Supervisor::createCoreTasks() Supervisor::createTask() - eventLogServer Supervisor::createTask() - workSite Supervisor::createTask() - vehicleConfigurationServer : Initializing worksiteServer Supervisor: WorkSite::WorkSite -- Adding attributes ::: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv-qnx/auv/altex/onboard/config/dorado389/workSite.cfg createTask() - externalCommsServer Supe: Using default vehicle config file "/home/dorado1/auv-qnx/auv/altex/onboard/config/dorado389/vehicle.cfg" rvisor::createTask() - navigationServer Supervisor::createTask() - layere: WorkSite::WorkSite -- Finished loading parameters dCo: WorkSite::WorkSite -- Starting Depth is 0.000000 meters ntrolSer: 0: 1 600674.187500E 4067388.750000N 73.699997 m 10.000000 ms channel:2 ver S: 1: 2 600531.687500E 4065156.000000N 73.199997 m 10.000000 ms channel:4 uper: 2: 3 598447.000000E 4067412.250000N 91.400002 m 10.000000 ms channel:5 visor::c: 3: 4 600848.125000E 4069389.500000N 80.199997 m 10.000000 ms channel:6 reat: 4: 5 602732.187500E 4067093.000000N 57.299999 m 10.000000 ms channel:7 eT: Creating NavigationServer... ask: WorkSite server: 0x230a4 (): *** NavigationServer::NavigationServer()... - dynam: *** NavigationServer::NavigationServer() - DONE icCo: Done creating NavigationServer... ntrol: New Navigation component constructor Server: Navigation - Using only the Psa916 to compute altitude. : Navigation: Opening Acoustic Modem Interface: Supervisor::createTask() - newTailConeServer Supervisor::createTask() - m3dmgx1Server Supervisor::createTask() - gpsServer Supervisor::createTask() - parosciServer Supervis: Preparing to fork or::: I'm the child...forking createT: SerialDevice: done... a: TailConeServer -- Maximum Elevator Actuator Excursion is 0 Counts sk(): TailConeServer:: -- Minimum Elevator Actuator Excursion is 0 Counts - : TailConeServer -- Maximum Rudder Actuator Excursion is 0 Counts seab: TailConeServer -- Minimum Rudder Actuator Excursion is 0 Counts irdS: SerialDevice: done... erver : SerialDevice: done... Supervisor::createTas: SerialDevice: done... : SerialDevice: done... k: Crossbow.cc: In getSerialNumber() () - seabirdSe: SerialDevice: done... rver Supervisor::createTask() - isus : Gps: initializing Su: SerialDevice: done... pe: SerialDevice: done... rvi: Gps: done initializing... so: Parosci.cc -- parsed PR (10) and TempInterval (10) r:: **** EventTriggers::add() - attaching proxy :creat: SerialDevice: done... eTas: SerialDevice: done... k() - bluefinBattDriver : Parosci.cc -- Serial # is 87761 Su: seabirdDriver RUNNING... pervisor::cr: Parosci::init() - mode set okay eateTask() - hydroscatServe: Parosci.cc -- PR reply = 10 r : seabirdDriver RUNNING... Supervi: BluefinBatt driver - running with 3 batteries s: Parosci.cc -- units = 1 or::crea: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: 1 teT: **** EventTriggers::add() - attaching proxy a: SerialDevice: done... sk() - dvlS: BluefineBatt::init() - 3 batteries on 10 second interval er: SerialDevice: done... ve: Seabird/ctdDriver -- Loading CTD constants from /home/dorado1/auv-qnx/auv/altex/onboard/config/dorado389/ctdDriver.cfg r Superviso: BluefinBatt.cc - Looking for Parosci server r:: IsusLog.cc -- beginning constructor... :cr: SerialDevice: done... eat: isusLog.cc -- constructor succeeded eTask(): BluefinBatt::init() - querying for batt ids : DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize() - : SerialDeviceDriver::initialize() dropWeig: BluefinBatt::init() - battery echo is !? htS: Seabird/ctdDriver2 -- Loading CTD constants from /home/dorado1/auv-qnx/auv/altex/onboard/config/dorado389/ctdDriver2.cfg e: Isus:initializing Isus with lamp on... rver Supervisor::createTask() - gulperServer Supervisor::cre: Crossbow.cc: device->read succeeded a: m3dmgx1: Serial Number is 3343 teTas: PeriodicTask::run() (crossbow) - sampleInterval=100, maxInterval=100 k() : CTD/ctdDriver -- Calibration constants: T_a = 3.681214e-003 T_b = 6.067021e-004 T_c = 1.675126e-005 T_d = 2.225025e-006 T_f0 = 3181.351000 C_a = 3.268324e-016 C_b = 1.568574e+000 C_c = -10.660446 C_d = -1.559360e-005 C_m = 16.700 EPS = -9.570000e-008 SOc = 3.265000e-001 BOc = 0.000000e+000 Voff = -6.587000e-001 TCor = 8.000000e-004 PCor = 1.350000e-004 - OCR: Seabird/ctdDriver::Seabird() - create interface to depth sensor... 507 : Seabird/ctdDriver -- constructing Log... : CTDLog.cc -- beginning constructor... : CTDLog.cc -- constructor succeeded : SerialDevice: done... : Seabird/ctdDriver -- constructor succeeded : seabirdDriver -- constructor succeeded : CTD/ctdDriver2 -- Calibration constants: T_a = 3.681214e-003 T_b = 5.983327e-004 T_c = 1.546899e-005 T_d = 2.304035e-006 T_f0 = 5901.203000 C_a = 2.831931e-006 C_b = 4.681276e-001 C_c = -4.124123 C_d = -7.748617e-005 C_m = 4.800 EPS = -9.570000e-008 SOc = 0.000000e+000 BOc = 0.000000e+000 Voff = 0.000000e+000 TCor = 0.000000e+000 PCor = 0.000000e+000 : Seabird/ctdDriver:initializing Seabird... : Seabird/ctdDriver2::Seabird() - create interface to depth sensor... : Seabird/ctdDriver2 -- constructing Log... : SerialDevice: done... : CTDLog.cc -- beginning constructor... : CTDLog.cc -- constructor succeeded : Seabird/ctdDriver2 -- constructor succeeded : seabirdDriver -- constructor succeeded : Seabird/ctdDriver2:initializing Seabird... : DropWeight::initialize - Resetting counters. : **** EventTriggers::add() - attaching proxy : SerialDevice: done... : **** EventTriggers::add() - attaching proxy : gulperLog:: Constructor completed. : PeriodicTask::run() (gulperDriver) - sampleInterval=1000, maxInterval=1000 : hydroscat:hs2cal parsing /home/dorado1/auv-qnx/auv/altex/onboard/config/dorado389/hs2Calibration.dat : SerialDeviceDriver::initialize() : SerialDeviceDriver::initialize() : Starting DVL Initialization. : SerialDevice: done... : Seabird/ctdDriver: sending configure commands...(1400) : Seabird/ctdDriver2: sending configure commands...(24971) : Parosci.cc -- Initial pressure = 1.089372 : SerialDevice: done... : Parosci.cc -- Parosci initial pressure period = 30.067280 : Parosci.cc -- Parosci initial temp period = 5.796400 : Parosci.cc -- Paroscientific configured. : SerialDevice: done... : 3 Modules found : **** EventTriggers::add() - attaching proxy : Seabird/ctdDriver: setting scans... : CR1 [Parameters set to FACTORY defaults] > : Seabird/ctdDriver2: setting scans... : PD0 > : BK1 > : TP00:00.33 > : TE00:00:0.00 > : BL,10,010,100 > : BP001 > : CF11010 > : CB611 > : SerialDevice: done... : Dvl::initialize - Baud rate set to 38400. : EX10011 > : EA+04500 > : WP0001 > : WN50 > : Dvl::initialize - The number of cells is 50. : WV210 > : Dvl::initialize - 14 valid commands read in from dvl.cfg. : PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200 : EC1490 > : > : PD0Header = 7F7FCF04 : Dvl::initialize() - The DVL is initialized. : **** EventTriggers::add() - attaching proxy : Hydroscat:non-fatal response to OPEN, continuing... : Isus:time set with val 1284502193 -> Tue Sep 14 22:09:56 2010 : Isus:comms initialized, warmup countdown begun... : Isus:starting Isus... : Isus:started : Hydroscat:starting Hydroscat... : Hydroscat:started : **** EventTriggers::add() - attaching proxy : Hydroscat::readRecord() ensemble checksum incorrect : **** EventTriggers::add() - attaching proxy : Hydroscat::readRecord() ensemble checksum incorrect : Hydroscat::readRecord() ensemble checksum incorrect : Hydroscat::readRecord() ensemble checksum incorrect : Hydroscat::readRecord() ensemble checksum incorrect : Hydroscat::readRecord() ensemble checksum incorrect : Hydroscat::readRecord() ensemble checksum incorrect : Hydroscat:stopping Hydroscat... : BluefinBatt::init() - battery ids are aa c0 c1 : BluefinBatt::init() - found battery aa : BluefinBatt::init() - found battery c0 : BluefinBatt::init() - found battery c1 : BluefinBatt::init() - battery echo is #aawf : SerialDevice::confirm() - Timed Out : SerialDevice::confirm() - Timed Out : Hydroscat:starting Hydroscat... : Hydroscat:started : Hydroscat::readRecord() ensemble checksum incorrect : Hydroscat::readRecord() ensemble checksum incorrect : Hydroscat::readRecord() ensemble checksum incorrect : Hydroscat::readRecord() ensemble checksum incorrect : Hydroscat::readRecord() ensemble checksum incorrect : DynamicControl - Could not open TerrainAid IF. : PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200 : SerialDevice::confirm() - Timed Out : Seabird/ctdDriver: setting pump freq... : SerialDevice::confirm() - Timed Out : Seabird/ctdDriver2: setting pump freq... : BluefinBatt::init() - battery watchdog state is $aawf 1 : BluefinBatt::init() - battery echo is #c0wf : Seabird/ctdDriver: setting upcast... : Seabird/ctdDriver2: setting upcast... : Seabird/ctdDriver: setting battery type... : Seabird/ctdDriver2: setting battery type... : Seabird/ctdDriver: setting external voltages to 6...(1400) : Seabird/ctdDriver2: setting external voltages to 6...(24971) : Seabird/ctdDriver::initialize() - confirming voltage... : Seabird/ctdDriver2::initialize() - confirming voltage... : Seabird/ctdDriver::initialize() - confirming voltage... : Seabird/ctdDriver2::initialize() - confirming voltage... : Seabird/ctdDriver::initialize() - confirming voltage... : Seabird/ctdDriver2::initialize() - confirming voltage... : Seabird/ctdDriver::initialize() - confirming voltage... : Seabird/ctdDriver2::initialize() - confirming voltage... : Seabird/ctdDriver::initialize() - confirming voltage... : Seabird/ctdDriver2::initialize() - confirming voltage... : Seabird/ctdDriver::initialize() - confirming voltage... : Seabird/ctdDriver2::initialize() - confirming voltage... : Seabird/ctdDriver::initialize() - disabling switch... : Seabird/ctdDriver: sending DS command... : Seabird/ctdDriver2::initialize() - disabling switch... : Seabird/ctdDriver2: sending DS command... : BluefinBatt::init() - battery watchdog state is $c0wf 1 : BluefinBatt::init() - battery echo is #c1wf : Navigation: navigation: unable to open modem interface : ahrs if is Ahrs : Seabird/ctdDriver::initialize() - starting logging... : Seabird/ctdDriver2::initialize() - starting logging... : BluefinBatt::init() - battery watchdog state is $c1wf 1 : Ctd/ctdDriver:initialize() - Logging Started... : Ctd/ctdDriver:initialize() - ready! : **** EventTriggers::add() - attaching proxy : PeriodicTask::run() (BluefinBatt) - sampleInterval=10000, maxInterval=10000 : Ctd/ctdDriver2:initialize() - Logging Started... : Ctd/ctdDriver2:initialize() - ready! : **** EventTriggers::add() - attaching proxy : Lbl NavSensor - could not create LBL task interface : Navigation: Server for aux sensor "Lbl" not found : BluefinBatt Reply: $aaq0 d- 32.90 0.51 16.89 4.10 4.13 0 3261.04 03:50:57 m : BluefinBatt Reply: $c0q0 d- 33.09 0.67 17.48 4.09 4.12 0 -8189.78 03:50:59 m : BluefinBatt Reply: $c1q0 d- 32.87 1.11 17.28 4.10 4.12 0 -11070.01 03:51:01 m : batts online 3, min cell voltage 4.090000, mean min cell voltage 4.096667 : Isus:20 seconds of warmup remaining... : Navigation: Server for aux sensor "Altimeter" not found : Navigation: Server for aux sensor "Velocimeter" not found : BluefinBatt Reply: $aaq0 d- 32.86 0.48 16.89 4.10 4.13 0 3261.01 03:51:07 m : BluefinBatt Reply: $c0q0 d- 33.05 0.71 17.48 4.09 4.12 0 -8189.86 03:51:09 m : BluefinBatt Reply: $c1q0 d- 32.91 1.18 17.38 4.10 4.12 0 -11070.10 03:51:11 m : batts online 3, min cell voltage 4.090000, mean min cell voltage 4.096667 : Navigation: Server for aux sensor "Usbl" not found : Navigation:: The DVL will be used as the altimeter. The instrument specified in vehicle.cfg is not present. : Navigation: The utm zone is 10 : Navigation: The lat/long in workSite.cfg, 36.737845, -121.880423 : Navigation: The lat/long in workSite.cfg, cvt'ed to UTM is 4066375.51, 599958.36 : PeriodicTask::run() (navigation) - sampleInterval=200, maxInterval=200 : **** EventTriggers::add() - attaching proxy : BluefinBatt Reply: $aaq0 d- 32.90 0.44 16.99 4.10 4.13 0 3260.96 03:51:17 m : 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 *** : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 33.05 0.89 17.48 4.09 4.12 0 -8189.91 03:51:19 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : BluefinBatt Reply: $c1q0 d- 32.87 1.25 17.38 4.10 4.12 0 -11070.23 03:51:21 m : batts online 3, min cell voltage 4.090000, mean min cell voltage 4.096667 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : **** EventTriggers::add() - attaching proxy : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : BluefinBatt Reply: $aaq0 d- 32.86 0.51 16.89 4.10 4.12 0 3260.92 03:51:27 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 33.05 0.89 17.48 4.09 4.12 0 -8190.02 03:51:29 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : BluefinBatt Reply: $c1q0 d- 32.87 1.32 17.38 4.10 4.12 0 -11070.32 03:51:31 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : batts online 3, min cell voltage 4.090000, mean min cell voltage 4.096667 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : BluefinBatt Reply: $aaq0 d- 32.82 0.92 16.99 4.10 4.12 0 3260.84 03:51:37 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 33.05 0.96 17.48 4.09 4.12 0 -8190.10 03:51:39 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : Seabird/ctdDriver2: error reading voltages : Seabird: reply is 20A0242646C8400500000000000000000 : Seabird/ctdDriver2: error reading voltages : **** EventTriggers::add() - attaching proxy : BluefinBatt Reply: $c1q0 d- 32.87 1.29 17.38 4.10 4.12 0 -11070.47 03:51:41 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : batts online 3, min cell voltage 4.090000, mean min cell voltage 4.096667 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : BluefinBatt Reply: $aaq0 d- 32.86 0.62 16.99 4.10 4.12 0 3260.79 03:51:47 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 33.05 0.85 17.48 4.09 4.12 0 -8190.21 03:51:49 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : BluefinBatt Reply: $c1q0 d- 32.87 1.39 17.38 4.10 4.12 0 -11070.57 03:51:51 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : batts online 3, min cell voltage 4.090000, mean min cell voltage 4.096667 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : BluefinBatt Reply: $aaq0 d- 32.86 0.59 16.99 4.10 4.12 0 3260.72 03:51:57 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 33.09 0.93 17.48 4.09 4.12 0 -8190.31 03:51:59 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : BluefinBatt Reply: $c1q0 d- 32.91 1.39 17.38 4.10 4.12 0 -11070.72 03:52:01 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : batts online 3, min cell voltage 4.090000, mean min cell voltage 4.096667 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : BluefinBatt Reply: $aaq0 d- 32.86 0.62 16.99 4.10 4.12 0 3260.67 03:52:07 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 33.05 0.82 17.48 4.09 4.12 0 -8190.41 03:52:09 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : BluefinBatt Reply: $c1q0 d- 32.87 1.36 17.38 4.10 4.12 0 -11070.82 03:52:11 m : batts online 3, min cell voltage 4.090000, mean min cell voltage 4.096667 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : BluefinBatt Reply: $aaq0 d- 32.86 0.70 16.99 4.10 4.12 0 3260.55 03:52:17 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 33.09 0.93 17.48 4.09 4.12 0 -8190.48 03:52:19 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : BluefinBatt Reply: $c1q0 d- 32.91 1.25 17.38 4.10 4.12 0 -11070.99 03:52:21 m : batts online 3, min cell voltage 4.090000, mean min cell voltage 4.096667 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : BluefinBatt Reply: $aaq0 d- 32.86 0.81 16.89 4.10 4.12 0 3260.49 03:52:27 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 33.05 0.93 17.48 4.09 4.12 0 -8190.58 03:52:29 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : BluefinBatt Reply: $c1q0 d- 32.87 1.32 17.38 4.10 4.12 0 -11071.10 03:52:31 m : batts online 3, min cell voltage 4.090000, mean min cell voltage 4.096667 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : BluefinBatt Reply: $aaq0 d- 32.86 0.66 16.99 4.10 4.12 0 3260.41 03:52:37 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 33.05 0.93 17.48 4.09 4.12 0 -8190.64 03:52:39 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : BluefinBatt Reply: $c1q0 d- 32.91 1.25 17.38 4.10 4.12 0 -11071.25 03:52:41 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : batts online 3, min cell voltage 4.090000, mean min cell voltage 4.096667 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : BluefinBatt Reply: $aaq0 d- 32.86 0.74 16.99 4.10 4.12 0 3260.36 03:52:47 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 33.05 0.93 17.57 4.09 4.12 0 -8190.74 03:52:49 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : BluefinBatt Reply: $c1q0 d- 32.87 1.25 17.38 4.10 4.12 0 -11071.35 03:52:51 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : batts online 3, min cell voltage 4.090000, mean min cell voltage 4.096667 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : BluefinBatt Reply: $aaq0 d- 32.86 0.66 16.89 4.10 4.12 0 3260.29 03:52:57 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 33.05 1.07 17.48 4.09 4.12 0 -8190.83 03:52:59 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : BluefinBatt Reply: $c1q0 d- 32.87 1.32 17.38 4.10 4.12 0 -11071.50 03:53:01 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : batts online 3, min cell voltage 4.090000, mean min cell voltage 4.096667 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : BluefinBatt Reply: $aaq0 d- 32.86 0.66 16.89 4.10 4.12 0 3260.24 03:53:07 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 33.05 1.03 17.48 4.09 4.12 0 -8190.93 03:53:09 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : BluefinBatt Reply: $c1q0 d- 32.91 1.29 17.38 4.10 4.12 0 -11071.60 03:53:11 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : batts online 3, min cell voltage 4.090000, mean min cell voltage 4.096667 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : BluefinBatt Reply: $aaq0 d- 32.86 0.62 16.99 4.10 4.12 0 3260.13 03:53:17 m : Behavior setpoint - Timed out! : LayeredControl::execute() -- (t = 120.001779) Behavior setpoint:-1 has changed to state Finished : Stack empty after processing. Aborting. : *** LayeredControl - initiating mission abort... *** : Initiating Mission Abort! : **** EventTriggers::add() - attaching proxy : LayeredControl::execute() -- (t = 120.201766) Behavior setpoint:-1 has changed to state Active : LayeredControl::execute() -- (t = 120.201766) Behavior missionTimer:-1 has changed to state Active : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : **** 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 : **** SharedData destructor for object m3dmgx1Cmd **** : NavigationOutput::~NavigationOutput() : TaskServer::signalHandler() for task NavigationIFServer - exit() on signal 2 : TaskServer::signalHandler() for task LayeredControlIFServer - exit() on signal 2 : TaskServer::signalHandler() for task DynamicControlIFServer - exit() on signal 2 : **** SharedData destructor for object LayeredControlOutput_ShmemName **** : TaskServer::signalHandler() for task TailConeIFServer - exit() on signal 2 : destroying segment ParosciOutput_ShmemName : **** SharedData destructor for object GpsOutput_ShmemName **** : GulperDestructor Executing. : Supervisor::signalHandler(); caught signal 2 : TaskServer::signalHandler() for task EventLogIFServer - exit() on signal 2 : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() on signal 2 : TaskServer::signalHandler() for task ctdDriver - exit() on signal 2 : TaskServer::signalHandler() for task ctdDriver2 - exit() on signal 2 : Isus:stopping Isus... : TaskServer::signalHandler() for task HydroscatIFServer - exit() on signal 2 : TaskServer::signalHandler() for task DropWeightIFServer - exit() on signal 2 : TaskServer::signalHandler() for task GulperIFServer - exit() on signal 2 : DropWeight Destructor Executing. : **** SharedData destructor for object BluefinBattOutput **** : Hydroscat:stopping Hydroscat... : **** SharedData destructor for object ctdDriverSeabirdOutput_ShmemName **** : **** SharedData destructor for object ctdDriver2SeabirdOutput_ShmemName **** : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() on signal 18 : destroying segment m3dmgx1Cmd : **** SharedData destructor for object TailConeInput_ShmemName **** : **** SharedData destructor for object DvlOutput_ShmemName **** : **** SharedData destructor for object m3dmgx1 **** : **** SharedData destructor for object GpsOutput_ShmemName **** : **** SharedData destructor for object ParosciOutput_ShmemName **** : **** SharedData destructor for object DvlOutput_ShmemName **** : **** SharedData destructor for object navigationOutput **** : destroying prot sem m3dmgx1Cmd_prot : destroying segment LayeredControlOutput_ShmemName : NavigationOutput::~NavigationOutput() : **** SharedData destructor for object LayeredControlInput_ShmemName **** : **** SharedData destructor for object TailConeInput_ShmemName **** : destroying prot sem ParosciOutput_ShmemName_prot : destroying segment GpsOutput_ShmemName : Supervisor::signalHandler(); Never received a SIGTERM from slay, or a SIGQUIT. I WILL START BURNING THE DROP WEIGHT WIRE IN 15 MINUTES! To prevent a weight-drop, you must manually start dropWeightServer before the countdown timer expires. See devices.cfg for the syntax and serial port number. : **** SharedData destructor for object GulperOutput **** : destroying segment navigationOutput : destroying segment BluefinBattOutput : **** SharedData destructor for object dropWeightOutput **** : **** SharedData destructor for object ctdDriverSeabirdOutput_ShmemName **** : **** SharedData destructor for object ctdDriver2SeabirdOutput_ShmemName **** : **** SharedData destructor for object HydroscatOutput_ShmemName **** : **** SharedData destructor for object dropWeightOutput **** : **** SharedData destructor for object GulperOutput **** : destroying segment ctdDriverSeabirdOutput_ShmemName : destroying segment ctdDriver2SeabirdOutput_ShmemName : destroying notify sem m3dmgx1Cmd_notify : destroying segment TailConeInput_ShmemName : destroying segment m3dmgx1 : destroying segment DvlOutput_ShmemName : destroying segment GpsOutput_ShmemName : destroying segment ParosciOutput_ShmemName : destroying segment DvlOutput_ShmemName : destroying prot sem LayeredControlOutput_ShmemName_prot : **** SharedData destructor for object navigationOutput **** : destroying segment LayeredControlInput_ShmemName : destroying segment TailConeInput_ShmemName : destroying notify sem ParosciOutput_ShmemName_notify : destroying prot sem GpsOutput_ShmemName_prot : Supervisor::cleanup() - delete _theSupervisor : destroying prot sem navigationOutput_prot : destroying segment GulperOutput : destroying prot sem BluefinBattOutput_prot : destroying segment dropWeightOutput : destroying segment ctdDriverSeabirdOutput_ShmemName : destroying segment ctdDriver2SeabirdOutput_ShmemName : destroying segment HydroscatOutput_ShmemName : destroying segment dropWeightOutput : destroying prot sem ctdDriverSeabirdOutput_ShmemName_prot : destroying segment GulperOutput : destroying prot sem ctdDriver2SeabirdOutput_ShmemName_prot : TaskServer::signalHandler() for task AhrsIFServer - exit() on signal 2 : TaskServer::signalHandler() for task NavigationIFServer - exit() on signal 2 : TaskServer::signalHandler() for task LayeredControlIFServer - exit() on signal 2 : destroying prot sem TailConeInput_ShmemName_prot : destroying prot sem DvlOutput_ShmemName_prot : destroying prot sem GpsOutput_ShmemName_prot : destroying prot sem ParosciOutput_ShmemName_prot : destroying prot sem DvlOutput_ShmemName_prot : destroying prot sem TailConeInput_ShmemName_prot : TaskServer::signalHandler() for task DepthSensorIFServer - exit() on signal 2 : destroying notify sem GpsOutput_ShmemName_notify : **** SharedData destructor for object SupervisorOutout **** : destroying prot sem GulperOutput_prot : destroying notify sem BluefinBattOutput_notify : destroying prot sem dropWeightOutput_prot : destroying prot sem ctdDriverSeabirdOutput_ShmemName_prot : destroying prot sem ctdDriver2SeabirdOutput_ShmemName_prot : destroying prot sem HydroscatOutput_ShmemName_prot : destroying prot sem dropWeightOutput_prot : destroying notify sem ctdDriverSeabirdOutput_ShmemName_notify : destroying prot sem GulperOutput_prot : destroying notify sem ctdDriver2SeabirdOutput_ShmemName_notify : destroying notify sem TailConeInput_ShmemName_notify : destroying notify sem DvlOutput_ShmemName_notify : destroying notify sem GpsOutput_ShmemName_notify : destroying notify sem DvlOutput_ShmemName_notify : destroying notify sem TailConeInput_ShmemName_notify : destroying notify sem GulperOutput_notify : destroying segment SupervisorOutout : TaskServer::signalHandler() for task GpsIFServer - exit() on signal 2 : destroying notify sem dropWeightOutput_notify : destroying notify sem ctdDriverSeabirdOutput_ShmemName_notify : destroying notify sem ctdDriver2SeabirdOutput_ShmemName_notify : destroying notify sem HydroscatOutput_ShmemName_notify : destroying notify sem dropWeightOutput_notify : destroying notify sem GulperOutput_notify : **** SharedData destructor for object TailConeOutput_ShmemName **** : TaskServer::signalHandler() for task ctdDriver - exit() on signal 2 : **** SharedData destructor for object TailConeOutput_ShmemName **** : TaskServer::signalHandler() for task ctdDriver2 - exit() on signal 2 : TaskServer::signalHandler() for task GulperIFServer - exit() on signal 2 : destroying prot sem SupervisorOutout_prot : TaskServer::signalHandler() for task DropWeightIFServer - exit() on signal 2 : destroying segment TailConeOutput_ShmemName : destroying segment TailConeOutput_ShmemName : destroying notify sem SupervisorOutout_notify : destroying prot sem TailConeOutput_ShmemName_prot : destroying prot sem TailConeOutput_ShmemName_prot : Supervisor::shutdown() : destroying notify sem TailConeOutput_ShmemName_notify : destroying notify sem TailConeOutput_ShmemName_notify : Supervisor::shutdown() - done() : TaskServer::signalHandler() for task TailConeIFServer - exit() on signal 2 : **** SharedData destructor for object HydroscatOutput_ShmemName **** : destroying segment HydroscatOutput_ShmemName : destroying prot sem HydroscatOutput_ShmemName_prot : destroying notify sem HydroscatOutput_ShmemName_notify //9/home/dorado1/auv-qnx/auv/altex/onboard/bin/hydroscat terminated (SIGSEGV) at 0007:0001E18D. : SerialDevice: done... : Isus:stopped - response 09/14/2010 22:12:42,17.94,5.98,0.000521 : **** SharedData destructor for object IsusOutput_ShmemName **** : destroying segment IsusOutput_ShmemName : destroying prot sem IsusOutput_ShmemName_prot : destroying notify sem IsusOutput_ShmemName_notify : Isus::getIsusConfig() : log file is /home/dorado1/auv-qnx/auv/altex/onboard/logs/latest/isus_end.cfg : Isus::getIsusConfig() : getting configuration info : Isus::getIsusConfig(): response is ACK,DeployDataStop : Isus::getIsusConfig(): response is ACK,GetConfiguration : Isus::getIsusConfig(): ACK,GetConfiguration : Dvl::~Dvl: Destructor Finished. //9/home/dorado1/auv-qnx/auv/altex/onboard/bin/dvl terminated (SIGSEGV) at 0007:0002468F. : Isus::getIsusConfig(): // Application Name , ISUS_AUV.C // App Build Date , Aug 14 2006, : Isus::getIsusConfig(): 4:25:32 // Persistor FLASH Info , C82#1041-1.63b // FLASH Card Remaining , 6 : Isus::getIsusConfig(): 5.60% // Fiberlite Odometer , 317:48:01 // Calibration Date , 05/12/20 : Isus::getIsusConfig(): 10 // Sw Calibration Temp , 20.00 // Wavelength Fit Range , 217.318 <-> 241 : Isus::getIsusConfig(): .060 // Fitted Concentrations , 2 // Baseline Model , (ax + b) //9/home/dorado1/auv-qnx/auv/altex/onboard/bin/isus terminated (SIGSEGV) at 0007:0001E66D.