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() - navigationServer S: Using default vehicle config file "/home/dorado1/auv-qnx/auv/altex/onboard/config/docking/vehicle.cfg" upervisor::createTask() - layeredControlServer Supervisor::create: WorkSite::WorkSite -- Finished loading parameters T: WorkSite::WorkSite -- Starting Depth is 0.000000 meters ask(: 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 dy: 2: 3 598447.000000E 4067412.250000N 91.400002 m 10.000000 ms channel:5 nam: 3: 4 600848.125000E 4069389.500000N 80.199997 m 10.000000 ms channel:6 icC: 4: 5 602732.187500E 4067093.000000N 57.299999 m 10.000000 ms channel:7 ontr: WorkSite server: 0x23068 olS: New Navigation component constructor erve: Navigation - Using only the Dvl to compute altitude. r: Navigation: Opening Acoustic Modem Interface: Supervisor::createTask() - newTailConeServer Supervisor::createTask() - m3dmgx1Server Supervisor::createTask() - gpsServer Supervisor::createTask() - parosciServer Supervisor::createTask() - dvlServer: Preparing to fork S: I'm the child...forking upervisor::createTask() -: SerialDevice: done... : TailConeServer -- Maximum Elevator Actuator Excursion is 0 Counts dro: TailConeServer:: -- Minimum Elevator Actuator Excursion is 0 Counts pWei: TailConeServer -- Maximum Rudder Actuator Excursion is 0 Counts ght: TailConeServer -- Minimum Rudder Actuator Excursion is 0 Counts Serv: SerialDevice: done... er : SerialDevice: done... Supervisor::createTask() - sonardyneServer Superv: SerialDevice: done... isor::createTask() - cameraServer Superv: SerialDevice: done... i: DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize() sor::createTask() - echoSounderSe: SerialDevice: done... rver : SerialDevice: done... : Crossbow.cc: In getSerialNumber() : Gps: initializing : SerialDevice: done... : SerialDevice: done... Supervisor::createTask() - benthosServer : SonardyneServer.cc was last compiled on Jan 25 2010, 19:16:17 : SerialDevice: done... : SerialDevice: done... Superviso: SerialDevice: done... r::createTask() - terrainAidServer : SerialDevice: done... : DropWeight::initialize - Resetting counters. : **** EventTriggers::add() - attaching proxy : Crossbow.cc: device->read succeeded : m3dmgx1: Serial Number is 6380 : PeriodicTask::run() (crossbow) - sampleInterval=100, maxInterval=100 : SerialDevice: done... : SonardyneDriver.cc was last compiled on Jan 25 2010, 19:16:13 : Navigation: acommsIF = 0x72ae8 : ahrs if is Ahrs : SerialDeviceDriver::initialize() : Starting DVL Initialization. : SerialDevice: done... : CameraDriver:: Before navigation IF. : CameraDriver enabling 12V camera power supply : PeriodicTask::run() (cameraDriver) - sampleInterval=200, maxInterval=200 : SerialDevice: done... : BenthosModem::commandMode() - confirming... : SerialDevice: done... : Set verbose level : PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200 : SonardyneDriver -- configuration: PingDelay = 400 ms PresetGain = 1 PowerLevel = 0 LblWait = 3 s ESV = 1490.000000 m/s Beacon = V4,1 MRPL = 2 ms : EchoSounder -- configuration: Maximum Range = 100 m StartGain = 20 dB Absorption = 0.20 dB/m Pulse Length = 270 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 : Scaled and shifted frequency = 100 : Configuration file = /home/dorado1/auv-qnx/auv/altex/onboard/config/docking/terrainAid.cfg : Set write delay : TerrainAid -- configuration: : mapFileName = PortugueseLedge20080424TopoUTM_NoNan.grd : 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 : Set remote response waiting time : SerialDevice: done... : 3 Modules found : Vehicle configuration file = /home/dorado1/auv-qnx/auv/altex/onboard/config/docking/mappingAUV_specs.cfg : CR1 [Parameters set to FACTORY defaults] > : PD5 > : BK1 > : Gps: done initializing... : **** EventTriggers::add() - attaching proxy : TP00:00.00 > : NMEA Update: $GPGGA,182149.99,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5b : TE00:00:00.60 > : AshtechGps::processRecord() - ,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : **** EventTriggers::add() - attaching proxy : BL,10,010,100 > : BP001 > : CF11010 > : CB611 > : SerialDevice: done... : Dvl::initialize - Baud rate set to 38400. : EX10011 > : Turn on doppler correction : 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 : Dvl configuration file = /home/dorado1/auv-qnx/auv/altex/onboard/config/docking/rdiDVL_specs.cfg : 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/PortugueseLedge20080424TopoUTM_NoNan.grd : TerrainAidDriver:: RollOffset is 0.00 MAPIO::check_error No such file or directory : BenthosModem::onlineMode() - confirming... : done initializing modem : PeriodicTask::run() (BenthosModem) - sampleInterval=1000, maxInterval=1000 : NMEA Update: $GPGGA,182150.99,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*53 : AshtechGps::processRecord() - $GPGGA,182216.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200 : NMEA Update: $GPGGA,182151.99,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*52 : AshtechGps::processRecord() - $GPGGA,182217.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,182152.99,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*51 : AshtechGps::processRecord() - $GPGGA,182218.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,182153.99,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*50 : AshtechGps::processRecord() - $GPGGA,182219.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,182154.99,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*57 : AshtechGps::processRecord() - $GPGGA,182220.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,182155.99,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*56 : AshtechGps::processRecord() - $GPGGA,182221.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Parosci.cc -- Initial pressure = 1.034214 : Parosci.cc -- Parosci initial pressure period = 30.138000 : Parosci.cc -- Parosci initial temp period = 5.839140 : NMEA Update: $GPGGA,182156.99,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*55 : AshtechGps::processRecord() - $GPGGA,182222.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Parosci.cc -- Paroscientific configured. : **** EventTriggers::add() - attaching proxy : NMEA Update: $GPGGA,182157.99,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*54 : AshtechGps::processRecord() - $GPGGA,182223.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,182158.99,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5b : AshtechGps::processRecord() - $GPGGA,182224.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,182159.99,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5a : AshtechGps::processRecord() - $GPGGA,182225.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,182200.99,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*55 : AshtechGps::processRecord() - $GPGGA,182226.00,,,,,0,00,,,M,,M,,*45 : 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,182201.99,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*54 : AshtechGps::processRecord() - $GPGGA,182227.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,182202.99,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*57 : AshtechGps::processRecord() - $GPGGA,182228.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,182203.99,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*56 : AshtechGps::processRecord() - $GPGGA,182229.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,182204.99,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*51 : AshtechGps::processRecord() - $GPGGA,182230.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,182205.99,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*50 : AshtechGps::processRecord() - $GPGGA,182231.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,182206.99,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*53 : AshtechGps::processRecord() - $GPGGA,182232.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,182207.99,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*52 : AshtechGps::processRecord() - $GPGGA,182233.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,182208.99,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5d : AshtechGps::processRecord() - $GPGGA,182234.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,182209.99,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5c : AshtechGps::processRecord() - $GPGGA,182235.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,182210.99,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*54 : AshtechGps::processRecord() - $GPGGA,182236.00,,,,,0,00,,,M,,M,,*44 : 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() () - sampleInterval=200, maxInterval=200 : NMEA Update: $GPGGA,182211.99,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*55 : AshtechGps::processRecord() - $GPGGA,182237.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : **** 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 *** : NMEA Update: $GPGGA,182212.99,3648.7200,N,-12158.1395,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,182238.00,,,,,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 : NMEA Update: $GPGGA,182213.99,3648.7201,N,-12158.1395,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,182239.00,,,,,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 : NMEA Update: $GPGGA,182214.99,3648.7201,N,-12158.1394,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,182240.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,182215.99,3648.7202,N,-12158.1392,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,182241.00,,,,,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 : NMEA Update: $GPGGA,182216.99,3648.7203,N,-12158.1391,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,182242.00,,,,,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 : NMEA Update: $GPGGA,182217.99,3648.7204,N,-12158.1391,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,182243.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,182218.99,3648.7204,N,-12158.1391,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,182244.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,182219.99,3648.7205,N,-12158.1389,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,182245.00,,,,,0,00,,,M,,M,,*40 : 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,182220.99,3648.7207,N,-12158.1388,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,182246.00,,,,,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 : NMEA Update: $GPGGA,182221.99,3648.7208,N,-12158.1387,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,182247.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,182222.99,3648.7210,N,-12158.1386,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,182248.00,,,,,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 : NMEA Update: $GPGGA,182223.99,3648.7212,N,-12158.1385,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,182249.00,,,,,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 : NMEA Update: $GPGGA,182224.99,3648.7215,N,-12158.1385,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,182250.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,182225.99,3648.7218,N,-12158.1383,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,182251.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,182226.99,3648.7222,N,-12158.1381,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,182252.00,,,,,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,182227.99,3648.7226,N,-12158.1380,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,182253.00,,,,,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 : NMEA Update: $GPGGA,182228.99,3648.7230,N,-12158.1379,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,182254.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,182229.99,3648.7234,N,-12158.1377,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,182255.00,,,,,0,00,,,M,,M,,*41 : 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,182230.99,3648.7237,N,-12158.1376,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,182256.00,,,,,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 : NMEA Update: $GPGGA,182231.99,3648.7240,N,-12158.1375,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,182257.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,182232.99,3648.7240,N,-12158.1375,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,182258.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,182233.99,3648.7240,N,-12158.1375,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,182259.00,,,,,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 : NMEA Update: $GPGGA,182234.99,3648.7240,N,-12158.1375,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,182300.00,,,,,0,00,,,M,,M,,*40 : 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,182235.99,3648.7240,N,-12158.1375,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,182301.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,182236.99,3648.7240,N,-12158.1375,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,182302.00,,,,,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 : NMEA Update: $GPGGA,182237.99,3648.7240,N,-12158.1375,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,182303.00,,,,,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 : NMEA Update: $GPGGA,182238.99,3648.7240,N,-12158.1375,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,182304.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,182239.99,3648.7240,N,-12158.1375,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,182305.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,182240.99,3648.7240,N,-12158.1375,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,182306.00,,,,,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,182241.99,3648.7240,N,-12158.1375,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,182307.00,,,,,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 : NMEA Update: $GPGGA,182242.99,3648.7240,N,-12158.1375,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,182308.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,182243.98,3648.7240,N,-12158.1375,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,182309.00,,,,,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 : NMEA Update: $GPGGA,182244.98,3648.7239,N,-12158.1376,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,182310.00,,,,,0,00,,,M,,M,,*41 : 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,182245.98,3648.7239,N,-12158.1376,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,182311.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,182246.98,3648.7237,N,-12158.1377,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,182312.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,182247.98,3648.7234,N,-12158.1377,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,182313.00,,,,,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 : NMEA Update: $GPGGA,182248.98,3648.7231,N,-12158.1378,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,182314.00,,,,,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 : NMEA Update: $GPGGA,182249.98,3648.7228,N,-12158.1378,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,182315.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : PeriodicTask::run() (terrainAidDriver) - sampleInterval=5000, maxInterval=5000 : NMEA Update: $GPGGA,182250.98,3648.7226,N,-12158.1380,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,182316.00,,,,,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 : NMEA Update: $GPGGA,182251.98,3648.7223,N,-12158.1382,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,182317.00,,,,,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,182252.98,3648.7219,N,-12158.1384,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,182318.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,182253.98,3648.7217,N,-12158.1385,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,182319.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,182254.98,3648.7215,N,-12158.1385,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,182320.00,,,,,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 : TerrainAidDriver:: _navTime0 = 1265739775.27 : TerrainAidDriver:: _dvlTime0 = 66174.40 : 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 : NMEA Update: $GPGGA,182255.98,3648.7214,N,-12158.1386,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,182321.00,,,,,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 : Estimated North Bias at time = 0.00 : 0.40 : Estimated East Bias at time = 0.00 : 0.14 : Estimated Depth Bias at time = 0.00 : -0.07 : Estimated northing and easting = 4074900.40 : 591100.14 : NMEA Update: $GPGGA,182256.98,3648.7213,N,-12158.1385,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,182322.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,182257.98,3648.7213,N,-12158.1386,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,182323.00,,,,,0,00,,,M,,M,,*41 : 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,182258.98,3648.7212,N,-12158.1387,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,182324.00,,,,,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,182259.98,3648.7211,N,-12158.1388,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,182325.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 4.999658 : TerrainNav update at dvl time = 4.999658 : _navData-> (x,y) = (4074900.00, 591100.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,182300.98,3648.7210,N,-12158.1387,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,182326.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 5.00 : 4.95 : Estimated East Bias at time = 5.00 : -1.92 : Estimated Depth Bias at time = 5.00 : -0.07 : Estimated northing and easting = 4074904.95 : 591098.08 : NMEA Update: $GPGGA,182301.98,3648.7210,N,-12158.1388,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,182327.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,182302.98,3648.7210,N,-12158.1386,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,182328.00,,,,,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 : NMEA Update: $GPGGA,182303.98,3648.7212,N,-12158.1386,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,182329.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,182304.98,3648.7212,N,-12158.1385,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,182330.00,,,,,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 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 9.999315 : TerrainNav update at dvl time = 9.999315 : _navData-> (x,y) = (4074900.00, 591100.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,182305.98,3648.7212,N,-12158.1386,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,182331.00,,,,,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 : Estimated North Bias at time = 10.00 : 9.50 : Estimated East Bias at time = 10.00 : -3.97 : Estimated Depth Bias at time = 10.00 : -0.07 : Estimated northing and easting = 4074909.50 : 591096.03 : NMEA Update: $GPGGA,182306.98,3648.7213,N,-12158.1385,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,182332.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,182307.98,3648.7214,N,-12158.1384,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,182333.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,182308.98,3648.7215,N,-12158.1382,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,182334.00,,,,,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 : NMEA Update: $GPGGA,182309.98,3648.7216,N,-12158.1383,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,182335.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 14.998973 : TerrainNav update at dvl time = 14.998973 : _navData-> (x,y) = (4074900.00, 591100.00) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,182310.98,3648.7218,N,-12158.1382,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,182336.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 15.00 : 14.04 : Estimated East Bias at time = 15.00 : -6.03 : Estimated Depth Bias at time = 15.00 : -0.07 : Estimated northing and easting = 4074914.04 : 591093.97 : NMEA Update: $GPGGA,182311.98,3648.7221,N,-12158.1381,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,182337.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,182312.98,3648.7222,N,-12158.1379,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,182338.00,,,,,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 : NMEA Update: $GPGGA,182313.98,3648.7224,N,-12158.1379,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,182339.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,182314.98,3648.7226,N,-12158.1378,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,182340.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 19.998630 : TerrainNav update at dvl time = 19.998630 : _navData-> (x,y) = (4074900.00, 591100.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,182315.98,3648.7228,N,-12158.1376,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,182341.00,,,,,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 : Estimated North Bias at time = 20.00 : 18.59 : Estimated East Bias at time = 20.00 : -8.08 : Estimated Depth Bias at time = 20.00 : -0.07 : Estimated northing and easting = 4074918.59 : 591091.92 : NMEA Update: $GPGGA,182316.98,3648.7230,N,-12158.1375,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,182342.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,182317.98,3648.7233,N,-12158.1374,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,182343.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,182318.98,3648.7236,N,-12158.1374,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,182344.00,,,,,0,00,,,M,,M,,*40 : 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,182319.98,3648.7238,N,-12158.1372,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,182345.00,,,,,0,00,,,M,,M,,*41 : 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 = 24.998288 : TerrainNav update at dvl time = 24.998288 : _navData-> (x,y) = (4074900.00, 591100.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,182320.98,3648.7241,N,-12158.1371,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,182346.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 25.00 : 23.13 : Estimated East Bias at time = 25.00 : -10.14 : Estimated Depth Bias at time = 25.00 : -0.07 : Estimated northing and easting = 4074923.13 : 591089.86 : NMEA Update: $GPGGA,182321.98,3648.7244,N,-12158.1370,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,182347.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,182322.98,3648.7247,N,-12158.1368,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,182348.00,,,,,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 : NMEA Update: $GPGGA,182323.98,3648.7250,N,-12158.1367,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,182349.00,,,,,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 : NMEA Update: $GPGGA,182324.98,3648.7254,N,-12158.1365,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,182350.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 29.997945 : TerrainNav update at dvl time = 29.997945 : _navData-> (x,y) = (4074900.00, 591100.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,182325.98,3648.7256,N,-12158.1364,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,182351.00,,,,,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 : Estimated North Bias at time = 30.00 : 27.68 : Estimated East Bias at time = 30.00 : -12.19 : Estimated Depth Bias at time = 30.00 : -0.07 : Estimated northing and easting = 4074927.68 : 591087.81 : NMEA Update: $GPGGA,182326.98,3648.7259,N,-12158.1363,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,182352.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,182327.98,3648.7261,N,-12158.1362,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,182353.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,182328.98,3648.7264,N,-12158.1361,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,182354.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,182329.98,3648.7267,N,-12158.1360,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,182355.00,,,,,0,00,,,M,,M,,*40 : 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 = 34.997603 : TerrainNav update at dvl time = 34.997603 : _navData-> (x,y) = (4074900.00, 591100.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,182330.98,3648.7270,N,-12158.1358,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,182356.00,,,,,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 : Estimated North Bias at time = 35.00 : 32.24 : Estimated East Bias at time = 35.00 : -14.24 : Estimated Depth Bias at time = 35.00 : -0.07 : Estimated northing and easting = 4074932.24 : 591085.76 : NMEA Update: $GPGGA,182331.98,3648.7272,N,-12158.1357,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,182357.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,182332.98,3648.7275,N,-12158.1355,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,182358.00,,,,,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 : NMEA Update: $GPGGA,182333.98,3648.7279,N,-12158.1354,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,182359.00,,,,,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 : NMEA Update: $GPGGA,182334.98,3648.7281,N,-12158.1353,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,182400.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 39.997260 : TerrainNav update at dvl time = 39.997260 : _navData-> (x,y) = (4074900.00, 591100.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,182335.98,3648.7283,N,-12158.1353,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,182401.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : **** 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 : TaskServer::signalHandler() for task BenthosModemServer - exit() on signal 2 //10/home/dorado1/auv-qnx/auv/altex/onboard/bin/layeredControl terminated (SIGSEGV) at 0007:00044650. : NavigationOutput::~NavigationOutput() : 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 : **** SharedData destructor for object navigationOutput **** : StepGetStat(2): checksum error : 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 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 **** : TaskServer::signalHandler() for task DepthSensorIFServer - exit() on signal 18 : **** SharedData destructor for object SonardyneOutput_ShmemName **** : 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 m3dmgx1Cmd **** : **** SharedData destructor for object m3dmgx1 **** : **** 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 **** : TaskServer::signalHandler() for task NavigationIFServer - exit() on signal 18 : 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 ParosciOutput_ShmemName **** : **** 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 BenthosModemOutout **** : TaskServer::signalHandler() for task GpsIFServer - exit() on signal 18 : TaskServer::signalHandler() for task UsblIFServer - exit() on signal 18 : **** SharedData destructor for object m3dmgx1Cmd **** : **** SharedData destructor for object CameraOutput **** : **** SharedData destructor for object m3dmgx1 **** : SerialDeviceExt::closeSD() - closed : **** SharedData destructor for object TailConeOutput_ShmemName **** : **** SharedData destructor for object LayeredControlOutput_ShmemName **** : NavigationOutput::~NavigationOutput() : Supervisor::cleanup() - delete _theSupervisor : TaskServer::signalHandler() for task DropWeightIFServer - exit() on signal 18 : **** SharedData destructor for object navigationOutput **** : Supervisor::shutdown() : Supervisor::shutdown() - done() : TaskServer::signalHandler() for task NavigationIFServer - exit() on signal 2 : TerrainAidDestructor Executing. : **** SharedData destructor for object TerrainAidOutput **** : **** SharedData destructor for object TailConeInput_ShmemName **** : **** SharedData destructor for object TailConeOutput_ShmemName **** : SerialDevice: done... : Dvl::~Dvl: Destructor Finished. //10/home/dorado1/auv-qnx/auv/altex/onboard/bin/dvl terminated (SIGSEGV) at 0007:0002456F.