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.
