Supervisor::createCoreTasks() Supervisor::createTask() - eventLogServer Supervisor::createTask() - workSite Supervisor::createTask() - vehicleConfigurationSe: Initializing worksiteServer rver S: WorkSite::WorkSite -- Adding attributes upe: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv-qnx-dev2020/auv/altex/onboard/config/mapper1_trn/workSite.cfg rvisor::createTask() - externalCommsServer Su: Using default vehicle config file "/home/dorado1/auv-qnx-dev2020/auv/altex/onboard/config/mapper1_trn/vehicle.cfg" pervisor::createTask() - navigationServer : starting LC: layeredControlServer -plan Lab1.cfg -abort abortLab1.cfg Supervisor::createTask() - layered: WorkSite::WorkSite -- Finished loading parameters Con: WorkSite::WorkSite -- Starting Depth is 0.000000 meters tro: 0: 1 600674.187500E 4067388.750000N 73.699997 m 10.000000 ms channel:2 lS: 1: 2 600531.687500E 4065156.000000N 73.199997 m 10.000000 ms channel:4 erv: 2: 3 598447.000000E 4067412.250000N 91.400002 m 10.000000 ms channel:5 er: 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 -pl: Creating NavigationServer... : WorkSite server: 0x2328c an: *** NavigationServer::NavigationServer()... La: *** NavigationServer::NavigationServer() - DONE b1.: Done creating NavigationServer... cf: Navigation::Navigation - Setting start depth to 0.0 meters. g -abort abor: Navigation::Navigation _logOnly = 1 t: Navigation/Multibeam:: epoch = (1580255447,630001478) La: Navigation/EchoSounder:: epoch = (1580255447,630001478) b1: Navigation: Opening Acoustic Modem Interface: .cfg Supervisor::createTask() - dynamicControlServer : layeredControlServer - creating non dynamic version : Supervisor::createTasks() - spawning dropWeightServer -dev /dev/ser4 Supervisor::createTask() - dropWeightServer -dev /dev/ser4 : Supervisor::createTasks() - spawning newTailConeServer -dev /dev/ser13 Supervisor::createTask() - newTailConeServer -dev: SerialDevice: done... /dev/ser13 : DropWeight::initialize - Resetting counters. : **** EventTriggers::add() - attaching proxy : Supervisor::createTasks() - spawning kearfottServer -dev /dev/ser10 -7khost 134.89.32.107 Supervisor::createTask() - kearfottServer -dev /dev/ser10 -7khost 134.89.32.107 : Supervisor::createTasks() - spawning kearfottDvlServer Supervisor::createTask() - kearfottDvl: SerialDevice: done... S: TailConeServer -- Maximum Elevator Actuator Excursion is 0 Counts er: TailConeServer:: -- Minimum Elevator Actuator Excursion is 0 Counts ve: TailConeServer -- Maximum Rudder Actuator Excursion is 0 Counts r : TailConeServer -- Minimum Rudder Actuator Excursion is 0 Counts : creating if InsIFServer : SerialDevice: done... : Supervisor::createTasks() - spawning parosciServer -dev /dev/ser1 -7khost 134.89.32.107 : dop aid flag is 1 : Preparing to fork Su: SerialDevice: done... p: I'm the child...forking ervi: SerialDevice: done... sor::createTask() - parosciSer: SerialDevice: done... v: SerialDevice: done... er -dev /dev/ser1 -7khost 134.89.32.107 : Supervisor::createTasks() - spawning fanServer Supervisor::createTask() - fanServer : Supervisor::createTasks() - spawning fastcatServer -dev /dev/ser7 Superv: ParosciServer:: reson host is 134.89.32.107 i: SerialDevice: done... so: Parosci: insIF is 0x40048 r:: Parosci::reson host is 134.89.32.107 :createTask() - fastcatServer -dev /dev/Task::spawnServer() - execlp() of "fan" failed: Operation not permitted ser7 : Supervisor::createTasks() - spawning reson6046Server Supervisor::createTask() - reson6046Server : Supervisor::createTasks() - spawning edgetechFSDWServer : fastcatDriver RUNNING... Su: SerialDevice: done... per: FastCat: constructing... visor::cre: FastCatLog.cc -- beginning constructor... a: FastCatLog.cc -- constructor succeeded te: fastcatDriver -- constructor succeeded Tas: FastCat: initializing... k() - edgetechFSDWServer : Launching Reson6046Server... : Supervisor::createTasks() - spawning gpsServer -r ashtech -dev udp:localhost:5050 : Setting name... Su: Creating server... pe: Command constructor... rv: SerialDevice: done... i: Run server... sor:: Launching Reson6046Driver... :c: Setting name to 'reson6046'... re: Creating Reson6046Driver instance... at: --> Starting Reson 6046 Driver.... eTa: Command constructor... sk() - gpsSer: reson6046: fastcatIF is 0x43fe8 v: reson6046: navIF is 0x44140 er: reson6046: insIF is 0x44380 -: reson6046: DepthSensorIF is 0x444c8 r ashtec: Launching EdgetechFSDWServer... h : Setting name... -d: Creating server... ev: Starting EdgeTech Handler.. u: --> Starting Edgetech FSDW Driver.... dp:: -------EdgetechFSDW Configuration------- lo: Debug Level = 1. ca: Init Error Count Limit = 10. lho: Error Count Limit = 10. st: Callback Period = 100 milliseconds. :5: Edgetech FSDW IP Address = 127.000.000.001. 050: EdgeTech Visible on Network = False. : EdgeTech IP Address = 134.89.32.38. : EdgeTech Command Port = 1700. : Supervisor::createTasks() - spawning atsServer 9009 : EdgeTech Data Port = 0. Su: EdgeTech Shutdown Port = 0. pe: SBP Pulse Filename = 216Pulse_9k_14k_20ms.spf. rv: SBP Ping Rate = 4.00Hz. is: SBP Pulse Power = 0.00%. or: SSL Pulse Filename = ss75_5k_9k_20ms.spf. ::: SSL Ping Range = 100.00m. cre: SSL Pulse Power = 0.00%. at: SSH Pulse Filename = ss75_5k_9k_20ms.spf. eT: SSH Ping Rate = 100.00m. as: SSH Pulse Power = 0.00%. k(): ------------------------------------------- -: Command constructor... atsSer: Initializing Edgetech Configuration... ver 9009 : Supervisor::createTasks() - spawning newBattDriver -n newBatt1 -dev tcp:134.89.32.131:10003 Supervisor::createTask() - newBattDriver -n newBatt1 -dev tc: AtsDriver: Socket created on fd 6 p:134.89.32.131:10003 : Gps: initializing : Gps: done initializing... : Supervisor::createTasks() - spawning newBattDriver -n newBatt2 -dev tcp:134.89.32.140:10003 : **** EventTriggers::add() - attaching proxy Supervisor::createTask() - newBattDriver -n newBatt2 : Battery newBatt1 initializing. -dev tcp:134.89.32.140:10003 : Supervisor::createTasks() - spawning terrainAidServer Supervisor::createTask() - terrai: PeriodicTask::run() (newBatt1) - sampleInterval=10000, maxInterval=10000 nAidServer : Supervisor::createTasks() - spawning delta_tServer Superv: Battery newBatt2 initializing. isor::createTask() - delta_tServer : PeriodicTask::run() (newBatt2) - sampleInterval=10000, maxInterval=10000 : Configuration file = /home/dorado1/auv-qnx-dev2020/auv/altex/onboard/config/mapper1_trn/terrainAid.cfg : DeltaTServer config: 83P: 1, Fwd: idt_fwd, NotSpecified, 4050 Side: idt, NotSpecified, 4040 : DeltaTServer: spawning driver... : delta_t: 83P output requested : idt_fwd DeltaT: constructing... : idt_fwd DeltaT: msgQ DeltaTMessagesidt_fwd constructed... : DeltaT::DeltaT - Attaching to FastCat : DeltaT::DeltaT - Setting external control : idt_fwd DeltaT - start mvc logging : delta_t: Forward: idt_fwd : idt DeltaT: constructing... : idt DeltaT: msgQ DeltaTMessagesidt constructed... : DeltaT::DeltaT - Attaching to FastCat : DeltaT::DeltaT - Setting external control : idt DeltaT - start mvc logging : delta_t: Side: idt : idt_fwd 83P output on : idt_fwd DeltaT: initializing... : idt_fwd DeltaT: initializing port 4050... : idt_fwd We are ready to receive datagrams from any interface on port 4050 sockfd 11... : idt_fwd Opened 83P file on fd: 12 : delta_t: configure fwd : DeltaT::messageHandler : idt_fwd DeltaT::messageHandler: Got msg: 6 : idt_fwd DeltaT - set_profile_min_range to 1 : DeltaT::messageHandler : idt_fwd DeltaT::messageHandler: Got msg: 7 : idt_fwd DeltaT - set_tilt_angle to -90 : DeltaT::messageHandler : idt_fwd DeltaT::messageHandler: Got msg: 8 : idt_fwd DeltaT - set_trigger_enable to 1, value = 3 : DeltaT::messageHandler : idt_fwd DeltaT::messageHandler: Got msg: 9 : idt_fwd DeltaT - set_trigger_edge to 1, value = 3 : DeltaT::messageHandler : idt_fwd DeltaT::messageHandler: Got msg: 10 : idt_fwd DeltaT - set_trigger_delay to 100000 : DeltaT::messageHandler : idt_fwd DeltaT::messageHandler: Got msg: 11 : idt_fwd DeltaT - set_xducer_orientation to 0 : DeltaT::messageHandler : idt_fwd DeltaT::messageHandler: Got msg: 12 : idt_fwd DeltaT - set profile point filter to 1 : DeltaT::messageHandler : idt_fwd DeltaT::messageHandler: Got msg: 4 : idt_fwd DeltaT - set gain to 12 : DeltaT::messageHandler : idt_fwd DeltaT::messageHandler: Got msg: 19 : idt_fwd DeltaT - set range to 80 : DeltaT::messageHandler : idt_fwd DeltaT::messageHandler: Got msg: 16 : idt_fwd DeltaT - using beams 0 to 119 : DeltaT::messageHandler : idt_fwd DeltaT::messageHandler: Got msg: 14 : idt_fwd DeltaT::Sending to 0:0... 837:1 Range:9 Gain:12 Gain_eq:0 Nbeams:2 Sector:3 Width:1 Avg:0 SOS:14985 Trigger:3 : idt 83P output on : idt DeltaT: initializing... : idt DeltaT: initializing port 4040... : idt We are ready to receive datagrams from any interface on port 4040 sockfd 13... : idt Opened 83P file on fd: 14 : delta_t: configure side : DeltaT::messageHandler : idt DeltaT::messageHandler: Got msg: 6 : idt DeltaT - set_profile_min_range to 1 : DeltaT::messageHandler : idt DeltaT::messageHandler: Got msg: 7 : idt DeltaT - set_tilt_angle to 0 : DeltaT::messageHandler : idt DeltaT::messageHandler: Got msg: 8 : idt DeltaT - set_trigger_enable to 1, value = 3 : DeltaT::messageHandler : idt DeltaT::messageHandler: Got msg: 9 : idt DeltaT - set_trigger_edge to 1, value = 3 : DeltaT::messageHandler : idt DeltaT::messageHandler: Got msg: 10 : idt DeltaT - set_trigger_delay to 100000 : DeltaT::messageHandler : idt DeltaT::messageHandler: Got msg: 11 : idt DeltaT - set_xducer_orientation to 0 : DeltaT::messageHandler : idt DeltaT::messageHandler: Got msg: 12 : idt DeltaT - set profile point filter to 2 : DeltaT::messageHandler : idt DeltaT::messageHandler: Got msg: 4 : idt DeltaT - set gain to 12 : DeltaT::messageHandler : idt DeltaT::messageHandler: Got msg: 19 : idt DeltaT - set range to 100 : DeltaT::messageHandler : idt DeltaT::messageHandler: Got msg: 16 : idt DeltaT - using beams 0 to 119 : DeltaT::messageHandler : idt DeltaT::messageHandler: Got msg: 14 : idt DeltaT::Sending to 0:0... 837:1 Range:10 Gain:12 Gain_eq:0 Nbeams:2 Sector:3 Width:1 Avg:0 SOS:14985 Trigger:3 : _delta_t::Start receiving at 1580255448.2300... : TerrainAid -- configuration: : mapFileName = PortTiles : map_type = 2 : particlesName = particles.cfg : vehicleCfgName = mappingAUV_specs.cfg : terrainNavServer = 134.89.32.107:27027 : forceLowGradeFilter = false : allowFilterReinits = true : filterType = 2 : useModifiedWeighting = 4 : samplePeriod = 3000 : maxNorthingCov = -1.00 : maxEastingCov = -1.00 : maxDepthCov = -1.00 : maxPsiBergCov = -1.00 : maxNorthingError = -1.00 : maxEastingError = -1.00 : useIDTData = false : useDVLSide = false : useMbTrnData = false : useMbTrnServer = false : mbTrnUpdater = false : Using dvl (default). Need dvl, nav, and parosci, Good to go : Vehicle configuration file = /home/dorado1/auv-qnx-dev2020/auv/altex/onboard/config/mapper1_trn/mappingAUV_specs.cfg : Map file = /home/dorado1/auv-qnx-dev2020/auv/altex/onboard/config/mapper1_trn/PortTiles : TerrainAidDriver:: RollOffset is 0.00 : TerrainAidDriver::TerrainAidDriver() - Utm zone = 10 : TerrainAidDriver: Using TerrainNavClient at 134.89.32.107 on port 27027 and map PortTiles : TerrainAidDriver - logs/latest is 2020.028.03/ : DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize() : PeriodicTask::run() (layeredControl) - sampleInterval=2000, maxInterval=0 : Parosci:: edgetechIF is 0x401a8 : parosci:: reson host is 134.89.32.107 : parosci:: reson interface successfully created : Parosci.cc -- parsed PR (100) and TempInterval (100) : SerialDevice: done... : FastCat: data is streaming (392)... : **** EventTriggers::add() - attaching proxy : reson6046: atsIF is 0x445f0 : Running Reson6046Driver... : PeriodicTask::run() (reson6046) - sampleInterval=200, maxInterval=200 : FastCat::resync'ing : SerialDevice: done... matherr(); DOMAIN error from log(), process "//1/home/dorado1/auv-qnx-dev2020/auv/altex/onboard/bin/fastcatDriver" matherr(); OVERFLOW error from pow(), process "//1/home/dorado1/auv-qnx-dev2020/auv/altex/onboard/bin/fastcatDriver" matherr(); OVERFLOW error from pow(), process "//1/home/dorado1/auv-qnx-dev2020/auv/altex/onboard/bin/fastcatDriver" matherr(); DOMAIN error from sqrt(), process "//1/home/dorado1/auv-qnx-dev2020/auv/altex/onboard/bin/fastcatDriver" : _delta_t::timeout: no data from beamformers : TerrainAidDriver::Connected to server. : TerrainAidDriver::TerrainAidDriver - ctor complete : TerrainAidTask::TerrainAidTask - ctor complete : terrainAidDriver:: - wait 20 seconds for the other interfaces to start.... : Run server... : dropWeightDriver::readRecord() - serial device timed out : **** EventTriggers::add() - attaching proxy : no response to address set : SerialDevice: done... : 3 Modules found : Command checksum error! : dropWeightDriver::readRecord() - serial device timed out : PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200 : dropWeightDriver::readRecord() - serial device timed out : dropWeightDriver::readRecord() - serial device timed out : dropWeightDriver::readRecord() - serial device timed out : newBatt1::Average voltage = 0.00 V, Total current = 0.00 A : newBatt1::Max pack voltage = 0.00 V, pack 0 : newBatt1::Min pack voltage = 40.00 V, pack 0 : newBatt1::Env:31.3 C, 32.0 C, 9.4 %rH : newBatt1::packsOnline = 0 : newBatt1::Charge = 0.0 V, Disch = 32.5 V : newBatt1::Aux Current = 3.50 A, Discharge Current = 0.00 A Charge Current = 0.00 A : newBatt1:: There are 55 packs of 3.4 A-h cells. : : newBatt1 - exiting mission fewer than 35 packs online : batt - Exception caught : newBattDriver - looping because of battery stopped responding : newBatt2::Average voltage = 0.00 V, Total current = 0.00 A : newBatt2::Max pack voltage = 0.00 V, pack 0 : newBatt2::Min pack voltage = 40.00 V, pack 0 : newBatt2::Env:32.3 C, 32.1 C, 21.0 %rH : newBatt2::packsOnline = 0 : newBatt2::Charge = 0.0 V, Disch = 32.3 V : newBatt2::Aux Current = 0.00 A, Discharge Current = 0.00 A Charge Current = 0.00 A : newBatt2:: There are 55 packs of 2.9 A-h cells. : : newBatt2 - exiting mission fewer than 35 packs online : batt - Exception caught : newBattDriver - looping because of battery stopped responding : dropWeightDriver::readRecord() - serial device timed out : Navigation: navigation: unable to open modem interface : Navigation::connectSensors core - connecting to Nav->DepthSensor at t = 20198. : Navigation::connectSensors core - connecting to Nav->TailCone at t = 20198. : Navigation::connectSensors core - connecting to Nav->KearfottServer at t = 20198. : Navigation::connectSensors core - connecting to Nav->Dvl at t = 20198. : Navigation::connectSensors aux - connecting to Nav->Multibeam at t = 20198. : Multibeam:: inside createTaskIF : Navigation::connectSensors aux - connecting to Nav->Gps at t = 20198. : Navigation::connectSensors aux - connecting to Nav->EchoSounder at t = 20198. : KearfottDriver: unable to open modem interface : Kearfott:: depthif is 0x72b4c : Kearfott:: ctdIF is 0x72c64 : Kearfott:: edgetechIF is 0x72dac : Reson7K Center Socket connection ready! : dropWeightDriver::readRecord() - serial device timed out : PeriodicTask::run() (terrainAidDriver) - sampleInterval=3000, maxInterval=3000 : ParosciServer::depth() - data is stale : op input mode is 0xd : ParosciServer::depth() - data is stale : op input mode is 0xd : dropWeightDriver::readRecord() - serial device timed out : ParosciServer::depth() - data is stale : TerrainAidDriver:: _navTime0 = 0.00 : TerrainAidDriver:: _dvlTime0 = 15429.78 : ParosciServer::depth() - data is stale : op input mode is 0xd : dropWeightDriver::readRecord() - serial device timed out : ParosciServer::depth() - data is stale : ParosciServer::depth() - data is stale : op input mode is 0xd : Navigation: Server for aux sensor "Nav->EchoSounder" not found : Navigation::connectSensors aux - connecting to Nav->Velocimeter at t = 30297. : Navigation: Server for aux sensor "Nav->Velocimeter" not found : Navigation::connectSensors aux - connecting to Nav->Usbl at t = 30297. : ParosciServer::depth() - data is stale : op input mode is 0xd : dropWeightDriver::readRecord() - serial device timed out : ParosciServer::depth() - data is stale : ParosciServer::depth() - data is stale : op input mode is 0xd : dropWeightDriver::readRecord() - serial device timed out : ParosciServer::depth() - data is stale : ParosciServer::depth() - data is stale : op input mode is 0xd : ParosciServer::depth() - data is stale : op input mode is 0xd : dropWeightDriver::readRecord() - serial device timed out : ParosciServer::depth() - data is stale : ParosciServer::depth() - data is stale : op input mode is 0xd : dropWeightDriver::readRecord() - serial device timed out : ParosciServer::depth() - data is stale : ParosciServer::depth() - data is stale : op input mode is 0xd : Navigation: Server for aux sensor "Nav->Usbl" not found : Navigation::Navigation() - Error. The echo sounder IF isn't yet connected; can't read it's data. : Navigation::Navigation(). _es->valid() = 0 at t = 40397. : PeriodicTask::run() (navigation) - sampleInterval=200, maxInterval=200 : ParosciServer::depth() - data is stale : Multibeam: The aft OA sonar has 0 nbeams at 40.61 sec. : Multibeam: The forward OA sonar has 0 nbeams at 40.61 sec. useFwd = 1 : **** 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 *** : **** EventTriggers::add() - attaching proxy : ParosciServer::depth() - data is stale : Multibeam: The aft OA sonar has 0 nbeams at 40.81 sec. : Multibeam: The forward OA sonar has 0 nbeams at 40.81 sec. useFwd = 1 : ParosciServer::depth() - data is stale : Multibeam: The aft OA sonar has 0 nbeams at 41.01 sec. : Multibeam: The forward OA sonar has 0 nbeams at 41.01 sec. useFwd = 1 : ParosciServer::depth() - data is stale : Multibeam: The aft OA sonar has 0 nbeams at 41.21 sec. : Multibeam: The forward OA sonar has 0 nbeams at 41.21 sec. useFwd = 1 : ParosciServer::depth() - data is stale : Multibeam: The aft OA sonar has 0 nbeams at 41.41 sec. : Multibeam: The forward OA sonar has 0 nbeams at 41.41 sec. useFwd = 1 : ParosciServer::depth() - data is stale : Multibeam: The aft OA sonar has 0 nbeams at 41.61 sec. : Multibeam: The forward OA sonar has 0 nbeams at 41.61 sec. useFwd = 1 : ParosciServer::depth() - data is stale : Multibeam: The aft OA sonar has 0 nbeams at 41.81 sec. : Multibeam: The forward OA sonar has 0 nbeams at 41.81 sec. useFwd = 1 : ParosciServer::depth() - data is stale : Multibeam: The aft OA sonar has 0 nbeams at 42.01 sec. : Multibeam: The forward OA sonar has 0 nbeams at 42.01 sec. useFwd = 1 : ParosciServer::depth() - data is stale : Multibeam: The aft OA sonar has 0 nbeams at 42.21 sec. : Multibeam: The forward OA sonar has 0 nbeams at 42.21 sec. useFwd = 1 : ParosciServer::depth() - data is stale : op input mode is 0xd : ParosciServer::depth() - data is stale : Multibeam: The aft OA sonar has 0 nbeams at 42.41 sec. : Multibeam: The forward OA sonar has 0 nbeams at 42.41 sec. useFwd = 1 : ParosciServer::depth() - data is stale : Multibeam: The aft OA sonar has 0 nbeams at 42.61 sec. : Multibeam: The forward OA sonar has 0 nbeams at 42.61 sec. useFwd = 1 : ParosciServer::depth() - data is stale : Multibeam: The aft OA sonar has 0 nbeams at 42.81 sec. : Multibeam: The forward OA sonar has 0 nbeams at 42.81 sec. useFwd = 1 : dropWeightDriver::readRecord() - serial device timed out : ParosciServer::depth() - data is stale : Multibeam: The aft OA sonar has 0 nbeams at 43.01 sec. : Multibeam: The forward OA sonar has 0 nbeams at 43.01 sec. useFwd = 1 : ParosciServer::depth() - data is stale : ParosciServer::depth() - data is stale : Multibeam: The aft OA sonar has 0 nbeams at 43.21 sec. : Multibeam: The forward OA sonar has 0 nbeams at 43.21 sec. useFwd = 1 : ParosciServer::depth() - data is stale : Multibeam: The aft OA sonar has 0 nbeams at 43.41 sec. : Multibeam: The forward OA sonar has 0 nbeams at 43.41 sec. useFwd = 1 : ParosciServer::depth() - data is stale : Multibeam: The aft OA sonar has 0 nbeams at 43.61 sec. : Multibeam: The forward OA sonar has 0 nbeams at 43.61 sec. useFwd = 1 : Navigation::processSensorData(). Error. The multibeam has stopped responding after 15 read attempts. Aborting. : Navigation - aborting mission : LayeredControl::callback() - got abort request from server : Initiating Mission Abort! : LayeredControl::execute() -- (t = 2.999794) Behavior missionTimer:-1 has changed to state Active : Stack empty after processing. Aborting. : *** LayeredControl - initiating vehicle shutdown... *** : **** EventTriggers::add() - attaching proxy : ****LayeredControl::initiateShutdown - enter : ****LayeredControl::initiateShutdown - exit to system : **** SharedData destructor for object LayeredControlOutput_ShmemName **** : destroying segment LayeredControlOutput_ShmemName : destroying prot sem LayeredControlOutput_ShmemName_prot : destroying notify sem LayeredControlOutput_ShmemName_notify : **** SharedData destructor for object LayeredControlInput_ShmemName **** : destroying segment LayeredControlInput_ShmemName : destroying prot sem LayeredControlInput_ShmemName_prot : destroying notify sem LayeredControlInput_ShmemName_notify : TaskServer::signalHandler() for task LayeredControlIFServer - exit() on signal 18 : **** SharedData destructor for object LayeredControlInput_ShmemName **** : destroying segment LayeredControlInput_ShmemName : destroying prot sem LayeredControlInput_ShmemName_prot : destroying notify sem LayeredControlInput_ShmemName_notify : **** SharedData destructor for object LayeredControlOutput_ShmemName **** : destroying segment LayeredControlOutput_ShmemName : destroying prot sem LayeredControlOutput_ShmemName_prot : destroying notify sem LayeredControlOutput_ShmemName_notify : ParosciServer::depth() - data is stale : Multibeam: The aft OA sonar has 0 nbeams at 43.81 sec. : Multibeam: The forward OA sonar has 0 nbeams at 43.81 sec. useFwd = 1 : Navigation::processSensorData(). Error. The multibeam has stopped responding after 15 read attempts. Aborting. : ParosciServer::depth() - data is stale : op input mode is 0xd : Task "layeredControlServer" died? Supervisor::createTask() - layeredControlServer -plan Lab1.cfg -abort abortLab1.cfg : Supervisor::run - task(s) died - exiting run loop : Supervisor::run - calling shutdown/exit : Supervisor::shutdown - signaling processes : TaskServer::signalHandler() for task DepthSensorIFServer - exit() on signal 2 : **** SharedData destructor for object ParosciOutput_ShmemName **** : **** SharedData destructor for object FastCat **** : **** SharedData destructor for object kearfottOutput **** : TaskServer::signalHandler() for task DvlIFServer - exit() on signal 2 : TaskServer::signalHandler() for task GpsIFServer - exit() on signal 2 : TaskServer::signalHandler() for task TerrainAidIFServer - exit() on signal 2 : TaskServer::signalHandler() for task DeltaTIFServer - 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 InsIFServer - exit() on signal 2 : TaskServer::signalHandler() for task DynamicControlIFServer - exit() on signal 2 : TaskServer::signalHandler() for task FanIFServer - exit() on signal 2 : TaskServer::signalHandler() for task FanIFServer - exit() on signal 2 : TaskServer::signalHandler() for task FastCat - exit() on signal 2 : TaskServer::signalHandler() for task Reson6046IFServer - exit() on signal 2 : TaskServer::signalHandler() for task AuvTimeSyncIFServer - exit() on signal 2 : in DeltaT destructor : TaskServer::signalHandler() for task DropWeightIFServer - exit() on signal 2 : DropWeight Destructor Executing. : **** SharedData destructor for object GpsOutput_ShmemName **** : **** SharedData destructor for object AtsOutout **** : Command destructor... : StepGetStat(2): checksum error : Supervisor::signalHandler - caught signal 2 : Supervisor::signalHandler - caught signal 2 : **** SharedData destructor for object newBatt1 **** : **** SharedData destructor for object newBatt2 **** : TaskServer::signalHandler() for task EventLogIFServer - exit() on signal 2 : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() on signal 2 : **** SharedData destructor for object ParosciOutput_ShmemName **** : destroying segment ParosciOutput_ShmemName : NavigationOutput::~NavigationOutput() : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() on signal 18 : destroying segment FastCat : destroying segment kearfottOutput : **** SharedData destructor for object DeltaTInput_ShmemNameidt_fwd **** : **** SharedData destructor for object kearfottOutput **** : **** SharedData destructor for object DvlOutput_ShmemName **** : **** SharedData destructor for object GpsOutput_ShmemName **** : **** SharedData destructor for object TerrainAidOutput **** : **** SharedData destructor for object TailConeInput_ShmemName **** : DynamicControlServer::Destructor. Difference between clock time and accumulated sample periods is -0.20, at t=2.80. : Reson6046Server - killing driver : destroying segment GpsOutput_ShmemName : **** SharedData destructor for object DeltaTInput_ShmemNameidt **** : destroying segment AtsOutout : **** SharedData destructor for object fanOutput **** : **** SharedData destructor for object dropWeightOutput **** : **** SharedData destructor for object fanOutput **** : **** SharedData destructor for object FastCat **** : **** SharedData destructor for object AtsOutout **** : **** SharedData destructor for object dropWeightOutput **** : **** SharedData destructor for object reson6046Output **** : Supervisor::signalHandler - setting exit flag [1] : Supervisor::signalHandler - setting exit flag [1] : destroying segment newBatt1 : destroying segment newBatt2 : destroying segment ParosciOutput_ShmemName : destroying prot sem ParosciOutput_ShmemName_prot : **** SharedData destructor for object navigationOutput **** : destroying prot sem FastCat_prot : destroying prot sem kearfottOutput_prot : destroying segment DeltaTInput_ShmemNameidt_fwd : destroying segment kearfottOutput : destroying segment DvlOutput_ShmemName : destroying segment GpsOutput_ShmemName : destroying segment TerrainAidOutput : destroying segment TailConeInput_ShmemName : TaskServer::signalHandler() for task Reson6046IFServer - exit() on signal 18 : destroying prot sem GpsOutput_ShmemName_prot : destroying segment DeltaTInput_ShmemNameidt : destroying prot sem AtsOutout_prot : destroying segment fanOutput : destroying segment dropWeightOutput : destroying segment fanOutput : destroying segment FastCat : destroying segment AtsOutout : destroying segment dropWeightOutput : Supervisor::shutdown - cleaning up : destroying prot sem newBatt1_prot : destroying prot sem ParosciOutput_ShmemName_prot : destroying prot sem newBatt2_prot : destroying notify sem ParosciOutput_ShmemName_notify : destroying segment navigationOutput : destroying notify sem FastCat_notify : destroying notify sem kearfottOutput_notify : destroying prot sem DeltaTInput_ShmemNameidt_fwd_prot : destroying prot sem kearfottOutput_prot : destroying prot sem DvlOutput_ShmemName_prot : destroying prot sem GpsOutput_ShmemName_prot : destroying prot sem TerrainAidOutput_prot : destroying prot sem TailConeInput_ShmemName_prot : destroying notify sem GpsOutput_ShmemName_notify : destroying prot sem DeltaTInput_ShmemNameidt_prot : destroying notify sem AtsOutout_notify : destroying prot sem fanOutput_prot : destroying prot sem dropWeightOutput_prot : destroying prot sem fanOutput_prot : layeredControlServer - creating non dynamic version : destroying prot sem FastCat_prot : destroying prot sem AtsOutout_prot : destroying prot sem dropWeightOutput_prot : Supervisor::shutdown - deleting output : destroying notify sem newBatt1_notify : destroying notify sem ParosciOutput_ShmemName_notify : destroying notify sem newBatt2_notify : destroying prot sem navigationOutput_prot : **** SharedData destructor for object DvlOutput_ShmemName **** : destroying notify sem DeltaTInput_ShmemNameidt_fwd_notify : destroying notify sem kearfottOutput_notify : destroying notify sem DvlOutput_ShmemName_notify : destroying notify sem GpsOutput_ShmemName_notify : destroying notify sem TerrainAidOutput_notify : destroying notify sem TailConeInput_ShmemName_notify : destroying notify sem DeltaTInput_ShmemNameidt_notify : destroying notify sem fanOutput_notify : destroying notify sem dropWeightOutput_notify : destroying notify sem fanOutput_notify : destroying notify sem FastCat_notify : destroying notify sem AtsOutout_notify : destroying notify sem dropWeightOutput_notify : **** SharedData destructor for object SupervisorOutout **** : TerrainAidDestructor Executing. : TaskServer::signalHandler() for task NavigationIFServer - exit() on signal 2 : TaskServer::signalHandler() for task DepthSensorIFServer - exit() on signal 18 : TaskServer::signalHandler() for task FastCat - exit() on signal 18 : Illegal option: -restart : destroying notify sem navigationOutput_notify : TaskServer::signalHandler() for task GpsIFServer - exit() on signal 18 : TaskServer::signalHandler() for task AuvTimeSyncIFServer - exit() on signal 18 : destroying segment DvlOutput_ShmemName : **** SharedData destructor for object DeltaTOutput_ShmemNameidt_fwd **** : **** SharedData destructor for object TailConeOutput_ShmemName **** : **** SharedData destructor for object DeltaTOutput_ShmemNameidt **** : TaskServer::signalHandler() for task DropWeightIFServer - exit() on signal 18 : destroying segment SupervisorOutout : usage: layeredControl [-plan file][-abort file] : destroying prot sem DvlOutput_ShmemName_prot : destroying segment DeltaTOutput_ShmemNameidt_fwd : destroying segment TailConeOutput_ShmemName : destroying segment DeltaTOutput_ShmemNameidt : destroying prot sem SupervisorOutout_prot : TaskServer::signalHandler() for task LayeredControlIFServer - exit() on signal 18 : destroying notify sem DvlOutput_ShmemName_notify : destroying prot sem DeltaTOutput_ShmemNameidt_fwd_prot : destroying prot sem TailConeOutput_ShmemName_prot : destroying prot sem DeltaTOutput_ShmemNameidt_prot : destroying notify sem SupervisorOutout_notify : **** SharedData destructor for object LayeredControlInput_ShmemName **** : destroying notify sem DeltaTOutput_ShmemNameidt_fwd_notify : destroying notify sem TailConeOutput_ShmemName_notify : destroying notify sem DeltaTOutput_ShmemNameidt_notify : Supervisor::shutdown - done : destroying segment LayeredControlInput_ShmemName : **** SharedData destructor for object DeltaTInput_ShmemNameidt **** : done in DeltaT destructor : Supervisor::~Supervisor - dtor : destroying prot sem LayeredControlInput_ShmemName_prot : destroying segment DeltaTInput_ShmemNameidt : in DeltaT destructor : destroying notify sem LayeredControlInput_ShmemName_notify : destroying prot sem DeltaTInput_ShmemNameidt_prot : **** SharedData destructor for object LayeredControlOutput_ShmemName **** : destroying notify sem DeltaTInput_ShmemNameidt_notify : **** SharedData destructor for object DeltaTInput_ShmemNameidt_fwd **** : destroying segment LayeredControlOutput_ShmemName : **** SharedData destructor for object DeltaTOutput_ShmemNameidt **** : destroying segment DeltaTInput_ShmemNameidt_fwd : destroying prot sem LayeredControlOutput_ShmemName_prot : destroying segment DeltaTOutput_ShmemNameidt : destroying prot sem DeltaTInput_ShmemNameidt_fwd_prot : destroying notify sem LayeredControlOutput_ShmemName_notify : destroying prot sem DeltaTOutput_ShmemNameidt_prot : destroying notify sem DeltaTInput_ShmemNameidt_fwd_notify : destroying notify sem DeltaTOutput_ShmemNameidt_notify : **** SharedData destructor for object DeltaTOutput_ShmemNameidt_fwd **** : destroying segment DeltaTOutput_ShmemNameidt_fwd : destroying prot sem DeltaTOutput_ShmemNameidt_fwd_prot : destroying notify sem DeltaTOutput_ShmemNameidt_fwd_notify : done in DeltaT destructor : TaskServer::signalHandler() for task NavigationIFServer - exit() on signal 18 : failed to unlink queue TerrainAidMsgs : NavigationOutput::~NavigationOutput() : **** SharedData destructor for object navigationOutput **** : destroying segment navigationOutput : destroying prot sem navigationOutput_prot : destroying notify sem navigationOutput_notify : **** SharedData destructor for object TerrainAidOutput **** : failed to unlink queue NavigationInput : destroying segment TerrainAidOutput : destroying prot sem TerrainAidOutput_prot : destroying notify sem TerrainAidOutput_notify : Command destructor...