Supervisor::createCoreTasks() Supervisor::createTask() - eventLogServer Supervisor::createTask() - workSite Supervisor::createTask() - vehicleConfigurationServer Supervisor::createTask() - externalCommsServer S: Initializing worksiteServer upervisor: WorkSite::WorkSite -- Adding attributes ::: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv-qnx/auv/altex/onboard/config/docking/workSite.cfg createTask() - navi: Using default vehicle config file "/home/dorado1/auv-qnx/auv/altex/onboard/config/docking/vehicle.cfg" gationServer Supervisor::createTask() - layeredControlServer Supervisor::createTask() - dynamicControlServer : WorkSite::WorkSite -- Finished loading parameters : WorkSite::WorkSite -- Starting Depth is 0.000000 meters : 0: 1 600674.187500E 4067388.750000N 73.699997 m 10.000000 ms channel:2 : 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 : 3: 4 600848.125000E 4069389.500000N 80.199997 m 10.000000 ms channel:6 : 4: 5 602732.187500E 4067093.000000N 57.299999 m 10.000000 ms channel:7 : WorkSite server: 0x23078 : New Navigation component constructor : Navigation - Using only the Dvl to compute altitude. Supervisor::createTask() - newTailConeServer Supervisor::createTask() - m3dmgx1Server Supervisor::createTask() - gpsServer Supervisor::createTask() - parosciServer Supervisor::createTask() - dvlServ: Preparing to fork er : I'm the child...forking Supervisor::createTask() - fanServer : SerialDevice: done... S: TailConeServer -- Maximum Elevator Actuator Excursion is 0 Counts uper: TailConeServer:: -- Minimum Elevator Actuator Excursion is 0 Counts viso: TailConeServer -- Maximum Rudder Actuator Excursion is 0 Counts r::: TailConeServer -- Minimum Rudder Actuator Excursion is 0 Counts cre: SerialDevice: done... ateTask() - dropWeightServ: SerialDevice: done... er Super: DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize() vi: SerialDevice: done... sor::createTask() - sonardyneSe: SerialDevice: done... rver Supervisor::createTask() - cameraServer Supervisor::createTas: Gps: initializing k() : SerialDevice: done... - echoSounderServer: SerialDevice: done... : SerialDevice: done... : SerialDevice: done... : Crossbow.cc: In getSerialNumber() : SerialDevice: done... : SerialDevice: done... : ahrs if is Ahrs : SonardyneServer.cc was last compiled on Dec 17 2008, 22:08:50 : SerialDevice: done... : SerialDevice: done... : DropWeight::initialize - Resetting counters. : **** EventTriggers::add() - attaching proxy : SerialDevice: done... : SonardyneDriver.cc was last compiled on Mar 19 2009, 23:56:13 : Crossbow.cc: device->read succeeded : m3dmgx1: Serial Number is 6380 : PeriodicTask::run() (crossbow) - sampleInterval=100, maxInterval=100 : SerialDeviceDriver::initialize() : Starting DVL Initialization. : SerialDevice: done... : CameraDriver:: Before navigation IF. : PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200 : CameraDriver enabling 12V camera power supply : PeriodicTask::run() (cameraDriver) - sampleInterval=200, maxInterval=200 : SonardyneDriver -- configuration: PollPeriod = 500 ms PresetGain = 1 PowerLevel = 1 LblWait = 3 s ESV = 1485.000000 m/s Beacon = V7,7 MRPL = 0.000000ms : SerialDevice: done... : EchoSounder -- configuration: Maximum Range = 200 m StartGain = 10 dB Absorption = 0.20 dB/m Pulse Length = 60 microseconds Minimum Range = 0.00 m Trigger Control= 0 Profile = 1 Delay = 0 milliseconds xz mounting an.= 90.00 degrees Head angle = -90.00 degrees Sector angle = 0.00 degrees Step size = 2.40 degrees Acoustic Freq = 675 kHz Ping period = 0.00 seconds : Scaled and shifted frequency = 100 : PeriodicTask::run() (sonardyneDriver) - sampleInterval=500, maxInterval=500 : PeriodicTask::run() (fanDriver) - sampleInterval=1000, maxInterval=1000 : Gps: done initializing... : **** EventTriggers::add() - attaching proxy : AshtechGps::processRecord() - ,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: 0 : **** 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+04238 > : 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 : NMEA Update: $GPGGA,225437.77,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*59 : SerialDevice: done... : 3 Modules found : AshtechGps::processRecord() - $GPGGA,225749.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,225438.77,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*56 : AshtechGps::processRecord() - $GPGGA,225750.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,225439.77,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*57 : AshtechGps::processRecord() - $GPGGA,225751.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireDiagData() - S:100.000000, N:0.000000, D:0.000000, U:0.000000, Q:0.000000 : SonardyneDriver::acquireRangeData() - no valid response : SonardyneDriver::acquireDiagData() - S:100.000000, N:0.000000, D:0.000000, U:0.000000, Q:0.000000 : NMEA Update: $GPGGA,225440.77,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*59 : AshtechGps::processRecord() - $GPGGA,225752.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,225441.77,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*58 : PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200 : AshtechGps::processRecord() - $GPGGA,225753.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,225442.77,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5b : AshtechGps::processRecord() - $GPGGA,225754.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,225443.77,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5a : Parosci.cc -- Initial pressure = 0.068948 : Parosci.cc -- Parosci initial pressure period = 30.138250 : AshtechGps::processRecord() - $GPGGA,225755.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Parosci.cc -- Parosci initial temp period = 5.840581 : NMEA Update: $GPGGA,225444.77,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5d : Parosci.cc -- Paroscientific configured. : **** EventTriggers::add() - attaching proxy : AshtechGps::processRecord() - $GPGGA,225756.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,225445.77,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5c : AshtechGps::processRecord() - $GPGGA,225757.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,225446.77,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5f : AshtechGps::processRecord() - $GPGGA,225758.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,225447.77,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5e : AshtechGps::processRecord() - $GPGGA,225759.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Lbl NavSensor - could not create LBL task interface : Navigation: Server for aux sensor "Lbl" not found : NMEA Update: $GPGGA,225448.77,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*51 : SonardyneDriver - caught exception during DIAG cycle: Timed Out 913945843 : SonardyneDriver::acquireRangeData() - no valid response : AshtechGps::processRecord() - $GPGGA,225800.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,225449.77,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*50 : AshtechGps::processRecord() - $GPGGA,225801.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,225450.77,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*58 : AshtechGps::processRecord() - $GPGGA,225802.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,225451.77,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*59 : AshtechGps::processRecord() - $GPGGA,225803.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,225452.77,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5a : AshtechGps::processRecord() - $GPGGA,225804.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,225453.77,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5b : AshtechGps::processRecord() - $GPGGA,225805.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,225454.77,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5c : AshtechGps::processRecord() - $GPGGA,225806.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,225455.77,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5d : AshtechGps::processRecord() - $GPGGA,225807.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,225456.77,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5e : SonardyneDriver - caught exception during DIAG cycle: Timed Out 413363593 : SonardyneDriver::acquireRangeData() - no valid response : AshtechGps::processRecord() - $GPGGA,225808.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,225457.77,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5f : AshtechGps::processRecord() - $GPGGA,225809.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,225458.77,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*50 : 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 : LayeredControl::execute() -- (t = 0.000000) Behavior setpoint:-1 has changed to state Active : LayeredControl::execute() -- (t = 0.000000) Behavior missionTimer:-1 has changed to state Active : **** EventTriggers::add() - attaching proxy : *** Mission started *** : AshtechGps::processRecord() - $GPGGA,225810.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,225459.77,3644.2707,N,-12152.8254,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,225811.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,22550.77,3644.2707,N,-12152.8254,W,1,03,00.5,1000.0,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,225812.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,22551.77,3644.2707,N,-12152.8254,W,1,03,00.5,1000.0,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,225813.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,22552.77,3644.2707,N,-12152.8254,W,1,03,00.5,1000.0,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,225814.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,22553.77,3644.2707,N,-12152.8254,W,1,03,00.5,1000.0,M,-99.9,M,,*4a : LayeredControl::execute() -- (t = 5.199644) Behavior setpoint:-1 has changed to state Finished : The StartCamera Behavior has executed at t = 5.20. : LayeredControl::execute() -- (t = 5.199644) Behavior startCamera:-1 has changed to state Finished : LayeredControl::execute() -- (t = 5.199644) Behavior setpoint:-1 has changed to state Active : CameraDriver::readData - starting a 10 photo sequence. : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,225815.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,225816.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : SonardyneDriver - caught exception during DIAG cycle: Timed Out 912781343 : SonardyneDriver::acquireRangeData() - no valid response : AshtechGps::processRecord() - $GPGGA,225817.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,22556.57,3644.2707,N,-12152.8254,W,1,03,00.5,1000.0,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,225818.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,22557.57,3644.2707,N,-12152.8254,W,1,03,00.5,1000.0,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,225819.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,22558.57,3644.2707,N,-12152.8254,W,1,03,00.5,1000.0,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : SonardyneDriver::acquireDiagData() - S:100.000000, N:0.000000, D:0.000000, U:0.000000, Q:*************************************** : SonardyneDriver::acquireRangeData() - no valid response : AshtechGps::processRecord() - $GPGGA,225820.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireDiagData() - S:100.000000, N:0.000000, D:0.000000, U:0.000000, Q:-nan : NMEA Update: $GPGGA,22559.57,3644.2707,N,-12152.8254,W,1,03,00.5,1000.0,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,225821.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,225510.57,3644.2707,N,-12152.8254,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,225822.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,225511.57,3644.2709,N,-12152.8255,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,225823.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,225512.57,3644.2709,N,-12152.8255,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,225824.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,225513.57,3644.2709,N,-12152.8255,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,225825.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,225514.57,3644.2709,N,-12152.8255,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,225826.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,225515.57,3644.2709,N,-12152.8255,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,225827.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,225516.57,3644.2709,N,-12152.8255,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,225828.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,225517.57,3644.2709,N,-12152.8255,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : SonardyneDriver - caught exception during DIAG cycle: Timed Out 911959343 : SonardyneDriver::acquireRangeData() - no valid response : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,225829.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,225518.57,3644.2709,N,-12152.8255,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,225830.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,225519.57,3644.2709,N,-12152.8255,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,225831.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,225520.57,3644.2709,N,-12152.8255,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,225832.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,225521.57,3644.2709,N,-12152.8255,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,225833.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,225522.57,3644.2709,N,-12152.8255,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,225834.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,225523.57,3644.2709,N,-12152.8255,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,225835.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,225524.57,3644.2709,N,-12152.8255,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,225836.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,225525.57,3644.2709,N,-12152.8255,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : SonardyneDriver - caught exception during DIAG cycle: Timed Out 411377093 : SonardyneDriver::acquireRangeData() - no valid response : AshtechGps::processRecord() - $GPGGA,225837.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,225526.57,3644.2709,N,-12152.8255,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,225838.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,225527.57,3644.2709,N,-12152.8255,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,225839.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,225528.57,3644.2709,N,-12152.8255,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,225840.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,225529.57,3644.2709,N,-12152.8255,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,225841.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,225530.57,3644.2709,N,-12152.8255,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,225842.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,225531.57,3644.2709,N,-12152.8255,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,225843.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,225532.57,3644.2709,N,-12152.8255,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,225844.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,225533.57,3644.2709,N,-12152.8255,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : LayeredControl::execute() -- (t = 35.397575) Behavior setpoint:-1 has changed to state Finished : Stack empty after processing. Aborting. : *** LayeredControl - initiating mission abort... *** : Initiating Mission Abort! : **** EventTriggers::add() - attaching proxy : AshtechGps::processRecord() - $GPGGA,225845.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,225534.57,3644.2709,N,-12152.8255,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : LayeredControl::execute() -- (t = 35.597561) Behavior setpoint:-1 has changed to state Active : LayeredControl::execute() -- (t = 35.597561) Behavior missionTimer:-1 has changed to state Active : SonardyneDriver - caught exception during DIAG cycle: Timed Out 910794843 : SonardyneDriver::acquireRangeData() - no valid response : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,225846.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,225535.57,3644.2709,N,-12152.8255,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,225847.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,225536.57,3644.2709,N,-12152.8255,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,225848.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,225537.57,3644.2709,N,-12152.8255,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,225849.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,225538.57,3644.2709,N,-12152.8255,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,225850.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,225539.57,3644.2709,N,-12152.8255,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,225851.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,225540.57,3644.2709,N,-12152.8255,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,225852.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,225541.57,3644.2709,N,-12152.8255,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,225853.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,225542.57,3644.2709,N,-12152.8255,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : **** SharedData destructor for object ParosciOutput_ShmemName **** : TaskServer::signalHandler() for task WorkSiteIFServer - exit() on signal 2 : TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit() on signal 2 : TaskServer::signalHandler() for task AhrsIFServer - exit() on signal 2 : TaskServer::signalHandler() for task GpsIFServer - exit() on signal 2 : TaskServer::signalHandler() for task DepthSensorIFServer - exit() on signal 2 : TaskServer::signalHandler() for task DvlIFServer - exit() on signal 2 : TaskServer::signalHandler() for task UsblIFServer - exit() on signal 2 //10/home/dorado1/auv-qnx/auv/altex/onboard/bin/layeredControl terminated (SIGSEGV) at 0007:000424E0. : NavigationOutput::~NavigationOutput() : TaskServer::signalHandler() for task DynamicControlIFServer - exit() on signal 2 : TaskServer::signalHandler() for task TailConeIFServer - exit() on signal 2 : TaskServer::signalHandler() for task CameraIFServer - exit() on signal 2 : CameraDestructor Executing. : Supervisor::signalHandler(); caught signal 2 : TaskServer::signalHandler() for task EventLogIFServer - exit() on signal 2 : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() on signal 2 : TaskServer::signalHandler() for task NavigationIFServer - exit() on signal 2 : TaskServer::signalHandler() for task LayeredControlIFServer - exit() on signal 18 : TaskServer::signalHandler() for task FanIFServer - exit() on signal 2 : TaskServer::signalHandler() for task DropWeightIFServer - exit() on signal 2 : Fan Destructor Executing. : TaskServer::signalHandler() for task EchoSounderIFServer - exit() on signal 2 : DropWeight Destructor Executing. : **** SharedData destructor for object GpsOutput_ShmemName **** : TaskServer::signalHandler() for task DepthSensorIFServer - exit() on signal 18 : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() on signal 18 : **** SharedData destructor for object EchoSounderOutput_ShmemName **** : **** SharedData destructor for object m3dmgx1Cmd **** : **** SharedData destructor for object DvlOutput_ShmemName **** : **** SharedData destructor for object SonardyneOutput_ShmemName **** : **** SharedData destructor for object m3dmgx1 **** : **** SharedData destructor for object SonardyneOutput_ShmemName **** : **** SharedData destructor for object GpsOutput_ShmemName **** : **** SharedData destructor for object navigationOutput **** : **** SharedData destructor for object DvlOutput_ShmemName **** : **** SharedData destructor for object TailConeInput_ShmemName **** : **** SharedData destructor for object CameraOutput **** : Supervisor::signalHandler(); Never received a SIGTERM from slay, or a SIGQUIT. I WILL START BURNING THE DROP WEIGHT WIRE IN 15 MINUTES! To prevent a weight-drop, you must manually start dropWeightServer before the countdown timer expires. See devices.cfg for the syntax and serial port number. : SerialDeviceExt::closeSD() - closed : **** SharedData destructor for object fanOutput **** : **** SharedData destructor for object dropWeightOutput **** : NavigationOutput::~NavigationOutput() : **** SharedData destructor for object LayeredControlInput_ShmemName **** : **** SharedData destructor for object fanOutput **** : **** SharedData destructor for object dropWeightOutput **** : **** SharedData destructor for object EchoSounderOutput_ShmemName **** : **** SharedData destructor for object ParosciOutput_ShmemName **** : TaskServer::signalHandler() for task GpsIFServer - exit() on signal 18 //10/home/dorado1/auv-qnx/auv/altex/onboard/bin/echoSounderDriver terminated (SIGSEGV) at 0007:00039C5C. : TaskServer::signalHandler() for task EchoSounderIFServer - exit() on signal 18 : **** SharedData destructor for object m3dmgx1Cmd **** : **** SharedData destructor for object m3dmgx1 **** : TaskServer::signalHandler() for task NavigationIFServer - exit() on signal 18 //10/home/dorado1/auv-qnx/auv/altex/onboard/bin/sonardyneDriver terminated (SIGSEGV) at 0007:00022298. : **** SharedData destructor for object TailConeOutput_ShmemName **** : **** SharedData destructor for object CameraOutput **** : Supervisor::cleanup() - delete _theSupervisor : TaskServer::signalHandler() for task FanIFServer - exit() on signal 18 : TaskServer::signalHandler() for task DropWeightIFServer - exit() on signal 18 : **** SharedData destructor for object LayeredControlOutput_ShmemName **** : Supervisor::shutdown() : Supervisor::shutdown() - done() : TaskServer::signalHandler() for task LayeredControlIFServer - exit() on signal 2 : SerialDevice: done... : Dvl::~Dvl: Destructor Finished. //10/home/dorado1/auv-qnx/auv/altex/onboard/bin/dvl terminated (SIGSEGV) at 0007:0002456F. : StepGetStat (2) failed to read chars, rcvd=2, want=8 : StepGetStat (2) 5d 5d 00 00 01 00 00 : StepGetStat (2) failed to read chars, rcvd=2, want=8 : StepGetStat (2) 18 18 00 00 01 00 00 : **** SharedData destructor for object TailConeInput_ShmemName **** : **** SharedData destructor for object TailConeOutput_ShmemName ****