38400.

: EX10011
>
: EA+04500
>
: WP0001
>
: WN25
>
:  Dvl::initialize - The number of cells is 25.

: WV210
>
:  Dvl::initialize - 14 valid commands read in from dvl.cfg.

: EC1490
>
: 
>
:  Dvl::initialize() - The DVL is initialized.

: **** EventTriggers::add() - attaching proxy
: PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200
: SerialDevice::confirm() - Timed Out
: Seabird/ctdDriver::initialize() - confirm() timed out; sleep a bit
: BluefinBatt::init() - battery ids are b6  
: BluefinBatt::init() - found battery b6
: BluefinBatt::init() - battery echo is $b6wf 1


: Seabird/ctdDriver: sending configure commands...(6459)

: Seabird/ctdDriver: setting scans...

: BluefinBatt::init() - battery watchdog state is  
: PeriodicTask::run() (BluefinBatt) - sampleInterval=10000, maxInterval=10000
: SonardyneDriver - caught exception: Timed Out 15
: Lbl NavSensor - could not create LBL task interface
: Navigation: Server for aux sensor "Lbl" not found
: SerialDevice::confirm() - Timed Out
: SerialDevice::confirm() - Timed Out
: Seabird/ctdDriver: setting pump freq...

: Seabird/ctdDriver: setting upcast...

: Seabird/ctdDriver: setting battery type...

: Seabird/ctdDriver: setting external voltages to 6...(6459)

: Seabird/ctdDriver::initialize() - confirming voltage...

: Seabird/ctdDriver::initialize() - confirming voltage...

: Seabird/ctdDriver::initialize() - confirming voltage...

: Seabird/ctdDriver::initialize() - confirming voltage...

: Seabird/ctdDriver::initialize() - confirming voltage...

: Seabird/ctdDriver::initialize() - confirming voltage...

: Seabird/ctdDriver::initialize() - disabling switch...

: Seabird/ctdDriver: sending DS command...

: BluefinBatt Reply: $b6q0 d- 30.70  3.40 15.72 3.81 3.85 0 -19978.67 02:11:17 m

: batts online 1, min cell voltage 3.810000, mean min cell voltage 3.810000

: Navigation: Server for aux sensor "Altimeter" not found
: Navigation: Server for aux sensor "Velocimeter" not found
:  Navigation: The utm zone is 10

:  Navigation: The lat/long in workSite.cfg,  36.737845, -121.880423

:  Navigation: The lat/long in workSite.cfg, cvt'ed to UTM is 4066375.51, 599958.36

: PeriodicTask::run() (navigation) - sampleInterval=200, maxInterval=200
: **** EventTriggers::add() - attaching proxy
: GetGPS::execute() -- Got a new GPS hit: 1 of 10 needed
: LayeredControl::execute() -- (t = 0.000000) Behavior getgps has changed to state Active

: LayeredControl::execute() -- (t = 0.000000) Behavior depthEnvelope has changed to state Active

: LayeredControl::execute() -- (t = 0.000000) Behavior missionTimer has changed to state Active

: **** EventTriggers::add() - attaching proxy
: *** Mission started ***

: !!!! Simulator::missionStatusCallback() - Got event 0 from "layeredControl"

: Event received at _simTime=0.02
: Simulator::missionStatusCallback() - mission started

: GetGPS::execute() -- Got a new GPS hit: 2 of 10 needed
: SonardyneDriver - caught exception: Timed Out 15
: Seabird/ctdDriver::initialize() - starting logging...

: Ctd/ctdDriver:initialize() - Logging Started...

: Ctd/ctdDriver:initialize() - ready!
: **** EventTriggers::add() - attaching proxy
: GetGPS::execute() -- Got a new GPS hit: 3 of 10 needed
: GetGPS::execute() -- Got a new GPS hit: 4 of 10 needed
: GetGPS::execute() -- Got a new GPS hit: 5 of 10 needed
: GetGPS::execute() -- Got a new GPS hit: 6 of 10 needed
: GetGPS::execute() -- Got a new GPS hit: 7 of 10 needed
: GetGPS::execute() -- Got a new GPS hit: 8 of 10 needed
: GetGPS::execute() -- Got a new GPS hit: 9 of 10 needed
: BluefinBatt Reply: $b6q0 d- 30.70  3.04 15.72 3.82 3.85 0 -19978.92 02:11:27 m

: GetGPS::execute() -- Got a new GPS hit: 10 of 10 needed
: LayeredControl::execute() -- (t = 8.399425) Behavior getgps has changed to state Finished

: LayeredControl::execute() -- (t = 8.399425) Behavior setRudder has changed to state Active

: batts online 1, min cell voltage 3.820000, mean min cell voltage 3.820000

: SonardyneDriver - caught exception: Timed Out 232820
: BluefinBatt Reply: $b6q0 d- 30.47  8.62 15.72 3.82 3.85 0 -19979.63 02:11:37 m

: batts online 1, min cell voltage 3.820000, mean min cell voltage 3.820000

: SonardyneDriver - caught exception: Timed Out 15
: BluefinBatt Reply: $b6q0 d- 30.28 10.21 15.72 3.77 3.81 0 -19980.32 02:11:47 m

: batts online 1, min cell voltage 3.770000, mean min cell voltage 3.770000

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception: Timed Out 15
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $b6q0 d- 30.32 11.23 15.72 3.77 3.81 0 -19981.38 02:11:57 m

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.770000, mean min cell voltage 3.770000

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception: Timed Out 15
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $b6q0 d- 30.28 12.35 15.82 3.76 3.81 0 -19982.09 02:12:07 m

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.760000, mean min cell voltage 3.760000

: SonardyneDriver - caught exception: Timed Out 15
: BluefinBatt Reply: $b6q0 d- 30.20 10.25 15.91 3.76 3.81 0 -19983.11 02:12:17 m

: batts online 1, min cell voltage 3.760000, mean min cell voltage 3.760000

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $b6q0 d- 30.35 10.54 15.82 3.77 3.82 0 -19983.73 02:12:27 m

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.770000, mean min cell voltage 3.770000

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception: Timed Out 232820
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $b6q0 d- 30.28 11.52 15.91 3.77 3.82 0 -19984.78 02:12:37 m

: SonardyneDriver - caught exception: Timed Out 15
: batts online 1, min cell voltage 3.770000, mean min cell voltage 3.770000

: BluefinBatt Reply: $b6q0 d- 30.35  9.60 15.82 3.75 3.80 0 -19985.54 02:12:47 m

: batts online 1, min cell voltage 3.750000, mean min cell voltage 3.750000

: SonardyneDriver - caught exception: Timed Out 15
: BluefinBatt Reply: $b6q0 d- 30.35  9.64 15.82 3.75 3.80 0 -19986.44 02:12:57 m

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.750000, mean min cell voltage 3.750000

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception: Timed Out 15
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $b6q0 d- 30.28 11.78 15.82 3.75 3.80 0 -19987.18 02:13:07 m

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.750000, mean min cell voltage 3.750000

: SonardyneDriver - caught exception: Timed Out 15
: BluefinBatt Reply: $b6q0 d- 30.24 10.69 15.82 3.75 3.80 0 -19988.15 02:13:17 m

: batts online 1, min cell voltage 3.750000, mean min cell voltage 3.750000

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception: Timed Out 15
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $b6q0 d- 30.28 10.51 15.82 3.76 3.80 0 -19988.86 02:13:27 m

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.760000, mean min cell voltage 3.760000

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception: Timed Out 232820
: BluefinBatt Reply: $b6q0 d- 30.32 10.14 15.91 3.76 3.80 0 -19989.81 02:13:37 m

: batts online 1, min cell voltage 3.760000, mean min cell voltage 3.760000

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception: Timed Out 15
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $b6q0 d- 30.16 10.94 15.91 3.76 3.80 0 -19990.46 02:13:47 m

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.760000, mean min cell voltage 3.760000

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception: Timed Out 232820
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $b6q0 d- 30.16 11.63 15.91 3.76 3.80 0 -19991.49 02:13:57 m

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.760000, mean min cell voltage 3.760000

: SonardyneDriver - caught exception: Timed Out 15
: BluefinBatt Reply: $b6q0 d- 30.28  9.75 16.01 3.75 3.79 0 -19992.13 02:14:07 m

: batts online 1, min cell voltage 3.750000, mean min cell voltage 3.750000

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception: Timed Out 15
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $b6q0 d- 30.12 11.74 16.01 3.75 3.79 0 -19993.19 02:14:17 m

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.750000, mean min cell voltage 3.750000

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - nSats = 3; setting quality to 0 (invalid)
: SonardyneDriver - caught exception: Timed Out 15
: BluefinBatt Reply: $b6q0 d- 30.32  9.20 16.01 3.76 3.80 0 -19993.92 02:14:27 m

: batts online 1, min cell voltage 3.760000, mean min cell voltage 3.760000

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $b6q0 d- 30.20 11.63 16.01 3.76 3.80 0 -19994.88 02:14:37 m

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.760000, mean min cell voltage 3.760000

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception: Timed Out 15
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $b6q0 d- 30.05 13.08 16.11 3.75 3.79 0 -19995.56 02:14:47 m

: batts online 1, min cell voltage 3.750000, mean min cell voltage 3.750000

: SonardyneDriver - caught exception: Timed Out 15
: BluefinBatt Reply: $b6q0 d- 30.28 10.94 16.21 3.75 3.79 0 -19996.57 02:14:57 m

: batts online 1, min cell voltage 3.750000, mean min cell voltage 3.750000

: SonardyneDriver - caught exception: Timed Out 232820
: BluefinBatt Reply: $b6q0 d- 30.24 10.76 16.21 3.75 3.79 0 -19997.31 02:15:07 m

: batts online 1, min cell voltage 3.750000, mean min cell voltage 3.750000

: SonardyneDriver - caught exception: Timed Out 232820
: BluefinBatt Reply: $b6q0 d- 30.12 11.16 16.21 3.75 3.79 0 -19998.30 02:15:17 m

: batts online 1, min cell voltage 3.750000, mean min cell voltage 3.750000

: SonardyneDriver - caught exception: Timed Out 15
: BluefinBatt Reply: $b6q0 d- 30.20 10.98 16.21 3.75 3.80 0 -19998.92 02:15:27 m

: batts online 1, min cell voltage 3.750000, mean min cell voltage 3.750000

: SonardyneDriver - caught exception: Timed Out 15
: BluefinBatt Reply: $b6q0 d- 30.20 11.37 16.30 3.75 3.80 0 -19999.97 02:15:37 m

: batts online 1, min cell voltage 3.750000, mean min cell voltage 3.750000

: SonardyneDriver - caught exception: Timed Out 15
: BluefinBatt Reply: $b6q0 d- 30.12 11.99 16.30 3.75 3.79 0 -20000.67 02:15:47 m

: batts online 1, min cell voltage 3.750000, mean min cell voltage 3.750000

: SonardyneDriver - caught exception: Timed Out 232820
: BluefinBatt Reply: $b6q0 d- 30.24 10.40 16.30 3.75 3.79 0 -20001.66 02:15:57 m

: batts online 1, min cell voltage 3.750000, mean min cell voltage 3.750000

: SonardyneDriver - caught exception: Timed Out 15
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $b6q0 d- 30.24 10.03 16.30 3.74 3.78 0 -20002.39 02:16:07 m

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.740000, mean min cell voltage 3.740000

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception: Timed Out 15
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $b6q0 d- 30.08 12.64 16.30 3.74 3.78 0 -20003.42 02:16:17 m

: batts online 1, min cell voltage 3.740000, mean min cell voltage 3.740000

: SonardyneDriver - caught exception: Timed Out 232820
: BluefinBatt Reply: $b6q0 d- 30.24 10.07 16.40 3.75 3.80 0 -20004.12 02:16:27 m

: LayeredControl::execute() -- (t = 308.598860) Behavior setRudder has changed to state Finished

: Stack empty after processing.  Aborting.
: *** LayeredControl - initiating mission abort... ***
: Initiating Mission Abort!

: **** EventTriggers::add() - attaching proxy
: LayeredControl::execute() -- (t = 308.798846) Behavior setpoint has changed to state Active

: LayeredControl::execute() -- (t = 308.798846) Behavior missionTimer has changed to state Active

: batts online 1, min cell voltage 3.750000, mean min cell voltage 3.750000

: SonardyneDriver - caught exception: Timed Out 15
: BluefinBatt Reply: $b6q0 d- 30.55  3.47 16.40 3.75 3.80 0 -20004.69 02:16:37 m

: batts online 1, min cell voltage 3.750000, mean min cell voltage 3.750000

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception: Timed Out 15
: BluefinBatt Reply: $b6q0 d- 30.51  3.51 16.40 3.80 3.83 0 -20004.89 02:16:47 m

: batts online 1, min cell voltage 3.800000, mean min cell voltage 3.800000

: SonardyneDriver - caught exception: Timed Out 15
: BluefinBatt Reply: $b6q0 d- 30.66  2.82 16.40 3.80 3.83 0 -20005.19 02:16:57 m

: batts online 1, min cell voltage 3.800000, mean min cell voltage 3.800000

: BluefinBatt Reply: $b6q0 d- 30.62  3.33 16.40 3.80 3.83 0 -20005.39 02:17:07 m

: SonardyneDriver - caught exception: Timed Out 15
: batts online 1, min cell voltage 3.800000, mean min cell voltage 3.800000

: BluefinBatt Reply: $b6q0 d- 30.55  3.44 16.40 3.80 3.83 0 -20005.71 02:17:17 m

: batts online 1, min cell voltage 3.800000, mean min cell voltage 3.800000

: SonardyneDriver - caught exception: Timed Out 15
: Supervisor::signalHandler(); caught signal 15
: Supervisor::signalHandler(); 
Received a SIGTERM or SIGQUIT. 
DropWeightServer NOT started.
: Supervisor::cleanup() - delete _theSupervisor

: Supervisor::shutdown()

: **** SharedData destructor for object ParosciOutput_ShmemName ****

: TaskServer::signalHandler() for task WorkSiteIFServer - exit()
: TaskServer::signalHandler() for task SimulatorIFServer - exit()
: TaskServer::signalHandler() for task AhrsIFServer - exit()
: TaskServer::signalHandler() for task GpsIFServer - exit()
: TaskServer::signalHandler() for task DepthSensorIFServer - exit()
: TaskServer::signalHandler() for task DvlIFServer - exit()
: TaskServer::signalHandler() for task UsblIFServer - exit()
: NavigationOutput::~NavigationOutput()


//10/home/dorado1/auv/altex/onboard/bin/layeredControl terminated (SIGSEGV) at 0007:00039AD8.
: TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit()
: TaskServer::signalHandler() for task NavigationIFServer - exit()
: TaskServer::signalHandler() for task DynamicControlIFServer - exit()
: TaskServer::signalHandler() for task TailConeIFServer - exit()
: Supervisor::shutdown() - done()

:  Fan Destructor Executing.
: TaskServer::signalHandler() for task EventLogIFServer - exit()
: TaskServer::signalHandler() for task ExternalCommsIFServer - exit()
: TaskServer::signalHandler() for task LayeredControlIFServer - exit()
: TaskServer::signalHandler() for task ctdDriver - exit()
: **** SharedData destructor for object BluefinBattOutput ****

: TaskServer::signalHandler() for task FanIFServer - exit()
: TaskServer::signalHandler() for task DropWeightIFServer - exit()
:  DropWeight Destructor Executing.
: **** SharedData destructor for object GpsOutput_ShmemName ****

: **** SharedData destructor for object ctdDriverSeabirdOutput_ShmemName ****

: TaskServer::signalHandler() for task DepthSensorIFServer - exit()
: **** SharedData destructor for object DvlOutput_ShmemName ****

: **** SharedData destructor for object SonardyneOutput_ShmemName ****

: TaskServer::signalHandler() for task ExternalCommsIFServer - exit()
: **** SharedData destructor for object GpsOutput_ShmemName ****

: **** SharedData destructor for object DvlOutput_ShmemName ****

: **** SharedData destructor for object SonardyneOutput_ShmemName ****

: **** SharedData destructor for object navigationOutput ****

: NavigationOutput::~NavigationOutput()

: **** SharedData destructor for object TailConeInput_ShmemName ****

: **** SharedData destructor for object TailConeInput_ShmemName ****

: **** SharedData destructor for object fanOutput ****

: **** SharedData destructor for object ParosciOutput_ShmemName ****

: **** SharedData destructor for object dropWeightOutput ****

: **** SharedData destructor for object LayeredControlInput_ShmemName ****

: **** SharedData destructor for object ctdDriverSeabirdOutput_ShmemName ****

: **** SharedData destructor for object fanOutput ****

: **** SharedData destructor for object dropWeightOutput ****


//10/home/dorado1/auv/altex/onboard/bin/sonardyneDriver terminated (SIGSEGV) at 0007:00021DE8.
: TaskServer::signalHandler() for task UsblIFServer - exit()
: TaskServer::signalHandler() for task NavigationIFServer - exit()
: **** SharedData destructor for object TailConeOutput_ShmemName ****

: TaskServer::signalHandler() for task ctdDriver - exit()
: **** SharedData destructor for object TailConeOutput_ShmemName ****

: TaskServer::signalHandler() for task FanIFServer - exit()
: **** SharedData destructor for object LayeredControlOutput_ShmemName ****

: TaskServer::signalHandler() for task DropWeightIFServer - exit()
: SerialDevice: done...

:  Dvl::~Dvl: Destructor Finished.


//10/home/dorado1/auv/altex/onboard/bin/dvl terminated (SIGSEGV) at 0007:0002436F.
