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
ea: 1:	2	600531.687500E	4065156.000000N	73.199997 m	10.000000 ms	channel:4
teTa: 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
) : 4:	5	602732.187500E	4067093.000000N	57.299999 m	10.000000 ms	channel:7
- la: WorkSite server: 0x2307c
yeredControlServer
Sup: New Navigation component constructor
e: Navigation - Using only the Dvl to compute altitude.
rvis: Navigation: Opening Acoustic Modem Interface:
or::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() - dr: SerialDevice: done...

opWeightServer
: SerialDevice: done...

Supervisor::createTask() - sonard: Gps: initializing

yne: SerialDevice: done...

: SerialDevice: done...

Server: SerialDevice: done...


: SerialDevice: done...

Su: SerialDevice: done...

per: Crossbow.cc: In getSerialNumber()
visor::createTask() - cameraServer: SerialDevice: done...


Supervisor::createTask() - echoSoun: SonardyneServer.cc was last compiled on Jan 25 2010, 19:16:17

derServe: SerialDevice: done...

r
Supervisor::createTask() -: SerialDevice: done...

 ben:  DropWeight::initialize - Resetting counters.
th: **** EventTriggers::add() - attaching proxy
osServer
Sup: SerialDevice: done...

ervisor::createTask() - terrainAidSer: SonardyneDriver.cc was last compiled on Jan 25 2010, 19:16:13

ver
: SerialDeviceDriver::initialize()
: 
 Starting DVL Initialization.

: SerialDevice: done...

: CameraDriver:: Before navigation IF.
: DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize()
: PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200
: 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        = 1490.000000 m/s
	Beacon     = V4,5
	MRPL       = 2 ms

: SerialDevice: done...

: BenthosModem::commandMode() - confirming...
: SerialDevice: done...

: 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
: Set verbose level
: Configuration file = /home/dorado1/auv-qnx/auv/altex/onboard/config/docking/terrainAid.cfg

: TerrainAid -- configuration:

: 	mapFileName = SoquelCanyonMAUVUTMTopo_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
: 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

: Crossbow.cc: device->read succeeded
: m3dmgx1: Serial Number is 6380

: PeriodicTask::run() (crossbow) - sampleInterval=100, maxInterval=100
: 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
: Navigation: acommsIF = 0x72ae8

: 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
>
: Turn on doppler correction
: BP001
>
: CF11010
>
: CB611
>
: SerialDevice: done...

:  Dvl::initialize - Baud rate set to 38400.

: EX10011
>
: NMEA Update: $GPGGA,122645.63,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5f

: 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
: BenthosModem::onlineMode() - confirming...
: Gps: done initializing...

: **** EventTriggers::add() - attaching proxy
: AshtechGps::processRecord() - ,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: **** EventTriggers::add() - attaching proxy
: done initializing modem

: PeriodicTask::run() (BenthosModem) - sampleInterval=1000, maxInterval=1000
: SerialDevice: done...

: 3 Modules found
: NMEA Update: $GPGGA,122646.63,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5c

: AshtechGps::processRecord() - $GPGGA,223612.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,122647.63,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5d

: PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200
: AshtechGps::processRecord() - $GPGGA,223613.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,122648.63,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*52

: AshtechGps::processRecord() - $GPGGA,223614.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,122649.63,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*53

: AshtechGps::processRecord() - $GPGGA,223615.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,122650.63,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5b

: AshtechGps::processRecord() - $GPGGA,223616.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,122651.63,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5a

: AshtechGps::processRecord() - $GPGGA,223617.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Parosci.cc -- Initial pressure = 1.034214
: NMEA Update: $GPGGA,122652.63,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*59

: Parosci.cc -- Parosci initial pressure period = 30.138250
: AshtechGps::processRecord() - $GPGGA,223618.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Parosci.cc -- Parosci initial temp period = 5.840417
: Parosci.cc -- Paroscientific configured.
: **** EventTriggers::add() - attaching proxy
: NMEA Update: $GPGGA,122653.63,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*58

: AshtechGps::processRecord() - $GPGGA,223619.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,122654.63,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5f

: AshtechGps::processRecord() - $GPGGA,223620.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,122655.63,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5e

: AshtechGps::processRecord() - $GPGGA,223621.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,122656.63,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5d

: AshtechGps::processRecord() - $GPGGA,223622.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,122657.63,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5c

: AshtechGps::processRecord() - $GPGGA,223623.00,,,,,0,00,,,M,,M,,*4C

: 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,122658.63,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*53

: AshtechGps::processRecord() - $GPGGA,223624.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,122659.63,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*52

: AshtechGps::processRecord() - $GPGGA,223625.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,122700.63,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5f

: AshtechGps::processRecord() - $GPGGA,223626.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,122701.63,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5e

: AshtechGps::processRecord() - $GPGGA,223627.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,122702.63,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5d

: AshtechGps::processRecord() - $GPGGA,223628.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,122703.63,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5c

: AshtechGps::processRecord() - $GPGGA,223629.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,122704.63,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5b

: AshtechGps::processRecord() - $GPGGA,223630.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,122705.63,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5a

: AshtechGps::processRecord() - $GPGGA,223631.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,122706.63,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*59

: AshtechGps::processRecord() - $GPGGA,223632.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,122707.63,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*58

: AshtechGps::processRecord() - $GPGGA,223633.00,,,,,0,00,,,M,,M,,*4D

: 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
: **** 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,122708.63,3648.7200,N,-12158.1394,W,1,03,00.5,1000.0,M,-99.9,M,,*77

: AshtechGps::processRecord() - $GPGGA,223634.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,122709.63,3648.7197,N,-12158.1394,W,1,03,00.5,1000.0,M,-99.9,M,,*7b

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=0.61
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,223635.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,122710.63,3648.7196,N,-12158.1394,W,1,03,00.5,1000.0,M,-99.9,M,,*72

: AshtechGps::processRecord() - $GPGGA,223636.00,,,,,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

: NMEA Update: $GPGGA,122711.63,3648.7195,N,-12158.1394,W,1,03,00.5,1000.0,M,-99.9,M,,*70

: AshtechGps::processRecord() - $GPGGA,223637.00,,,,,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,122712.63,3648.7195,N,-12158.1394,W,1,03,00.5,1000.0,M,-99.9,M,,*73

: AshtechGps::processRecord() - $GPGGA,223638.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,122713.63,3648.7194,N,-12158.1394,W,1,03,00.5,1000.0,M,-99.9,M,,*73

: AshtechGps::processRecord() - $GPGGA,223639.00,,,,,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,122714.63,3648.7194,N,-12158.1393,W,1,03,00.5,1000.0,M,-99.9,M,,*73

: AshtechGps::processRecord() - $GPGGA,223640.00,,,,,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,122715.63,3648.7193,N,-12158.1394,W,1,03,00.5,1000.0,M,-99.9,M,,*72

: AshtechGps::processRecord() - $GPGGA,223641.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,122716.63,3648.7193,N,-12158.1394,W,1,03,00.5,1000.0,M,-99.9,M,,*71

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=0.61
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,223642.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,122717.63,3648.7193,N,-12158.1393,W,1,03,00.5,1000.0,M,-99.9,M,,*77

: AshtechGps::processRecord() - $GPGGA,223643.00,,,,,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,122718.63,3648.7193,N,-12158.1393,W,1,03,00.5,1000.0,M,-99.9,M,,*78

: AshtechGps::processRecord() - $GPGGA,223644.00,,,,,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,122719.63,3648.7193,N,-12158.1393,W,1,03,00.5,1000.0,M,-99.9,M,,*79

: AshtechGps::processRecord() - $GPGGA,223645.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,122720.63,3648.7192,N,-12158.1393,W,1,03,00.5,1000.0,M,-99.9,M,,*72

: AshtechGps::processRecord() - $GPGGA,223646.00,,,,,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

: NMEA Update: $GPGGA,122721.63,3648.7192,N,-12158.1393,W,1,03,00.5,1000.0,M,-99.9,M,,*73

: AshtechGps::processRecord() - $GPGGA,223647.00,,,,,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

: NMEA Update: $GPGGA,122722.63,3648.7192,N,-12158.1393,W,1,03,00.5,1000.0,M,-99.9,M,,*70

: AshtechGps::processRecord() - $GPGGA,223648.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,122723.63,3648.7192,N,-12158.1393,W,1,03,00.5,1000.0,M,-99.9,M,,*71

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=0.61
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,223649.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,122724.63,3648.7192,N,-12158.1393,W,1,03,00.5,1000.0,M,-99.9,M,,*76

: AshtechGps::processRecord() - $GPGGA,223650.00,,,,,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

: NMEA Update: $GPGGA,122725.63,3648.7192,N,-12158.1393,W,1,03,00.5,1000.0,M,-99.9,M,,*77

: AshtechGps::processRecord() - $GPGGA,223651.00,,,,,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,122726.63,3648.7193,N,-12158.1392,W,1,03,00.5,1000.0,M,-99.9,M,,*74

: AshtechGps::processRecord() - $GPGGA,223652.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,122727.63,3648.7192,N,-12158.1391,W,1,03,00.5,1000.0,M,-99.9,M,,*77

: AshtechGps::processRecord() - $GPGGA,223653.00,,,,,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,122728.63,3648.7191,N,-12158.1391,W,1,03,00.5,1000.0,M,-99.9,M,,*7b

: AshtechGps::processRecord() - $GPGGA,223654.00,,,,,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,122729.63,3648.7191,N,-12158.1391,W,1,03,00.5,1000.0,M,-99.9,M,,*7a

: AshtechGps::processRecord() - $GPGGA,223655.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,122730.63,3648.7191,N,-12158.1391,W,1,03,00.5,1000.0,M,-99.9,M,,*72

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=0.61
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,223656.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,122731.63,3648.7190,N,-12158.1391,W,1,03,00.5,1000.0,M,-99.9,M,,*72

: AshtechGps::processRecord() - $GPGGA,223657.00,,,,,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

: NMEA Update: $GPGGA,122732.63,3648.7189,N,-12158.1391,W,1,03,00.5,1000.0,M,-99.9,M,,*79

: AshtechGps::processRecord() - $GPGGA,223658.00,,,,,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,122733.63,3648.7188,N,-12158.1390,W,1,03,00.5,1000.0,M,-99.9,M,,*78

: AshtechGps::processRecord() - $GPGGA,223659.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,122734.63,3648.7188,N,-12158.1390,W,1,03,00.5,1000.0,M,-99.9,M,,*7f

: AshtechGps::processRecord() - $GPGGA,223700.00,,,,,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,122735.63,3648.7187,N,-12158.1390,W,1,03,00.5,1000.0,M,-99.9,M,,*71

: AshtechGps::processRecord() - $GPGGA,223701.00,,,,,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,122736.63,3648.7186,N,-12158.1390,W,1,03,00.5,1000.0,M,-99.9,M,,*73

: AshtechGps::processRecord() - $GPGGA,223702.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,122737.63,3648.7185,N,-12158.1388,W,1,03,00.5,1000.0,M,-99.9,M,,*78

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=0.61
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,223703.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,122738.63,3648.7184,N,-12158.1388,W,1,03,00.5,1000.0,M,-99.9,M,,*76

: AshtechGps::processRecord() - $GPGGA,223704.00,,,,,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

: NMEA Update: $GPGGA,122739.63,3648.7184,N,-12158.1387,W,1,03,00.5,1000.0,M,-99.9,M,,*78

: AshtechGps::processRecord() - $GPGGA,223705.00,,,,,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,122740.63,3648.7184,N,-12158.1387,W,1,03,00.5,1000.0,M,-99.9,M,,*76

: AshtechGps::processRecord() - $GPGGA,223706.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,122741.63,3648.7184,N,-12158.1387,W,1,03,00.5,1000.0,M,-99.9,M,,*77

: AshtechGps::processRecord() - $GPGGA,223707.00,,,,,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,122742.63,3648.7184,N,-12158.1387,W,1,03,00.5,1000.0,M,-99.9,M,,*74

: AshtechGps::processRecord() - $GPGGA,223708.00,,,,,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,122743.63,3648.7182,N,-12158.1387,W,1,03,00.5,1000.0,M,-99.9,M,,*73

: AshtechGps::processRecord() - $GPGGA,223709.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,122744.63,3648.7182,N,-12158.1387,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

: PeriodicTask::run() (terrainAidDriver) - sampleInterval=5000, maxInterval=5000
: AshtechGps::processRecord() - $GPGGA,223710.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,122745.63,3648.7182,N,-12158.1387,W,1,03,00.5,1000.0,M,-99.9,M,,*75

: AshtechGps::processRecord() - $GPGGA,223711.00,,,,,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,122746.63,3648.7182,N,-12158.1387,W,1,03,00.5,1000.0,M,-99.9,M,,*76

: AshtechGps::processRecord() - $GPGGA,223712.00,,,,,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

: NMEA Update: $GPGGA,122747.63,3648.7183,N,-12158.1386,W,1,03,00.5,1000.0,M,-99.9,M,,*77

: AshtechGps::processRecord() - $GPGGA,223713.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,122748.63,3648.7182,N,-12158.1386,W,1,03,00.5,1000.0,M,-99.9,M,,*79

: AshtechGps::processRecord() - $GPGGA,223714.00,,,,,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,122749.63,3648.7182,N,-12158.1386,W,1,03,00.5,1000.0,M,-99.9,M,,*78

: AshtechGps::processRecord() - $GPGGA,223715.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: TerrainAidDriver:: _navTime0 = 1268656069.75
: TerrainAidDriver:: _dvlTime0 = 44867.95
: 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


//10/home/dorado1/auv-qnx/auv/altex/onboard/bin/terrainAidDriver terminated (SIGSEGV) at 0007:000198D2.
: TaskServer::signalHandler() for task TerrainAidIFServer - exit() on signal 18

: **** SharedData destructor for object TerrainAidOutput ****

: dynamicControlServer - caught Exception: Server "TerrainAidIFServer" not found

: layeredControl - caught SharedObject::Error Server "DynamicControlIFServer" not found

//10/home/dorado1/auv-qnx/auv/altex/onboard/bin/layeredControl terminated (SIGSEGV) at 0007:00044650.
: TaskServer::signalHandler() for task LayeredControlIFServer - exit() on signal 18

: **** SharedData destructor for object LayeredControlInput_ShmemName ****

: **** SharedData destructor for object LayeredControlOutput_ShmemName ****

: TaskServer::forwardEvent() - No such process

: TaskServer::forwardEvent() - No such process

: Task "layeredControlServer" died?

Supervisor::createTask() - layeredControlServer
: Task "dynamicControlServer" died?

Supervisor::createTask: NMEA Update: $GPGGA,122750.63,3648.7181,N,-12158.1385,W,1,03,00.5,1000.0,M,-99.9,M,,*70

() - dynamicControlServer
: Task "terrainAidServer" died?

Supervisor::createTask() - terrainAidServer
: Illegal option: -restart
: TaskServer::forwardEvent() - No such process

: usage: layeredControl [-plan file][-abort file]
: Supervisor::Supervisor() - task(s) died; exiting

: TaskServer::signalHandler() for task LayeredControlIFServer - exit() on signal 18

: Supervisor::shutdown()

: **** SharedData destructor for object LayeredControlInput_ShmemName ****

: **** SharedData destructor for object ParosciOutput_ShmemName ****

: TaskServer::signalHandler() for task BenthosModemServer - exit() on signal 2

: 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

: Supervisor::signalHandler(); caught signal 2
: TaskServer::signalHandler() for task DynamicControlIFServer - exit() on signal 2

: Supervisor::signalHandler(); caught signal 2
: TaskServer::signalHandler() for task CameraIFServer - exit() on signal 2

: TaskServer::signalHandler() for task EchoSounderIFServer - exit() on signal 2

:  CameraDestructor Executing.
: TaskServer::signalHandler() for task LayeredControlIFServer - exit() on 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

:  DropWeight Destructor Executing.
: NavigationOutput::~NavigationOutput()

: **** SharedData destructor for object GpsOutput_ShmemName ****

: TaskServer::signalHandler() for task DepthSensorIFServer - exit() on signal 18

: TaskServer::signalHandler() for task ExternalCommsIFServer - exit() on signal 18

: **** SharedData destructor for object SonardyneOutput_ShmemName ****

: 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 TailConeInput_ShmemName ****

: **** SharedData destructor for object GpsOutput_ShmemName ****

: **** SharedData destructor for object DvlOutput_ShmemName ****

: **** SharedData destructor for object navigationOutput ****

: 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

: NavigationOutput::~NavigationOutput()

: **** SharedData destructor for object CameraOutput ****

: **** SharedData destructor for object dropWeightOutput ****

: **** SharedData destructor for object EchoSounderOutput_ShmemName ****

: **** SharedData destructor for object dropWeightOutput ****

: **** SharedData destructor for object ParosciOutput_ShmemName ****

: **** SharedData destructor for object BenthosModemOutout ****

: TaskServer::signalHandler() for task GpsIFServer - exit() on signal 18

: TaskServer::signalHandler() for task NavigationIFServer - exit() on signal 18

: TaskServer::signalHandler() for task UsblIFServer - exit() on signal 18

: **** SharedData destructor for object m3dmgx1Cmd ****

: **** SharedData destructor for object TailConeOutput_ShmemName ****

: SerialDeviceExt::closeSD() - closed

: **** SharedData destructor for object m3dmgx1 ****

: Supervisor::cleanup() - delete _theSupervisor

: Supervisor::cleanup() - delete _theSupervisor

: **** SharedData destructor for object CameraOutput ****

: TaskServer::signalHandler() for task DropWeightIFServer - exit() on signal 18

: Supervisor::shutdown()

: Supervisor::shutdown()

: Supervisor::shutdown() - done()

: Supervisor::shutdown() - done()

: 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=4, want=8
: StepGetStat (2) 5d 5d 18 18 05 00 00
: **** SharedData destructor for object TailConeInput_ShmemName ****

: **** SharedData destructor for object TailConeOutput_ShmemName ****