Supervisor::createCoreTasks() Supervisor::createTask() - eventLogServer Supervisor::createTask() - workSite Supervisor::createTask() - vehicleConfigurationServer Supervisor::createTask() - ext: Initializing worksiteServer ernalCom: WorkSite::WorkSite -- Adding attributes msS: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv-qnx/auv/altex/onboard/config/dorado389/workSite.cfg erver Superv: Using default vehicle config file "/home/dorado1/auv-qnx/auv/altex/onboard/config/dorado389/vehicle.cfg" isor::createTask() - navigationServer Supervisor::createTask() - layeredControlServer Supervisor::createTask() - dynamicControlS: WorkSite::WorkSite -- Finished loading parameters erv: WorkSite::WorkSite -- Starting Depth is 0.000000 meters er : 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 : 2: 3 598447.000000E 4067412.250000N 91.400002 m 10.000000 ms channel:5 : 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 : WorkSite server: 0x230b8 : Creating NavigationServer... : *** NavigationServer::NavigationServer()... : *** NavigationServer::NavigationServer() - DONE : Done creating NavigationServer... : New Navigation component constructor : layeredControlServer - creatinging Dyno : Navigation - Using only the Psa916 to compute altitude. : Navigation: Opening Acoustic Modem Interface: : DynoLayeredControlServer ctor : DynoLayeredControlServer spawnAuxTasks Supervisor::createTask() - newTailConeServer Supe: layeredControl - instantiating DynoLayeredControl rvisor::createTask() - m3dmgx1Server Supervisor::createTask() - gpsServer Supervisor::createTask() - parosciServer Supervisor::createTask() - seabirdS: Preparing to fork erver : I'm the child...forking S: DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize() upervisor::createTask() - seabirdServer S: SerialDevice: done... u: TailConeServer -- Maximum Elevator Actuator Excursion is 0 Counts per: TailConeServer:: -- Minimum Elevator Actuator Excursion is 0 Counts visor::: TailConeServer -- Maximum Rudder Actuator Excursion is 0 Counts crea: TailConeServer -- Minimum Rudder Actuator Excursion is 0 Counts teTa: SerialDevice: done... sk() - isus : SerialDevice: done... : SerialDevice: done... Supervis: SerialDevice: done... o: Crossbow.cc: In getSerialNumber() r::createTask() - bluefinBattDriver : SerialDevice: done... : SerialDevice: done... Superv: SerialDevice: done... isor::createTask() - hydroscatSer: SerialDevice: done... v: Parosci.cc -- parsed PR (10) and TempInterval (10) er : Gps: initializing : SerialDevice: done... : Gps: done initializing... : **** EventTriggers::add() - attaching proxy : seabirdDriver RUNNING... Su: Crossbow.cc: device->read succeeded : SerialDevice: done... perv: m3dmgx1: Serial Number is 3343 isor::cre: Parosci.cc -- Serial # is 87759 : PeriodicTask::run() (crossbow) - sampleInterval=100, maxInterval=100 at: BluefinBatt driver - running with 3 batteries eTask() - dvlSer: IsusLog.cc -- beginning constructor... v: SerialDevice: done... er S: BluefineBatt::init() - 3 batteries on 10 second interval up: isusLog.cc -- constructor succeeded ervi: Parosci::init() - mode set okay sor::cr: SerialDeviceDriver::initialize() ea: seabirdDriver RUNNING... teTask: BluefinBatt.cc - Looking for Parosci server (: Isus:initializing Isus with lamp on... ) - dropW: SerialDevice: done... eightServer: BluefinBatt::init() - querying for batt ids : Parosci.cc -- PR reply = 10 : BluefinBatt::init() - battery echo is !? Superv: Seabird/ctdDriver -- Loading CTD constants from /home/dorado1/auv-qnx/auv/altex/onboard/config/dorado389/ctdDriver.cfg isor: Parosci.cc -- units = 1 ::createTask() - gulperServer: Seabird/ctdDriver2 -- Loading CTD constants from /home/dorado1/auv-qnx/auv/altex/onboard/config/dorado389/ctdDriver2.cfg Supervisor::createTask() - statePublisher Supervisor::createTask() - LOPC : SerialDevice: done... : 3 Modules found : SerialDevice: done... : 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 : Seabird/ctdDriver::Seabird() - create interface to depth sensor... : 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 -- constructing Log... : Seabird/ctdDriver2::Seabird() - create interface to depth sensor... : Seabird/ctdDriver2 -- constructing Log... : SerialDevice: done... : CTDLog.cc -- beginning constructor... : CTDLog.cc -- constructor succeeded : Seabird/ctdDriver -- constructor succeeded : seabirdDriver -- constructor succeeded : Seabird/ctdDriver:initializing Seabird... : 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... : in initialize : **** EventTriggers::add() - attaching proxy : gulperLog:: Constructor completed. : Parosci.cc -- Initial pressure = 1.061793 : Parosci.cc -- Parosci initial pressure period = 30.146380 : Parosci.cc -- Parosci initial temp period = 5.870720 : PeriodicTask::run() (gulperDriver) - sampleInterval=1000, maxInterval=1000 : hydroscat:hs2cal parsing /home/dorado1/auv-qnx/auv/altex/onboard/config/dorado389/hs2Calibration.dat : Parosci.cc -- Paroscientific configured. : StatePublisher -- configuration: PublishPeriod = 1000 ms AMC_IP = 134.89.32.39 AMC_PORT = 8002 ClusterName = plume : SerialDeviceDriver::initialize() : SerialDeviceDriver::initialize() : StatePublisher: Socket created on fd 10 : Starting DVL Initialization. : StatePublisher: Acquiring interfaces ctd, nav, and tailcone servers : SerialDevice: done... : SerialDevice: done... : PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200 : CR1 [Parameters set to FACTORY defaults] > : 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. : EC1490 > : > : PD0Header = 7F7FCF04 : Dvl::initialize() - The DVL is initialized. : **** EventTriggers::add() - attaching proxy : Isus:time set with val 1284538725 -> Wed Sep 15 08:18:47 2010 : Isus:comms initialized, warmup countdown begun... : Isus:starting Isus... : Isus:started : 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 : Seabird/ctdDriver::initialize() - confirm() timed out; sleep a bit : SerialDevice::confirm() - Timed Out : Seabird/ctdDriver2::initialize() - confirm() timed out; sleep a bit : Hydroscat:non-fatal response to OPEN, continuing... : 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... : DynamicControl - Could not open TerrainAid IF. : DynoLayeredControl ctor : DynoLayeredControl initialize : DepthEnvelope - Error. maxLowerPitch must be a postive number. Flipping the sign now. : maxLowerPitch = 1745.31 : PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200 : 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 : Hydroscat::readRecord() ensemble checksum incorrect : Hydroscat::readRecord() ensemble checksum incorrect : Hydroscat:stopping Hydroscat... : 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 : Hydroscat::readRecord() ensemble checksum incorrect : Hydroscat::readRecord() ensemble checksum incorrect : Hydroscat:stopping Hydroscat... : BluefinBatt::init() - battery watchdog state is $aawf 1 : BluefinBatt::init() - battery echo is #c0wf : Seabird/ctdDriver: sending configure commands...(10409) : Seabird/ctdDriver2: sending configure commands...(10434) : 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 : Seabird/ctdDriver: setting scans... : Seabird/ctdDriver2: setting scans... : StatePublisher: Unable to initialize battery interface : StatePublisher: Connecting to CTD server "ctdDriver" : Parosci: Error - read of temp string returned 0 : BluefinBatt::init() - battery watchdog state is $c0wf 1 : BluefinBatt::init() - battery echo is #c1wf : SerialDevice::confirm() - Timed Out : SerialDevice::confirm() - Timed Out : Navigation: navigation: unable to open modem interface : ahrs if is Ahrs : SerialDevice::confirm() - Timed Out : Seabird/ctdDriver: setting pump freq... : SerialDevice::confirm() - Timed Out : Seabird/ctdDriver2: setting pump freq... : Seabird/ctdDriver: setting upcast... : Seabird/ctdDriver2: setting upcast... : BluefinBatt::init() - battery watchdog state is $c1wf 1 : PeriodicTask::run() (BluefinBatt) - sampleInterval=10000, maxInterval=10000 : Seabird/ctdDriver: setting battery type... : Seabird/ctdDriver2: setting battery type... : Seabird/ctdDriver: setting external voltages to 6...(10409) : Seabird/ctdDriver2: setting external voltages to 6...(10434) : 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... : StatePublisher: Unable to initialize ctd interface : 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... : Seabird/ctdDriver::initialize() - starting logging... : Seabird/ctdDriver2::initialize() - starting logging... : Lbl NavSensor - could not create LBL task interface : Navigation: Server for aux sensor "Lbl" not found : Ctd/ctdDriver:initialize() - Logging Started... : Ctd/ctdDriver:initialize() - ready! : **** EventTriggers::add() - attaching proxy : Ctd/ctdDriver2:initialize() - Logging Started... : Ctd/ctdDriver2:initialize() - ready! : **** EventTriggers::add() - attaching proxy : BluefinBatt Reply: $aaq0 d- 30.83 0.51 15.62 3.83 3.89 0 2867.76 08:03:25 m : StatePublisher: Unable to initialize cluster interface : PeriodicTask::run() (statePublisher) - sampleInterval=500, maxInterval=500 : BluefinBatt Reply: $c0q0 d- 31.01 0.75 16.11 3.82 3.88 0 -8660.13 08:03:28 m : BluefinBatt Reply: $c1q0 d- 30.90 1.25 16.01 3.83 3.88 0 -11600.36 08:03:29 m : batts online 3, min cell voltage 3.820000, mean min cell voltage 3.826667 : At 4.49969 StatePublisher: sent update to AMC (10) : 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- 30.83 0.55 15.62 3.83 3.89 0 2867.67 08:03:35 m : At 9.49935 StatePublisher: sent update to AMC (20) : BluefinBatt Reply: $c0q0 d- 31.01 0.85 16.11 3.82 3.88 0 -8660.17 08:03:38 m : BluefinBatt Reply: $c1q0 d- 30.82 1.57 16.01 3.83 3.88 0 -11600.43 08:03:39 m : batts online 3, min cell voltage 3.820000, mean min cell voltage 3.826667 : At 14.499 StatePublisher: sent update to AMC (30) : 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 : LayeredControl::execute() -- (t = 0.000000) Behavior setpoint:0 has changed to state Active : LayeredControl - setpoint BehaviorStarted:0 msg to VcsServer : LayeredControl::execute() -- (t = 0.000000) Behavior depthEnvelope:-1 has changed to state Active : LayeredControl - depthEnvelope BehaviorStarted:-1 msg to VcsServer : LayeredControl::execute() -- (t = 0.000000) Behavior missionTimer:-1 has changed to state Active : LayeredControl - missionTimer BehaviorStarted:-1 msg to VcsServer : **** EventTriggers::add() - attaching proxy : *** Mission started *** : 1284538774.814267: StatePublisher : started 0 : BluefinBatt Reply: $aaq0 d- 30.83 0.48 15.62 3.82 3.89 0 2867.60 08:03:45 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : At 19.4987 StatePublisher: sent update to AMC (40) : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 31.01 1.14 16.11 3.82 3.88 0 -8660.25 08:03:48 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : BluefinBatt Reply: $c1q0 d- 30.86 1.25 15.91 3.83 3.88 0 -11600.57 08:03:49 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : batts online 3, min cell voltage 3.820000, mean min cell voltage 3.823333 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : At 24.4983 StatePublisher: sent update to AMC (50) : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : **** EventTriggers::add() - attaching proxy : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : BluefinBatt Reply: $aaq0 d- 30.80 0.74 15.52 3.82 3.89 0 2867.55 08:03:55 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : At 29.498 StatePublisher: sent update to AMC (60) : BluefinBatt Reply: $c0q0 d- 31.01 0.67 16.11 3.82 3.88 0 -8660.32 08:03:58 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : Isus::select() timeout : **** EventTriggers::add() - attaching proxy : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : BluefinBatt Reply: $c1q0 d- 30.82 1.32 16.01 3.83 3.88 0 -11600.66 08:03:59 m : batts online 3, min cell voltage 3.820000, mean min cell voltage 3.823333 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : Isus::select() timeout : At 34.4976 StatePublisher: sent update to AMC (70) : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : Isus::Buffer full! : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : Behavior setpoint - Timed out! : LayeredControl::execute() -- (t = 20.198616) Behavior setpoint:0 has changed to state Finished : LayeredControl - sending BehaviorFinished:0 msg to VcsServer : *** Stack empty after processing. Waiting on VCS... : StatePublisher : finished 0 : LayeredControl _resolvedCommand - vertMode=-1 vert=0.00 horzlMode=-1 horz=0.00 speedMode=-1 speed=0.00 : BluefinBatt Reply: $aaq0 d- 30.83 0.77 15.62 3.82 3.89 0 2867.49 08:04:05 m : LayeredControl _resolvedCommand - vertMode=-1 vert=0.00 horzlMode=-1 horz=0.00 speedMode=-1 speed=0.00 : Isus::select() timeout : At 39.4973 StatePublisher: sent update to AMC (80) : BluefinBatt Reply: $c0q0 d- 31.01 0.89 16.11 3.82 3.87 0 -8660.39 08:04:08 m : LayeredControl _resolvedCommand - vertMode=-1 vert=0.00 horzlMode=-1 horz=0.00 speedMode=-1 speed=0.00 : LayeredControl _resolvedCommand - vertMode=-1 vert=0.00 horzlMode=-1 horz=0.00 speedMode=-1 speed=0.00 : Isus::select() timeout : BluefinBatt Reply: $c1q0 d- 30.90 1.29 16.01 3.83 3.88 0 -11600.79 08:04:09 m : LayeredControl _resolvedCommand - vertMode=-1 vert=0.00 horzlMode=-1 horz=0.00 speedMode=-1 speed=0.00 : batts online 3, min cell voltage 3.820000, mean min cell voltage 3.823333 : DynoLayeredControlServer insertBehaves : DynoLayeredControl::insert - stack now contains 4 behaviors : LayeredControl::execute() -- (t = 26.998150) Behavior setpoint:887 has changed to state Active : LayeredControl - setpoint BehaviorStarted:887 msg to VcsServer : At 44.497 StatePublisher: sent update to AMC (90) : 1284538801.612431: StatePublisher : started 887 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=0.00 : Isus::select() timeout : Isus: processRecord() - bad nitrate data: Entering Scan Loop, press S to break. : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=0.00 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=0.00 : BluefinBatt Reply: $aaq0 d- 30.80 0.81 15.62 3.82 3.89 0 2867.46 08:04:15 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=0.00 : Isus::select() timeout : Behavior setpoint - Timed out! : LayeredControl::execute() -- (t = 32.197794) Behavior setpoint:887 has changed to state Finished : LayeredControl - sending BehaviorFinished:887 msg to VcsServer : *** Stack empty after processing. Waiting on VCS... : At 49.4966 StatePublisher: sent update to AMC (100) : StatePublisher : finished 887 : BluefinBatt Reply: $c0q0 d- 31.01 0.93 16.11 3.82 3.87 0 -8660.46 08:04:18 m : LayeredControl _resolvedCommand - vertMode=-1 vert=0.00 horzlMode=-1 horz=0.00 speedMode=-1 speed=0.00 : Seabird/ctdDriver: error reading voltages : Seabird: reply is 115BC7652D7400506D0752EE000093BEB : Seabird/ctdDriver: error reading voltages : **** EventTriggers::add() - attaching proxy : Seabird/ctdDriver: error reading voltages : Seabird: reply is 115BE01652EE400406D052EF000093BEB : Seabird/ctdDriver: error reading voltages : LayeredControl _resolvedCommand - vertMode=-1 vert=0.00 horzlMode=-1 horz=0.00 speedMode=-1 speed=0.00 : BluefinBatt Reply: $c1q0 d- 30.90 1.57 16.01 3.83 3.88 0 -11600.89 08:04:19 m : LayeredControl _resolvedCommand - vertMode=-1 vert=0.00 horzlMode=-1 horz=0.00 speedMode=-1 speed=0.00 : batts online 3, min cell voltage 3.820000, mean min cell voltage 3.823333 : At 54.4963 StatePublisher: sent update to AMC (110) : LayeredControl _resolvedCommand - vertMode=-1 vert=0.00 horzlMode=-1 horz=0.00 speedMode=-1 speed=0.00 : Parosci: Error - read of pressure string returned 0 : ParosciServer::depth() - error : ParosciServer::depth() - error : ParosciServer::depth() - error : DynoLayeredControlServer insertBehaves : DynoLayeredControl::insert - stack now contains 5 behaviors : LayeredControl::execute() -- (t = 38.997329) Behavior setpoint:2548 has changed to state Active : LayeredControl - setpoint BehaviorStarted:2548 msg to VcsServer : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=0.00 : 1284538813.611610: StatePublisher : started 2548 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=0.00 : DynoLayeredControlServer insertBehaves : DynoLayeredControl::insert - stack now contains 6 behaviors : BluefinBatt Reply: $aaq0 d- 30.80 0.96 15.62 3.82 3.89 0 2867.37 08:04:25 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=0.00 : At 59.4959 StatePublisher: sent update to AMC (120) : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 31.01 0.93 16.11 3.82 3.87 0 -8660.55 08:04:28 m : Behavior setpoint - Timed out! : LayeredControl::execute() -- (t = 44.196972) Behavior setpoint:2548 has changed to state Finished : LayeredControl - sending BehaviorFinished:2548 msg to VcsServer : LayeredControl::execute() -- (t = 44.196972) Behavior setpoint:7861 has changed to state Active : LayeredControl - setpoint BehaviorStarted:7861 msg to VcsServer : StatePublisher : finished 2548 : 1284538818.611267: StatePublisher : started 7861 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : BluefinBatt Reply: $c1q0 d- 30.82 1.39 16.01 3.83 3.88 0 -11601.04 08:04:29 m : DynoLayeredControlServer insertBehaves : DynoLayeredControl::insert - stack now contains 7 behaviors : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.820000, mean min cell voltage 3.823333 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : At 64.4956 StatePublisher: sent update to AMC (130) : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.64 3.44 15.62 3.82 3.89 0 2867.30 08:04:35 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : Behavior setpoint - Timed out! : LayeredControl::execute() -- (t = 52.396410) Behavior setpoint:7861 has changed to state Finished : LayeredControl - sending BehaviorFinished:7861 msg to VcsServer : LayeredControl::execute() -- (t = 52.396410) Behavior descend:7813 has changed to state Active : LayeredControl - descend BehaviorStarted:7813 msg to VcsServer : At 69.6752 StatePublisher: sent update to AMC (140) : StatePublisher : finished 7861 : 1284538826.800706: StatePublisher : started 7813 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 30.90 2.40 16.11 3.82 3.87 0 -8660.69 08:04:38 m : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : BluefinBatt Reply: $c1q0 d- 30.75 3.66 16.01 3.83 3.88 0 -11601.24 08:04:39 m : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.820000, mean min cell voltage 3.823333 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : At 74.4949 StatePublisher: sent update to AMC (150) : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : **** EventTriggers::add() - attaching proxy : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.64 3.30 15.62 3.80 3.87 0 2866.97 08:04:45 m : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : At 79.4946 StatePublisher: sent update to AMC (160) : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 30.82 3.88 16.11 3.80 3.86 0 -8661.07 08:04:48 m : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 30.71 4.33 16.01 3.80 3.87 0 -11601.67 08:04:49 m : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.800000, mean min cell voltage 3.800000 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : At 84.4942 StatePublisher: sent update to AMC (170) : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on depth 2.060958 > 2.000000 at time 69.395246 : LayeredControl::execute() -- (t = 69.395246) Behavior descend:7813 has changed to state Finished : LayeredControl - sending BehaviorFinished:7813 msg to VcsServer : *** Stack empty after processing. Waiting on VCS... : StatePublisher : finished 7813 : LayeredControl _resolvedCommand - vertMode=-1 vert=0.00 horzlMode=-1 horz=0.00 speedMode=-1 speed=0.00 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynoLayeredControlServer insertBehaves : DynoLayeredControl::insert - stack now contains 8 behaviors : Waypoint Initialization: Begin waypoint control at t= 71.00 (wplog) The current location (N,E) = 4007327.0 , 485429.6 (wplog) The next waypoint = 4009187.3 , 485984.6 (wplog) The bearing to the next w.p. is 16.6 Degrees. : LayeredControl::execute() -- (t = 70.995136) Behavior waypoint_yoyo:9963 has changed to state Active : LayeredControl - waypoint_yoyo BehaviorStarted:9963 msg to VcsServer : BluefinBatt Reply: $aaq0 d- 30.64 3.37 15.62 3.80 3.87 0 2866.73 08:04:55 m : resetting depth trajectory : LayeredControl _resolvedCommand - vertMode=3 vert=100.00 horzlMode=3 horz=0.29 speedMode=1 speed=1.50 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : 1284538845.609418: StatePublisher : started 9963 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : At 89.4939 StatePublisher: sent update to AMC (180) : LayeredControl _resolvedCommand - vertMode=3 vert=100.00 horzlMode=3 horz=0.29 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 30.82 3.95 16.11 3.80 3.86 0 -8661.35 08:04:58 m : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=100.00 horzlMode=3 horz=0.29 speedMode=1 speed=1.50 : gpsDriver::readRecord() - serial device timed out : BluefinBatt Reply: $c1q0 d- 30.71 3.63 16.11 3.80 3.87 0 -11601.95 08:04:59 m : LayeredControl _resolvedCommand - vertMode=3 vert=100.00 horzlMode=3 horz=0.29 speedMode=1 speed=1.50 : m3dmgx1::nbytes is 0 4 : batts online 3, min cell voltage 3.800000, mean min cell voltage 3.800000 : LayeredControl _resolvedCommand - vertMode=3 vert=100.00 horzlMode=3 horz=0.29 speedMode=1 speed=1.50 : LayeredControl::callback() - got abort request from server : Initiating Mission Abort! : LayeredControl::execute() -- (t = 76.994725) Behavior setpoint:-1 has changed to state Active : LayeredControl - setpoint BehaviorStarted:-1 msg to VcsServer : LayeredControl::execute() -- (t = 76.994725) Behavior missionTimer:-1 has changed to state Active : LayeredControl - missionTimer BehaviorStarted:-1 msg to VcsServer : gpsDriver::readRecord() - serial device timed out : At 94.4935 StatePublisher: sent update to AMC (190) : m3dmgx1::nbytes is 0 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : gpsDriver::readRecord() - serial device timed out : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : m3dmgx1::nbytes is 2 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $aaq0 d- 30.80 0.51 15.72 3.80 3.87 0 2866.49 08:05:05 m : gpsDriver::readRecord() - serial device timed out : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : At 99.4932 StatePublisher: sent update to AMC (200) : BluefinBatt Reply: $c0q0 d- 31.01 0.67 16.21 3.80 3.85 0 -8661.52 08:05:08 m : Parosci: Error - read of temp string returned 0 : ParosciServer::depth() - error : ParosciServer::depth() - error : gpsDriver::readRecord() - serial device timed out : ParosciServer::depth() - error : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $c1q0 d- 30.82 1.18 16.21 3.80 3.86 0 -11602.16 08:05:09 m : gpsDriver::readRecord() - serial device timed out : batts online 3, min cell voltage 3.800000, mean min cell voltage 3.800000 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : At 104.493 StatePublisher: sent update to AMC (210) : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $aaq0 d- 30.76 0.89 15.72 3.80 3.87 0 2866.44 08:05:15 m : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : At 109.492 StatePublisher: sent update to AMC (220) : BluefinBatt Reply: $c0q0 d- 31.01 0.75 16.21 3.80 3.85 0 -8661.59 08:05:18 m : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $c1q0 d- 30.82 1.22 16.21 3.80 3.86 0 -11602.26 08:05:19 m : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : batts online 3, min cell voltage 3.800000, mean min cell voltage 3.800000 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : At 114.492 StatePublisher: sent update to AMC (230) : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $aaq0 d- 30.83 0.62 15.72 3.82 3.89 0 2866.34 08:05:25 m : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : At 119.492 StatePublisher: sent update to AMC (240) : BluefinBatt Reply: $c0q0 d- 30.97 1.11 16.21 3.82 3.87 0 -8661.68 08:05:28 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $c1q0 d- 30.82 1.39 16.11 3.82 3.88 0 -11602.40 08:05:29 m : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : batts online 3, min cell voltage 3.820000, mean min cell voltage 3.820000 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : At 124.491 StatePublisher: sent update to AMC (250) : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $aaq0 d- 30.80 0.55 15.72 3.82 3.89 0 2866.29 08:05:35 m : DepthSensor (Navigation): Received bad depth reading: 2201.992982 Substitute previous depth value of 0.064531 : DepthSensor (Navigation): Received bad depth reading: 2201.992982 Substitute previous depth value of 0.064531 : DepthSensor (Navigation): Received bad depth reading: 2201.992982 Substitute previous depth value of 0.064531 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : DepthSensor (Navigation): Received bad depth reading: 2201.992982 Substitute previous depth value of 0.064531 : DepthSensor (Navigation): Received bad depth reading: 2201.992982 Substitute previous depth value of 0.064531 : DepthSensor (Navigation): Received bad depth reading: 2201.992982 Substitute previous depth value of 0.064531 : DepthSensor (Navigation): Received bad depth reading: 2201.992982 Substitute previous depth value of 0.064531 : At 129.491 StatePublisher: sent update to AMC (260) : DepthSensor (Navigation): Received bad depth reading: 2201.992982 Substitute previous depth value of 0.064531 : DepthSensor (Navigation): Received bad depth reading: 2201.992982 Substitute previous depth value of 0.064531 : DepthSensor (Navigation): Received bad depth reading: 2201.992982 Substitute previous depth value of 0.064531 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : DepthSensor (Navigation): Received bad depth reading: 2201.992982 Substitute previous depth value of 0.064531 : BluefinBatt Reply: $c0q0 d- 31.01 1.03 16.21 3.82 3.87 0 -8661.73 08:05:38 m : DepthSensor (Navigation): Received bad depth reading: 2201.992982 Substitute previous depth value of 0.064531 : DepthSensor (Navigation): Received bad depth reading: 2201.992982 Substitute previous depth value of 0.064531 : DepthSensor (Navigation): Received bad depth reading: 2201.992982 Substitute previous depth value of 0.064531 : DepthSensor (Navigation): Received bad depth reading: 2201.992982 Substitute previous depth value of 0.064531 : DepthSensor (Navigation): Received bad depth reading: 2201.992982 Substitute previous depth value of 0.064531 : DepthSensor (Navigation): Received bad depth reading: 2201.992982 Substitute previous depth value of 0.064531 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : DepthSensor (Navigation): Received bad depth reading: 2201.992982 Substitute previous depth value of 0.064531 : DepthSensor (Navigation): Received bad depth reading: 2201.992982 Substitute previous depth value of 0.064531 : DepthSensor (Navigation): Received bad depth reading: 2201.992982 Substitute previous depth value of 0.064531 : DepthSensor(Navigation): _maxConsecutiveBad exceeded, accept reading: "2201.992982" : BluefinBatt Reply: $c1q0 d- 30.86 1.22 16.11 3.82 3.88 0 -11602.48 08:05:39 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : Parosci: Error - could not parse temp header 4(*00°) : ParosciServer::depth() - error : ParosciServer::depth() - error : DepthSensor (Navigation): Received bad depth reading: 0.139602 Substitute previous depth value of 2201.992982 : batts online 3, min cell voltage 3.820000, mean min cell voltage 3.820000 : DepthSensor (Navigation): Received bad depth reading: 0.064531 Substitute previous depth value of 2201.992982 : DepthSensor (Navigation): Received bad depth reading: 0.064531 Substitute previous depth value of 2201.992982 : DepthSensor (Navigation): Received bad depth reading: -0.007312 Substitute previous depth value of 2201.992982 : DepthSensor (Navigation): Received bad depth reading: -0.014577 Substitute previous depth value of 2201.992982 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : DepthSensor (Navigation): Received bad depth reading: -0.014577 Substitute previous depth value of 2201.992982 : At 134.491 StatePublisher: sent update to AMC (270) : DepthSensor (Navigation): Received bad depth reading: 0.064531 Substitute previous depth value of 2201.992982 : DepthSensor (Navigation): Received bad depth reading: 0.064531 Substitute previous depth value of 2201.992982 : DepthSensor (Navigation): Received bad depth reading: 0.132337 Substitute previous depth value of 2201.992982 : DepthSensor (Navigation): Received bad depth reading: 0.132337 Substitute previous depth value of 2201.992982 : DepthSensor (Navigation): Received bad depth reading: 0.211445 Substitute previous depth value of 2201.992982 : DepthSensor (Navigation): Received bad depth reading: 0.132337 Substitute previous depth value of 2201.992982 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : DepthSensor (Navigation): Received bad depth reading: 1900.768613 Substitute previous depth value of 2201.992982 : DepthSensor (Navigation): Received bad depth reading: -0.007312 Substitute previous depth value of 2201.992982 : DepthSensor (Navigation): Received bad depth reading: -0.014577 Substitute previous depth value of 2201.992982 : DepthSensor (Navigation): Received bad depth reading: -0.014577 Substitute previous depth value of 2201.992982 : DepthSensor (Navigation): Received bad depth reading: 0.071796 Substitute previous depth value of 2201.992982 : DepthSensor (Navigation): Received bad depth reading: 0.132337 Substitute previous depth value of 2201.992982 : DepthSensor (Navigation): Received bad depth reading: 0.132337 Substitute previous depth value of 2201.992982 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : DepthSensor (Navigation): Received bad depth reading: 0.064531 Substitute previous depth value of 2201.992982 : DepthSensor(Navigation): _maxConsecutiveBad exceeded, accept reading: "0.064531" : BluefinBatt Reply: $aaq0 d- 30.80 0.66 15.62 3.82 3.89 0 2866.21 08:05:45 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : At 139.49 StatePublisher: sent update to AMC (280) : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 31.01 0.75 16.11 3.82 3.87 0 -8661.83 08:05:48 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $c1q0 d- 30.86 1.53 16.21 3.82 3.87 0 -11602.61 08:05:49 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : batts online 3, min cell voltage 3.820000, mean min cell voltage 3.820000 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : At 144.49 StatePublisher: sent update to AMC (290) : Supervisor::signalHandler(); caught signal 15 : Supervisor::signalHandler(); Received a SIGTERM or SIGQUIT. DropWeightServer NOT started. : Supervisor::cleanup() - delete _theSupervisor : **** SharedData destructor for object SupervisorOutout **** : destroying segment SupervisorOutout : destroying prot sem SupervisorOutout_prot : destroying notify sem SupervisorOutout_notify : Supervisor::shutdown() : **** SharedData destructor for object ParosciOutput_ShmemName **** : **** SharedData destructor for object m3dmgx1Cmd **** : 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 DvlIFServer - exit() on signal 2 : TaskServer::signalHandler() for task WorkSiteIFServer - exit() on signal 2 : NavigationOutput::~NavigationOutput() : TaskServer::signalHandler() for task NavigationIFServer - exit() on signal 2 : TaskServer::signalHandler() for task DynamicControlIFServer - exit() on signal 2 : TaskServer::signalHandler() for task TailConeIFServer - exit() on signal 2 : **** SharedData destructor for object LayeredControlOutput_ShmemName **** : Supervisor::shutdown() - done() : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() on signal 2 : TaskServer::signalHandler() for task LayeredControlIFServer - exit() on signal 2 : TaskServer::signalHandler() for task DepthSensorIFServer - 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... : **** SharedData destructor for object BluefinBattOutput **** : 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 : GulperDestructor Executing. : TaskServer::signalHandler() for task EventLogIFServer - exit() on signal 2 : **** SharedData destructor for object GpsOutput_ShmemName **** : DropWeight Destructor Executing. : Hydroscat:stopping Hydroscat... : **** SharedData destructor for object ctdDriverSeabirdOutput_ShmemName **** : **** SharedData destructor for object ctdDriver2SeabirdOutput_ShmemName **** : destroying segment ParosciOutput_ShmemName : failed to unlink queue VcsMessages : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() on signal 18 : destroying segment m3dmgx1Cmd : **** SharedData destructor for object DvlOutput_ShmemName **** : **** SharedData destructor for object m3dmgx1 **** : destroying prot sem m3dmgx1Cmd_prot : **** SharedData destructor for object GpsOutput_ShmemName **** : **** SharedData destructor for object DvlOutput_ShmemName **** : **** SharedData destructor for object navigationOutput **** : NavigationOutput::~NavigationOutput() : destroying segment navigationOutput : **** SharedData destructor for object TailConeInput_ShmemName **** : destroying segment LayeredControlOutput_ShmemName : failed to unlink queue dynoOutCommand : **** SharedData destructor for object ParosciOutput_ShmemName **** : destroying segment BluefinBattOutput : **** SharedData destructor for object GulperOutput **** : destroying segment GpsOutput_ShmemName : **** SharedData destructor for object ctdDriverSeabirdOutput_ShmemName **** : **** SharedData destructor for object dropWeightOutput **** : **** 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 notify sem m3dmgx1Cmd_notify : destroying prot sem ParosciOutput_ShmemName_prot : destroying segment ctdDriver2SeabirdOutput_ShmemName : destroying segment m3dmgx1 : destroying segment DvlOutput_ShmemName : destroying segment GpsOutput_ShmemName : destroying segment DvlOutput_ShmemName : **** SharedData destructor for object navigationOutput **** : destroying prot sem navigationOutput_prot : destroying segment TailConeInput_ShmemName : destroying prot sem LayeredControlOutput_ShmemName_prot : failed to unlink queue dynoInCommand : destroying prot sem BluefinBattOutput_prot : destroying segment ParosciOutput_ShmemName : destroying prot sem GpsOutput_ShmemName_prot : destroying segment GulperOutput : destroying segment ctdDriverSeabirdOutput_ShmemName : destroying segment dropWeightOutput : destroying segment ctdDriver2SeabirdOutput_ShmemName : destroying notify sem LayeredControlOutput_ShmemName_notify : destroying segment HydroscatOutput_ShmemName : destroying segment dropWeightOutput : **** SharedData destructor for object m3dmgx1 **** : destroying segment GulperOutput : destroying prot sem ctdDriverSeabirdOutput_ShmemName_prot : destroying notify sem ParosciOutput_ShmemName_notify : destroying prot sem ctdDriver2SeabirdOutput_ShmemName_prot : destroying prot sem m3dmgx1_prot : destroying prot sem DvlOutput_ShmemName_prot : destroying prot sem GpsOutput_ShmemName_prot : destroying prot sem DvlOutput_ShmemName_prot : destroying segment navigationOutput : destroying notify sem navigationOutput_notify : destroying prot sem TailConeInput_ShmemName_prot : **** SharedData destructor for object LayeredControlInput_ShmemName **** : destroying notify sem BluefinBattOutput_notify : destroying segment m3dmgx1 : destroying prot sem ParosciOutput_ShmemName_prot : destroying notify sem GpsOutput_ShmemName_notify : destroying prot sem GulperOutput_prot : destroying prot sem ctdDriverSeabirdOutput_ShmemName_prot : destroying prot sem dropWeightOutput_prot : TaskServer::signalHandler() for task NavigationIFServer - exit() on signal 18 : **** SharedData destructor for object LayeredControlInput_ShmemName **** : destroying prot sem ctdDriver2SeabirdOutput_ShmemName_prot : destroying prot sem HydroscatOutput_ShmemName_prot : destroying prot sem dropWeightOutput_prot : destroying prot sem GulperOutput_prot : destroying notify sem ctdDriverSeabirdOutput_ShmemName_notify : TaskServer::signalHandler() for task DepthSensorIFServer - exit() on signal 18 : destroying notify sem ctdDriver2SeabirdOutput_ShmemName_notify : destroying notify sem m3dmgx1_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 segment LayeredControlInput_ShmemName : destroying prot sem m3dmgx1_prot : destroying notify sem GulperOutput_notify : destroying notify sem ctdDriverSeabirdOutput_ShmemName_notify : destroying notify sem dropWeightOutput_notify : TaskServer::signalHandler() for task GpsIFServer - exit() on signal 18 : destroying notify sem m3dmgx1_notify : destroying segment LayeredControlInput_ShmemName : destroying notify sem ctdDriver2SeabirdOutput_ShmemName_notify : TaskServer::signalHandler() for task GulperIFServer - exit() on signal 18 : destroying notify sem HydroscatOutput_ShmemName_notify : destroying notify sem dropWeightOutput_notify : **** SharedData destructor for object m3dmgx1Cmd **** : TaskServer::signalHandler() for task ctdDriver - exit() on signal 18 : **** SharedData destructor for object TailConeOutput_ShmemName **** : destroying prot sem LayeredControlInput_ShmemName_prot : TaskServer::signalHandler() for task ctdDriver2 - exit() on signal 18 : destroying prot sem LayeredControlInput_ShmemName_prot : TaskServer::signalHandler() for task AhrsIFServer - exit() on signal 18 : TaskServer::signalHandler() for task DropWeightIFServer - exit() on signal 18 : destroying segment TailConeOutput_ShmemName : destroying notify sem LayeredControlInput_ShmemName_notify : destroying notify sem LayeredControlInput_ShmemName_notify : destroying prot sem TailConeOutput_ShmemName_prot //9/home/dorado1/auv-qnx/auv/altex/onboard/bin/layeredControl terminated (SIGSEGV) at 0007:00044594. : TaskServer::signalHandler() for task LayeredControlIFServer - exit() on signal 18 : destroying notify sem TailConeOutput_ShmemName_notify : **** 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 09/15/2010 08:21:39,18.13,8.56,0.000587 ACK,DeployDataStop  : **** 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. : StepGetStat (2) failed to read chars, rcvd=4, want=8 : StepGetStat (2) 5d 5d 18 18 09 00 00 : **** SharedData destructor for object TailConeInput_ShmemName **** : destroying segment TailConeInput_ShmemName : destroying prot sem TailConeInput_ShmemName_prot : destroying notify sem TailConeInput_ShmemName_notify : **** SharedData destructor for object TailConeOutput_ShmemName **** : destroying segment TailConeOutput_ShmemName : destroying prot sem TailConeOutput_ShmemName_prot : destroying notify sem TailConeOutput_ShmemName_notify : 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(): 2.65% // Fiberlite Odometer , 324:53:09 // 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.