Supervisor::createCoreTasks() Supervisor::createTask() - eventLogServer Supervisor::createTask() - workSite Supervisor::createTask() - vehicleConfigurationServer : Initializing worksiteServer Superviso: WorkSite::WorkSite -- Adding attributes r:: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv-qnx/auv/altex/onboard/config/docking/workSite.cfg :createTask() - externalCommsServer Supe: Using default vehicle config file "/home/dorado1/auv-qnx/auv/altex/onboard/config/docking/vehicle.cfg" rvisor::createTask() - navigationServer Supervis: WorkSite::WorkSite -- Finished loading parameters or:: WorkSite::WorkSite -- Starting Depth is 0.000000 meters :cr: 0: 1 600674.187500E 4067388.750000N 73.699997 m 10.000000 ms channel:2 eat: 1: 2 600531.687500E 4065156.000000N 73.199997 m 10.000000 ms channel:4 eTa: 2: 3 598447.000000E 4067412.250000N 91.400002 m 10.000000 ms channel:5 sk(): 3: 4 600848.125000E 4069389.500000N 80.199997 m 10.000000 ms channel:6 - l: 4: 5 602732.187500E 4067093.000000N 57.299999 m 10.000000 ms channel:7 aye: WorkSite server: 0x2307c redControlServer S: New Navigation component constructor : Navigation - Using only the Dvl to compute altitude. upe: Navigation: Opening Acoustic Modem Interface: rvisor::createTask() - dynamicControlServer Supervisor::createTask() - newTailConeServer Supervisor::createTask() - m3dmgx1Server Supervisor::createTask() - gpsServer Supervisor::createTask() - parosciServer Supervis: Preparing to fork or:: I'm the child...forking :create: SerialDevice: done... T: TailConeServer -- Maximum Elevator Actuator Excursion is 0 Counts ask: TailConeServer:: -- Minimum Elevator Actuator Excursion is 0 Counts () : TailConeServer -- Maximum Rudder Actuator Excursion is 0 Counts - d: TailConeServer -- Minimum Rudder Actuator Excursion is 0 Counts vlS: SerialDevice: done... erve: SerialDevice: done... r Supervisor::createTask() - fanServ: SerialDevice: done... er Superv: SerialDevice: done... isor::createTask() - dropWeightServer : SerialDevice: done... S: SerialDevice: done... upervis: Gps: initializing or::: SerialDevice: done... : SerialDevice: done... cr: SerialDevice: done... eateT: Crossbow.cc: In getSerialNumber() ask() - sonardyneServer Sup: SerialDevice: done... ervisor::createTask() - cameraServer Supervisor::createTask() - echoSou: SonardyneServer.cc was last compiled on Apr 08 2009, 01:08:44 nderServer : SerialDevice: done... : SerialDevice: done... Supervisor::createTask() - bentho: DropWeight::initialize - Resetting counters. sSe: **** EventTriggers::add() - attaching proxy rver Su: SerialDevice: done... : SerialDeviceDriver::initialize() perviso: Starting DVL Initialization. r::c: SerialDevice: done... reateTask() - terrainAidDr: SonardyneDriver.cc was last compiled on Jun 08 2009, 19:39:26 iver : CameraDriver:: Before navigation IF. : DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize() : PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200 : SonardyneDriver -- configuration: PingDelay = 400 ms PresetGain = 3 PowerLevel = 1 LblWait = 3 s ESV = 1495.000000 m/s Beacon = V5,3 MRPL = 2 ms : SerialDevice: done... : BenthosModem::commandMode() - confirming... : SerialDevice: done... : EchoSounder -- configuration: Maximum Range = 10 m StartGain = 10 dB Absorption = 0.20 dB/m Pulse Length = 50 microseconds Minimum Range = 0.00 m Trigger Control= 0 Profile = 0 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 = 1.00 seconds : Scaled and shifted frequency = 100 : Set verbose level : Configuration file = /home/dorado1/auv-qnx/auv/altex/onboard/config/docking/terrainAid.cfg : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = 0.00 : TerrainAid -- configuration: : mapFileName = SoquelCanyonMAUVUTMTopo_NoNan.grd : samplePeriod = 10000 : Map file = /home/dorado1/auv-qnx/auv/altex/onboard/config/docking/SoquelCanyonMAUVUTMTopo_NoNan.grd : PeriodicTask::run() (fanDriver) - sampleInterval=1000, maxInterval=1000 : PeriodicTask::run() (terrainAidDriver) - sampleInterval=10000, maxInterval=10000 : Crossbow.cc: device->read succeeded : m3dmgx1: Serial Number is 6380 : PeriodicTask::run() (crossbow) - sampleInterval=100, maxInterval=100 : Set write delay : Navigation: acommsIF = 0x6fa78 : ahrs if is Ahrs : Set remote response waiting time : 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. : Turn on doppler correction : **** EventTriggers::add() - attaching proxy : BenthosModem::onlineMode() - confirming... : Gps: done initializing... : **** EventTriggers::add() - attaching proxy : AshtechGps::processRecord() - ,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: 0 : **** EventTriggers::add() - attaching proxy : done initializing modem : PeriodicTask::run() (BenthosModem) - sampleInterval=1000, maxInterval=1000 : SerialDevice: done... : 3 Modules found : AshtechGps::processRecord() - $GPGGA,012411.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,012412.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,012413.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200 : AshtechGps::processRecord() - $GPGGA,012414.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,012415.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,012416.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Parosci.cc -- Initial pressure = 0.068948 : Parosci.cc -- Parosci initial pressure period = 30.138380 : Parosci.cc -- Parosci initial temp period = 5.840135 : AshtechGps::processRecord() - $GPGGA,012417.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Parosci.cc -- Paroscientific configured. : **** EventTriggers::add() - attaching proxy : AshtechGps::processRecord() - $GPGGA,012418.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainAidDriver:: _navTime0 = 0.00 : TerrainAidDriver:: _dvlTime0 = 4940.47 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 0.000000 : TerrainNav update at dvl time = 0.000000 : _navData-> (x,y) = (4074900.00, 591100.00) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : 50.00 : Estimated East Bias at time = 0.00 : 50.00 : Estimated Depth Bias at time = 0.00 : 0.00 : Estimated northing and easting = 4074950.00 : 591150.00 : AshtechGps::processRecord() - $GPGGA,012419.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,012420.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,012421.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,012422.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Lbl NavSensor - could not create LBL task interface : Navigation: Server for aux sensor "Lbl" not found : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,012423.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,012424.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,012425.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,012426.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,012427.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,012428.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 0.000000 : TerrainNav update at dvl time = 0.000000 : _navData-> (x,y) = (4074900.00, 591100.00) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : 50.00 : Estimated East Bias at time = 0.00 : 50.00 : Estimated Depth Bias at time = 0.00 : 0.00 : Estimated northing and easting = 4074950.00 : 591150.00 : AshtechGps::processRecord() - $GPGGA,012429.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,012430.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,012431.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,012432.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : 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, 36.812000, -121.968990 : Navigation: The lat/long in workSite.cfg, cvt'ed to UTM is 4074513.00, 591962.00 : 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,012433.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,012434.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,012435.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,012436.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,012437.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,012438.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 1244856161.111827 : TerrainNav update at dvl time = 1244856161.111827 : _navData-> (x,y) = (4074900.00, 591100.00) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 1244856161.11 : 50.00 : Estimated East Bias at time = 1244856161.11 : 50.00 : Estimated Depth Bias at time = 1244856161.11 : 0.00 : Estimated northing and easting = 4074950.00 : 591150.00 : AshtechGps::processRecord() - $GPGGA,012439.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,012440.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,012441.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,012442.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,012443.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,012444.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,012445.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,012446.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,012447.00,,,,,0,00,,,M,,M,,*4C : 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::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,012448.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 1244856171.111142 : TerrainNav update at dvl time = 1244856171.111142 : _navData-> (x,y) = (4074900.00, 591100.00) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 1244856171.11 : 50.00 : Estimated East Bias at time = 1244856171.11 : 50.00 : Estimated Depth Bias at time = 1244856171.11 : 0.00 : Estimated northing and easting = 4074950.00 : 591150.00 : AshtechGps::processRecord() - $GPGGA,012449.00,,,,,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 : AshtechGps::processRecord() - $GPGGA,012450.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,012451.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,012452.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,012453.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,012454.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,012455.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,012456.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,012457.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,012458.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 1244856181.110457 : TerrainNav update at dvl time = 1244856181.110457 : _navData-> (x,y) = (4074900.00, 591100.00) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 1244856181.11 : 50.00 : Estimated East Bias at time = 1244856181.11 : 50.00 : Estimated Depth Bias at time = 1244856181.11 : 0.00 : Estimated northing and easting = 4074950.00 : 591150.00 : AshtechGps::processRecord() - $GPGGA,012459.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,012500.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,012501.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,012502.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,012503.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,012504.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,012505.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,012506.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,012507.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,012508.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 1244856191.109772 : TerrainNav update at dvl time = 1244856191.109772 : _navData-> (x,y) = (4074900.00, 591100.00) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 1244856191.11 : 50.00 : Estimated East Bias at time = 1244856191.11 : 50.00 : Estimated Depth Bias at time = 1244856191.11 : 0.00 : Estimated northing and easting = 4074950.00 : 591150.00 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,012509.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,012510.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,012511.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,012512.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,012513.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,012514.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,012515.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,012516.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,012517.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,012518.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 1244856201.109087 : TerrainNav update at dvl time = 1244856201.109087 : _navData-> (x,y) = (4074900.00, 591100.00) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 1244856201.11 : 50.00 : Estimated East Bias at time = 1244856201.11 : 50.00 : Estimated Depth Bias at time = 1244856201.11 : 0.00 : Estimated northing and easting = 4074950.00 : 591150.00 : AshtechGps::processRecord() - $GPGGA,012519.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,012520.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,012521.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,012522.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,012523.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,012524.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,012525.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,012526.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,012527.00,,,,,0,00,,,M,,M,,*4B : 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::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,012528.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 1244856211.108402 : TerrainNav update at dvl time = 1244856211.108402 : _navData-> (x,y) = (4074900.00, 591100.00) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 1244856211.11 : 50.00 : Estimated East Bias at time = 1244856211.11 : 50.00 : Estimated Depth Bias at time = 1244856211.11 : 0.00 : Estimated northing and easting = 4074950.00 : 591150.00 : AshtechGps::processRecord() - $GPGGA,012529.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,012530.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,012531.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,012532.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , connectSocket: cannot connect : Connection timed out connectxp: connect GPIO failed: Connection timed out sendBytes cannot send data: Function not implemented readResponse: cannot receive data : Function not implemented sendBytes cannot send data: Function not implemented readResponse: cannot receive data : Function not implemented : CameraDriver enabling 12V camera power supply sendBytes cannot send data: Function not implemented readResponse: cannot receive data : Function not implemented : PeriodicTask::run() (cameraDriver) - sampleInterval=200, maxInterval=200 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,012533.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : echoSounderDriver - caught Exception: SerialDeviceExt::SerialDeviceExt() - open of protocol tcp server 134.89.32.127 port 4040 failed : SerialDeviceExt::closeSD() - closed : TaskServer::signalHandler() for task EchoSounderIFServer - exit() on signal 18 : **** SharedData destructor for object EchoSounderOutput_ShmemName **** : NMEA Update: $GPGGA,012336.46,3648.7200,N,-12158.1394,W,1,03,00.5,1000.0,M,-99.9,M,,*7b cannot send message : Function not implemented cannot send message : Function not implemented : AshtechGps::processRecord() - $GPGGA,012534.00,,,,,0,00,,,M,,M,,*49 : 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::acquireRangeData() - Beacon not detected! tat = -nan : Task "echoSounderServer" died? Supervisor::createTask() - echoSounderServer : Supervisor::Supervisor() - task(s) died; exiting : Supervisor::shutdown() : **** 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 TailConeIFServer - 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 : TaskServer::signalHandler() for task BenthosModemServer - exit() on signal 2 //10/home/dorado1/auv-qnx/auv/altex/onboard/bin/layeredControl terminated (SIGSEGV) at 0007:00042840. : TaskServer::signalHandler() for task DynamicControlIFServer - exit() on signal 2 : NavigationOutput::~NavigationOutput() : TaskServer::signalHandler() for task LayeredControlIFServer - exit() on signal 18 : Supervisor::signalHandler(); caught signal 2 : 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 FanIFServer - exit() on signal 2 : TaskServer::signalHandler() for task DropWeightIFServer - exit() on signal 2 : Fan Destructor Executing. : TaskServer::signalHandler() for task CameraIFServer - exit() on signal 2 : CameraDestructor Executing. : 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 : TaskServer::signalHandler() for task BenthosModemServer - exit() on signal 18 : **** SharedData destructor for object SonardyneOutput_ShmemName **** : **** SharedData destructor for object DvlOutput_ShmemName **** : **** SharedData destructor for object m3dmgx1Cmd **** : **** SharedData destructor for object m3dmgx1 **** : **** SharedData destructor for object fanOutput **** : **** SharedData destructor for object SonardyneOutput_ShmemName **** : **** SharedData destructor for object TailConeInput_ShmemName **** : **** SharedData destructor for object GpsOutput_ShmemName **** : **** SharedData destructor for object DvlOutput_ShmemName **** : **** SharedData destructor for object navigationOutput **** : **** SharedData destructor for object LayeredControlInput_ShmemName **** : 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. : 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 dropWeightOutput **** : **** SharedData destructor for object fanOutput **** : **** SharedData destructor for object dropWeightOutput **** : **** SharedData destructor for object CameraOutput **** : **** SharedData destructor for object ParosciOutput_ShmemName **** : **** SharedData destructor for object BenthosModemOutout **** : TaskServer::signalHandler() for task GpsIFServer - exit() on signal 18 : **** SharedData destructor for object m3dmgx1Cmd **** : **** SharedData destructor for object m3dmgx1 **** : **** SharedData destructor for object TailConeOutput_ShmemName **** : TaskServer::signalHandler() for task FanIFServer - exit() on signal 18 : **** SharedData destructor for object LayeredControlOutput_ShmemName **** : **** SharedData destructor for object CameraOutput **** : Supervisor::cleanup() - delete _theSupervisor : Supervisor::cleanup() - delete _theSupervisor : TaskServer::signalHandler() for task DropWeightIFServer - exit() on signal 18 : Supervisor::shutdown() disconnectxp: GPIO socket shutdown failed : Function not implemented : Supervisor::shutdown() disconnectxp: GPIO socket close failed : Function not implemented disconnectxp: SERIAL socket shutdown failed : Bad file descriptor disconnectxp: SERIAL socket close failed : Bad file descriptor : Supervisor::shutdown() - done() : Supervisor::shutdown() - done() : TaskServer::signalHandler() for task NavigationIFServer - exit() on signal 18 : TerrainAidDestructor Executing. : NavigationOutput::~NavigationOutput() : **** SharedData destructor for object navigationOutput **** : **** SharedData destructor for object TerrainAidOutput **** : 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) 18 18 00 00 01 00 00 : **** SharedData destructor for object TailConeInput_ShmemName **** : **** SharedData destructor for object TailConeOutput_ShmemName ****