Supervisor::createCoreTasks() Supervisor::createTask() - eventLogServer Supervisor::createTask() - workSite Supervisor::createTask() - vehicleCon: Initializing worksiteServer figuration: WorkSite::WorkSite -- Adding attributes Se: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv-qnx/auv/altex/onboard/config/docking/workSite.cfg rver Supervisor::createTask() - externalComms: Using default vehicle config file "/home/dorado1/auv-qnx/auv/altex/onboard/config/docking/vehicle.cfg" Server Supervisor::createTask() - navigation: WorkSite::WorkSite -- Finished loading parameters Ser: WorkSite::WorkSite -- Starting Depth is 0.000000 meters ver: 0: 1 600674.187500E 4067388.750000N 73.699997 m 10.000000 ms channel:2 S: 1: 2 600531.687500E 4065156.000000N 73.199997 m 10.000000 ms channel:4 upe: 2: 3 598447.000000E 4067412.250000N 91.400002 m 10.000000 ms channel:5 rvis: 3: 4 600848.125000E 4069389.500000N 80.199997 m 10.000000 ms channel:6 or:: 4: 5 602732.187500E 4067093.000000N 57.299999 m 10.000000 ms channel:7 :cr: WorkSite server: 0x2300c eateTask() - layeredCont: New Navigation component constructor rol: Navigation - Using only the Dvl to compute altitude. S: Navigation: Opening Acoustic Modem Interface: erver Supervisor::createTask() - dynamicControlServer Supervisor::createTask() - newTailConeServer Supervisor::createTask() - m3dmgx1Server Supervisor::createTask() - gpsServer Supervisor::createTask() - paro: SerialDevice: done... s: TailConeServer -- Maximum Elevator Actuator Excursion is 0 Counts ciS: TailConeServer:: -- Minimum Elevator Actuator Excursion is 0 Counts erv: TailConeServer -- Maximum Rudder Actuator Excursion is 0 Counts : Preparing to fork er : TailConeServer -- Minimum Rudder Actuator Excursion is 0 Counts Sup: I'm the child...forking er: SerialDevice: done... visor::cre: SerialDevice: done... ateTask() - dvlServer Supervisor::c: SerialDevice: done... reateT: SerialDevice: done... ask() - dropWeightServer Supervisor::: Gps: initializing cre: SerialDevice: done... a: SerialDevice: done... teTask(): SerialDevice: done... - sona: SerialDevice: done... rdyne: Crossbow.cc: In getSerialNumber() Server Supervisor::crea: SerialDevice: done... teTask() - c: SerialDevice: done... ameraServer Supervisor::crea: SerialDevice: done... teTask(: SonardyneServer.cc was last compiled on Oct 13 2009, 21:23:08 ) - echoSounderServer Super: DropWeight::initialize - Resetting counters. vis: **** EventTriggers::add() - attaching proxy or::createTask(): SerialDevice: done... - benthosServer Supervisor::createTa: SonardyneDriver.cc was last compiled on Oct 13 2009, 21:23:04 sk: SerialDevice: done... (: SerialDeviceDriver::initialize() ) - t: Starting DVL Initialization. errai: SerialDevice: done... nAidServer : CameraDriver:: Before navigation IF. : Navigation: acommsIF = 0x6fa78 : ahrs if is Ahrs : CameraDriver enabling 12V camera power supply : PeriodicTask::run() (cameraDriver) - sampleInterval=200, maxInterval=200 : SonardyneDriver -- configuration: PingDelay = 400 ms PresetGain = 1 PowerLevel = 0 LblWait = 3 s ESV = 1480.000000 m/s Beacon = V4,5 MRPL = 2 ms : SerialDevice: done... : BenthosModem::commandMode() - confirming... : DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize() : DepthEnvelope - Error. maxLowerPitch must be a postive number. Flipping the sign now. : EchoSounder -- configuration: Maximum Range = 50 m StartGain = 10 dB Absorption = 0.20 dB/m Pulse Length = 130 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 = 1.00 seconds : maxLowerPitch = 1745.31 : Scaled and shifted frequency = 100 : PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200 : SerialDevice: done... : Crossbow.cc: device->read succeeded : m3dmgx1: Serial Number is 6380 : PeriodicTask::run() (crossbow) - sampleInterval=100, maxInterval=100 : CR1 [Parameters set to FACTORY defaults] > : PD5 > : BK1 > : TP00:00.00 > : TE00:00:00.60 > : BL,10,010,100 > : BP001 > : NMEA Update: $GPGGA,162139.00,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*52 : 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 : header is >CS 7 : Dvl record header not found. Resynchronize. : SerialDevice: done... : 3 Modules found : NMEA Update: $GPGGA,162140.00,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5c : Gps: done initializing... : **** EventTriggers::add() - attaching proxy : AshtechGps::processRecord() - ,3648.95073,N,12158.51043,W,1,12,0.7,0.68,M,-32.96,M,,*5A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: 1 : **** EventTriggers::add() - attaching proxy : Dvl:: Serial resynchronization completed. : **** EventTriggers::add() - attaching proxy : PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200 : NMEA Update: $GPGGA,162141.00,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5d : AshtechGps::processRecord() - $GPGGA,162141.00,3648.95091,N,12158.51043,W,1,12,0.7,0.29,M,-32.96,M,,*52 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = 0.00 : NMEA Update: $GPGGA,162142.00,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5e : AshtechGps::processRecord() - $GPGGA,162142.00,3648.95107,N,12158.51052,W,1,12,0.7,0.03,M,-32.96,M,,*57 : NMEA Update: $GPGGA,162143.00,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5f : AshtechGps::processRecord() - $GPGGA,162143.00,3648.95126,N,12158.51078,W,1,12,0.7,-0.35,M,-32.96,M,,*75 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : SerialDevice::confirm() - Timed Out : BenthosModem::commandMode() - no prompt after +++ : BenthosModem::commandMode() - trying EOL... : BenthosModem::commandMode() - confirming... : Set verbose level : Configuration file = /home/dorado1/auv-qnx/auv/altex/onboard/config/docking/terrainAid.cfg : TerrainAid -- configuration: : mapFileName = SoquelCanyonMAUVUTMTopo_NoNan.grd : NMEA Update: $GPGGA,162144.00,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*58 : vehicleCfgName = mappingAUV_specs.cfg : dvlFileName = rdiDVL_specs.cfg : resonCfgName = resonSeabat8101_specs.cfg : samplePeriod = 5000 : maxNorthingCov = -1.00 : maxEastingCov = -1.00 : maxNorthingError = -1.00 : maxEastingError = -1.00 : Vehicle configuration file = /home/dorado1/auv-qnx/auv/altex/onboard/config/docking/mappingAUV_specs.cfg : Dvl configuration file = /home/dorado1/auv-qnx/auv/altex/onboard/config/docking/rdiDVL_specs.cfg : AshtechGps::processRecord() - $GPGGA,162144.00,3648.95139,N,12158.51111,W,1,12,0.7,-0.11,M,-32.96,M,,*74 : Reson configuration file = /home/dorado1/auv-qnx/auv/altex/onboard/config/docking/resonSeabat8101_specs.cfg : Map file = /home/dorado1/auv-qnx/auv/altex/onboard/config/docking/SoquelCanyonMAUVUTMTopo_NoNan.grd : TerrainAidDriver:: RollOffset is 0.00 : Set write delay : Set remote response waiting time : Turn on doppler correction : NMEA Update: $GPGGA,162145.00,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*59 : AshtechGps::processRecord() - $GPGGA,162145.00,3648.95146,N,12158.51131,W,1,12,0.7,0.46,M,-32.96,M,,*50 : BenthosModem::onlineMode() - confirming... : done initializing modem : PeriodicTask::run() (BenthosModem) - sampleInterval=1000, maxInterval=1000 : NMEA Update: $GPGGA,162146.00,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5a : Parosci.cc -- Initial pressure = 1.034214 : AshtechGps::processRecord() - $GPGGA,162146.00,3648.95152,N,12158.51114,W,1,12,0.7,1.11,M,-32.96,M,,*52 : Parosci.cc -- Parosci initial pressure period = 30.138610 : Parosci.cc -- Parosci initial temp period = 5.841729 : Parosci.cc -- Paroscientific configured. : **** EventTriggers::add() - attaching proxy : NMEA Update: $GPGGA,162147.00,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5b : AshtechGps::processRecord() - $GPGGA,162147.00,3648.95151,N,12158.51084,W,1,12,0.7,0.92,M,-32.96,M,,*52 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,162148.00,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*54 : AshtechGps::processRecord() - $GPGGA,162148.00,3648.95152,N,12158.51062,W,1,12,0.7,0.52,M,-32.96,M,,*5A : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,162149.00,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*55 : AshtechGps::processRecord() - $GPGGA,162149.00,3648.95165,N,12158.51067,W,1,12,0.7,-0.40,M,-32.96,M,,*74 : NMEA Update: $GPGGA,162150.00,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5d : AshtechGps::processRecord() - $GPGGA,162150.00,3648.95175,N,12158.51122,W,1,12,0.7,-0.97,M,-32.96,M,,*77 : Lbl NavSensor - could not create LBL task interface : Navigation: Server for aux sensor "Lbl" not found : NMEA Update: $GPGGA,162151.00,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5c : AshtechGps::processRecord() - $GPGGA,162151.00,3648.95189,N,12158.51181,W,1,11,0.7,-0.57,M,-32.96,M,,*73 : NMEA Update: $GPGGA,162152.00,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5f : AshtechGps::processRecord() - $GPGGA,162152.00,3648.95200,N,12158.51212,W,1,11,0.7,0.14,M,-32.96,M,,*51 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,162153.00,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5e : AshtechGps::processRecord() - $GPGGA,162153.00,3648.95221,N,12158.51192,W,1,11,0.7,1.10,M,-32.96,M,,*5D : NMEA Update: $GPGGA,162154.00,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*59 : AshtechGps::processRecord() - $GPGGA,162154.00,3648.95241,N,12158.51150,W,1,11,0.7,1.58,M,-32.96,M,,*5E : NMEA Update: $GPGGA,162155.00,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*58 : AshtechGps::processRecord() - $GPGGA,162155.00,3648.95257,N,12158.51132,W,1,11,0.7,1.06,M,-32.96,M,,*57 : NMEA Update: $GPGGA,162156.00,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5b : AshtechGps::processRecord() - $GPGGA,162156.00,3648.95265,N,12158.51126,W,1,11,0.7,0.64,M,-32.96,M,,*55 : NMEA Update: $GPGGA,162157.00,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5a : AshtechGps::processRecord() - $GPGGA,162157.00,3648.95256,N,12158.51125,W,1,11,0.7,0.24,M,-32.96,M,,*53 : NMEA Update: $GPGGA,162158.00,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*55 : AshtechGps::processRecord() - $GPGGA,162158.00,3648.95267,N,12158.51130,W,1,11,0.7,-0.26,M,-32.96,M,,*75 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,162159.00,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*54 : AshtechGps::processRecord() - $GPGGA,162159.00,3648.95284,N,12158.51178,W,1,11,0.7,-0.52,M,-32.96,M,,*76 : NMEA Update: $GPGGA,162160.00,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5e : AshtechGps::processRecord() - $GPGGA,162200.00,3648.95313,N,12158.51217,W,1,11,0.7,-0.33,M,-32.96,M,,*7B : 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 : NMEA Update: $GPGGA,162201.00,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5a : AshtechGps::processRecord() - $GPGGA,162201.00,3648.95326,N,12158.51251,W,1,11,0.7,-0.04,M,-32.96,M,,*7A : **** EventTriggers::add() - attaching proxy : GetGPS::execute() -- Got a new GPS hit: 1 of 10 needed : LayeredControl::execute() -- (t = 0.000000) Behavior getgps:-1 has changed to state Active : LayeredControl::execute() -- (t = 0.000000) Behavior depthEnvelope:-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 *** : NMEA Update: $GPGGA,162202.00,3648.9533,N,-12158.5125,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,162202.00,3648.95343,N,12158.51247,W,1,11,0.7,0.79,M,-32.96,M,,*5A : GetGPS::execute() -- Got a new GPS hit: 2 of 10 needed : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,162203.00,3648.9534,N,-12158.5124,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,162203.00,3648.95340,N,12158.51211,W,1,11,0.7,1.41,M,-32.96,M,,*51 : GetGPS::execute() -- Got a new GPS hit: 3 of 10 needed : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162204.00,3648.9534,N,-12158.5120,W,1,03,00.5,085.3,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,162204.00,3648.95338,N,12158.51156,W,1,11,0.7,1.37,M,-32.96,M,,*58 : GetGPS::execute() -- Got a new GPS hit: 4 of 10 needed : NMEA Update: $GPGGA,162205.00,3648.9534,N,-12158.5114,W,1,03,00.5,083.3,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,162205.00,3648.95347,N,12158.51146,W,1,11,0.7,0.62,M,-32.96,M,,*51 : GetGPS::execute() -- Got a new GPS hit: 5 of 10 needed : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162206.00,3648.9535,N,-12158.5115,W,1,03,00.5,082.8,M,-99.9,M,,*4e : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,162206.00,3648.95368,N,12158.51170,W,1,11,0.7,-0.01,M,-32.96,M,,*72 : GetGPS::execute() -- Got a new GPS hit: 6 of 10 needed : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162207.00,3648.9537,N,-12158.5118,W,1,03,00.5,083.2,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,162207.00,3648.95382,N,12158.51204,W,1,11,0.7,-0.47,M,-32.96,M,,*75 : GetGPS::execute() -- Got a new GPS hit: 7 of 10 needed : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162208.00,3648.9538,N,-12158.5121,W,1,03,00.5,082.8,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,162208.00,3648.95390,N,12158.51233,W,1,11,0.7,-0.58,M,-32.96,M,,*73 : GetGPS::execute() -- Got a new GPS hit: 8 of 10 needed : NMEA Update: $GPGGA,162209.00,3648.9539,N,-12158.5124,W,1,03,00.5,082.2,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,162209.00,3648.95388,N,12158.51267,W,1,11,0.7,-0.49,M,-32.96,M,,*7A : GetGPS::execute() -- Got a new GPS hit: 9 of 10 needed : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,162210.00,3648.9539,N,-12158.5127,W,1,03,00.5,081.9,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,162210.00,3648.95396,N,12158.51296,W,1,11,0.7,-0.13,M,-32.96,M,,*7C : GetGPS::execute() -- Got a new GPS hit: 10 of 10 needed : LayeredControl::execute() -- (t = 8.999384) Behavior getgps:-1 has changed to state Finished : LayeredControl::execute() -- (t = 8.999384) Behavior setpoint:-1 has changed to state Active : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,162211.00,3648.9540,N,-12158.5130,W,1,03,00.5,083.3,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,162211.00,3648.95408,N,12158.51312,W,1,11,0.7,0.57,M,-32.96,M,,*5D : NMEA Update: $GPGGA,162212.00,3648.9541,N,-12158.5131,W,1,03,00.5,083.1,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,162212.00,3648.95426,N,12158.51298,W,1,11,0.7,0.99,M,-32.96,M,,*53 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,162213.00,3648.9543,N,-12158.5129,W,1,03,00.5,084.4,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,162213.00,3648.95449,N,12158.51273,W,1,11,0.7,1.22,M,-32.96,M,,*5F : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,162214.00,3648.9545,N,-12158.5127,W,1,03,00.5,084.7,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,162214.00,3648.95464,N,12158.51266,W,1,11,0.7,0.87,M,-32.96,M,,*5D : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,162215.00,3648.9547,N,-12158.5126,W,1,03,00.5,084.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,162215.00,3648.95477,N,12158.51275,W,1,11,0.7,0.58,M,-32.96,M,,*5E : NMEA Update: $GPGGA,162216.00,3648.9548,N,-12158.5128,W,1,03,00.5,083.7,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,162216.00,3648.95495,N,12158.51297,W,1,11,0.7,0.46,M,-32.96,M,,*52 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,162217.00,3648.9550,N,-12158.5130,W,1,03,00.5,084.2,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,162217.00,3648.95525,N,12158.51329,W,1,11,0.7,0.42,M,-32.96,M,,*59 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,162218.00,3648.9553,N,-12158.5133,W,1,03,00.5,083.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,162218.00,3648.95560,N,12158.51359,W,1,11,0.7,0.33,M,-32.96,M,,*56 : NMEA Update: $GPGGA,162219.00,3648.9557,N,-12158.5136,W,1,03,00.5,084.1,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,162219.00,3648.95583,N,12158.51394,W,1,11,0.7,0.25,M,-32.96,M,,*5C : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,162220.00,3648.9559,N,-12158.5140,W,1,03,00.5,083.8,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,162220.00,3648.95605,N,12158.51425,W,1,11,0.7,0.22,M,-32.96,M,,*51 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,162221.00,3648.9561,N,-12158.5143,W,1,03,00.5,083.3,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,162221.00,3648.95646,N,12158.51465,W,1,11,0.7,0.67,M,-32.96,M,,*52 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,162222.00,3648.9565,N,-12158.5147,W,1,03,00.5,084.1,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,162222.00,3648.95687,N,12158.51487,W,1,11,0.7,0.95,M,-32.96,M,,*5D : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,162223.00,3648.9570,N,-12158.5149,W,1,03,00.5,083.8,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,162223.00,3648.95724,N,12158.51511,W,1,11,0.7,0.87,M,-32.96,M,,*59 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,162224.00,3648.9573,N,-12158.5151,W,1,03,00.5,083.9,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,162224.00,3648.95761,N,12158.51535,W,1,11,0.7,0.72,M,-32.96,M,,*53 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,162225.00,3648.9577,N,-12158.5154,W,1,03,00.5,083.7,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,162225.00,3648.95789,N,12158.51574,W,1,11,0.7,0.25,M,-32.96,M,,*53 : NMEA Update: $GPGGA,162226.00,3648.9580,N,-12158.5158,W,1,03,00.5,083.6,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,162226.00,3648.95821,N,12158.51618,W,1,11,0.7,0.03,M,-32.96,M,,*50 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,162227.00,3648.9583,N,-12158.5162,W,1,03,00.5,083.5,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,162227.00,3648.95859,N,12158.51676,W,1,11,0.7,-0.08,M,-32.96,M,,*70 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,162228.00,3648.9587,N,-12158.5169,W,1,03,00.5,083.3,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,162228.00,3648.95914,N,12158.51730,W,1,11,0.7,0.01,M,-32.96,M,,*50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,162229.00,3648.9593,N,-12158.5174,W,1,03,00.5,083.2,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,162229.00,3648.95968,N,12158.51767,W,1,11,0.7,0.41,M,-32.96,M,,*5C : NMEA Update: $GPGGA,162230.00,3648.9598,N,-12158.5177,W,1,03,00.5,083.2,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,162230.00,3648.96020,N,12158.51807,W,1,11,0.7,0.62,M,-32.96,M,,*5A : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,162231.00,3648.9603,N,-12158.5181,W,1,03,00.5,084.3,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,162231.00,3648.96081,N,12158.51814,W,1,11,0.7,1.03,M,-32.96,M,,*54 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,162232.00,3648.9609,N,-12158.5181,W,1,03,00.5,084.5,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,162232.00,3648.96143,N,12158.51817,W,1,11,0.7,1.14,M,-32.96,M,,*5D : NMEA Update: $GPGGA,162233.00,3648.9616,N,-12158.5181,W,1,03,00.5,085.1,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,162233.00,3648.96212,N,12158.51817,W,1,11,0.7,0.92,M,-32.96,M,,*54 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,162234.00,3648.9623,N,-12158.5182,W,1,03,00.5,085.1,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,162234.00,3648.96282,N,12158.51829,W,1,11,0.7,0.57,M,-32.96,M,,*5E : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,162235.00,3648.9630,N,-12158.5183,W,1,03,00.5,083.7,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,162235.00,3648.96357,N,12158.51869,W,1,11,0.7,0.07,M,-32.96,M,,*57 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,162236.00,3648.9637,N,-12158.5187,W,1,03,00.5,084.8,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,162236.00,3648.96430,N,12158.51896,W,1,11,0.7,0.13,M,-32.96,M,,*57 : NMEA Update: $GPGGA,162237.00,3648.9644,N,-12158.5190,W,1,03,00.5,083.4,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,162237.00,3648.96506,N,12158.51940,W,1,11,0.7,0.22,M,-32.96,M,,*5A : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,162238.00,3648.9652,N,-12158.5194,W,1,03,00.5,083.8,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,162238.00,3648.96578,N,12158.51927,W,1,11,0.7,0.48,M,-32.96,M,,*51 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,162239.00,3648.9659,N,-12158.5192,W,1,03,00.5,086.7,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,162239.00,3648.96653,N,12158.51928,W,1,11,0.7,0.69,M,-32.96,M,,*56 : NMEA Update: $GPGGA,162240.00,3648.9667,N,-12158.5192,W,1,03,00.5,084.6,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,162240.00,3648.96721,N,12158.51903,W,1,11,0.7,0.74,M,-32.96,M,,*59 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,162241.00,3648.9673,N,-12158.5190,W,1,03,00.5,083.8,M,-99.9,M,,*40 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,162241.00,3648.96792,N,12158.51890,W,1,11,0.7,0.60,M,-32.96,M,,*5E : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,162242.00,3648.9680,N,-12158.5188,W,1,03,00.5,082.1,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,162242.00,3648.96862,N,12158.51868,W,1,11,0.7,0.67,M,-32.96,M,,*5D : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,162243.00,3648.9688,N,-12158.5186,W,1,03,00.5,087.0,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,162243.00,3648.96929,N,12158.51817,W,1,11,0.7,0.74,M,-32.96,M,,*58 : 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() 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 0007:000433E0. : TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit() on signal 2 : TaskServer::signalHandler() for task DynamicControlIFServer - exit() on signal 2 : TaskServer::signalHandler() for task TailConeIFServer - exit() on signal 2 : TaskServer::signalHandler() for task TerrainAidIFServer - exit() on signal 2 : TaskServer::signalHandler() for task LayeredControlIFServer - exit() on signal 18 : ServoGetStat (1) failed to read chars, rcv=-1, want=2 : Supervisor::shutdown() - done() : 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 DropWeightIFServer - exit() on signal 2 : TaskServer::signalHandler() for task CameraIFServer - exit() on signal 2 : TaskServer::signalHandler() for task EchoSounderIFServer - exit() on signal 2 : CameraDestructor Executing. : DropWeight Destructor Executing. : **** SharedData destructor for object GpsOutput_ShmemName **** : NavigationOutput::~NavigationOutput() : 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 EchoSounderOutput_ShmemName **** : **** SharedData destructor for object DvlOutput_ShmemName **** : **** SharedData destructor for object SonardyneOutput_ShmemName **** : **** SharedData destructor for object m3dmgx1 **** : **** SharedData destructor for object m3dmgx1Cmd **** : SerialDeviceExt::closeSD() - closed : **** SharedData destructor for object SonardyneOutput_ShmemName **** : **** SharedData destructor for object GpsOutput_ShmemName **** : **** SharedData destructor for object DvlOutput_ShmemName **** : **** SharedData destructor for object TailConeInput_ShmemName **** : **** SharedData destructor for object TerrainAidOutput **** : **** SharedData destructor for object LayeredControlInput_ShmemName **** : ServoGetStat (1) 4c 99 00 00 03 00 00 : NavigationOutput::~NavigationOutput() : **** SharedData destructor for object dropWeightOutput **** : **** SharedData destructor for object dropWeightOutput **** : **** SharedData destructor for object CameraOutput **** : **** SharedData destructor for object EchoSounderOutput_ShmemName **** : **** SharedData destructor for object navigationOutput **** : **** SharedData destructor for object ParosciOutput_ShmemName **** : **** SharedData destructor for object BenthosModemOutout **** : TaskServer::signalHandler() for task GpsIFServer - exit() on signal 18 : SerialDeviceExt::closeSD() - closed : **** SharedData destructor for object m3dmgx1Cmd **** : TaskServer::signalHandler() for task UsblIFServer - exit() on signal 18 : **** SharedData destructor for object m3dmgx1 **** : **** SharedData destructor for object CameraOutput **** : **** SharedData destructor for object TailConeOutput_ShmemName **** : **** SharedData destructor for object LayeredControlOutput_ShmemName **** : **** SharedData destructor for object navigationOutput **** : TaskServer::signalHandler() for task DropWeightIFServer - exit() on signal 18 : TaskServer::signalHandler() for task NavigationIFServer - exit() on signal 18 : TerrainAidDestructor Executing. : **** SharedData destructor for object TerrainAidOutput **** : SerialDevice: done... : **** SharedData destructor for object TailConeInput_ShmemName **** : **** SharedData destructor for object TailConeOutput_ShmemName **** : Dvl::~Dvl: Destructor Finished. //10/home/dorado1/auv-qnx/auv/altex/onboard/bin/dvl terminated (SIGSEGV) at 0007:0002456F.