Supervisor::createCoreTasks() Supervisor::createTask() - eventLogServer Supervisor::createTask() - workSite Supervisor::createTask() - vehicleConfigurationServer S: Initializing worksiteServer uperviso: WorkSite::WorkSite -- Adding attributes r: Using default vehicle config file "/home/dorado2/auv/altex/onboard/config/dorodyssey2/vehicle.cfg" ::: WorkSite::WorkSite -- Loading parameters from file /home/dorado2/auv/altex/onboard/config/dorodyssey2/workSite.cfg createTask() - dropWeight Supervisor::createTask() - externalCommsServer Supervisor::createTask() - navigationServer Supervisor::createTa: WorkSite::WorkSite -- Finished loading parameters s: 0: charlie 3.000000E 1.000000N 3981.000000 m 4.000000 ms k: 1: sylvia -10.000000E 0.000000N 2001.000000 m 4.000000 ms (): WorkSite server: 0x21b3c - layeredControlServer Supervisor::createTask() - dynamicControlServer Supervisor::createTask() - odysseyTailCone Supervisor::createTask() - crossbowServer S: Create tailcone upervisor::createTask() - parosciServer Supervisor::createTask() - psa91: Preparing to fork 6Ser: SerialDevice: done... v: SerialDevice: done... : I'm the child...forking er: Run tailcone Supervisor::createTask() - seabirdServer : SerialDevice: done... Superv: SerialDevice: done... isor::createTask() - gpsServer Sup: SerialDevice: done... : SerialDevice: done... erv: SerialDevice: done... is: Crossbow.cc: Setting polled mode or:: PSA916: constructing... :c: Crossbow.cc: Setting polled mode reateT: Crossbow.cc: In getSerialNumber() a: seabirdDriver RUNNING... sk(): Crossbow.cc: _device->read failed with error - b: Parosci::init() - mode set okay : PeriodicTask::run() (crossbow) - sampleInterval=100, maxInterval=100 i: SerialDevice: done... o: indexing rudder ... lumeDriver : PSA916: initializing... : PSA916: trying to write data... : PSA916: debug mode on... : SerialDevice: done... : Seabird.cc -- Loading CTD constants from /home/dorado2/auv/altex/onboard/config/dorodyssey2/seabird.cfg : PSA916: confirming data stream... : SerialDevice: done... : CTD.cc -- Calibration constants: T_a = 3.679997e-003 T_b = 6.026245e-004 T_c = 1.592950e-005 T_d = 2.062384e-006 T_f0 = 2798.583000 C_a = 2.805518e-004 C_b = 1.593498e+000 C_c = -10.937486 C_d = -8.484504e-005 C_m = 3.500 EPS = -9.570000e-008 : PSA916: data is streaming... : Seabird::Seabird() - create interface to depth sensor... : **** EventTriggers::add() - attaching proxy : SerialDevice: done... : Seabird.cc -- constructing Log... : SerialDevice: done... : **** EventTriggers::add() - attaching proxy : CTDLog.cc -- beginning constructor... : CTDLog.cc -- constructor succeeded : Seabird.cc -- constructor succeeded : seabirdDriver -- constructor succeeded : Seabird:initializing Seabird... : SerialDevice: done... : Gps: initializing : SerialDevice: done... : Gps: done initializing... : **** EventTriggers::add() - attaching proxy : GarminGps::processRecord() - GpsUtils::parseFix() - incomplete GGA sentence? $PGRMO,,2 : **** EventTriggers::add() - attaching proxy : GarminGps::processRecord() - GpsUtils::parseFix() - incomplete GGA sentence? $PGRMO,GPGGA,1 : BiolumeDriver::processRecord() - parse error : **** EventTriggers::add() - attaching proxy : Parosci.cc -- Initial pressure = 0.068948 : Parosci.cc -- Parosci initial pressure period = 30.472100 : Parosci.cc -- Parosci initial temp period = 5.863259 : Parosci.cc -- Paroscientific configured. : PeriodicTask::run() (Parosci) - sampleInterval=200, maxInterval=200 : SerialDevice::confirm() - Timed Out : Seabird::initialize() - confirm() timed out; sleep a bit : done : indexing elevator ... : Seabird: sending configure commands... : Seabird: setting scans... : Seabird: setting pump freq... : Seabird: setting upcast... : done : MissionPlan::load() - file = /home/dorado2/auv/altex/onboard/missions/abortMplan.cfg : Seabird: setting battery type... : Successfully loaded /home/dorado2/auv/altex/onboard/missions/abortMplan.cfg : MissionPlan::load() - file = /home/dorado2/auv/altex/onboard/missions/Muse2.cfg : Successfully loaded /home/dorado2/auv/altex/onboard/missions/Muse2.cfg : PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200 : Seabird: setting external voltages to 6... : Seabird::initialize() - confirming voltage... : Seabird::initialize() - confirming voltage... : Seabird::initialize() - confirming voltage... : Seabird::initialize() - confirming voltage... : Seabird::initialize() - confirming voltage... : Seabird::initialize() - confirming voltage... : Seabird::initialize() - disabling switch... : Seabird: sending DS command... : Lbl NavSensor - could not create LBL task interface : Navigation: Server for aux sensor "Lbl" not found : Navigation: Server for aux sensor "Velocimeter" not found : PeriodicTask::run() (navigation) - sampleInterval=200, maxInterval=200 : **** EventTriggers::add() - attaching proxy : LayeredControl::execute() -- (t = 0.000000) Behavior launch has changed to state Active : Behavior::shouldBehaviorStart -- Checking to see if depthEnvelope should run : -- it should : LayeredControl::execute() -- (t = 0.000000) Behavior depthEnvelope has changed to state Active : LayeredControl::execute() -- (t = 0.009999) Behavior missionTimer has changed to state Active : **** EventTriggers::add() - attaching proxy : *** Mission started *** : Seabird::initialize() - starting logging... : Ctd:initialize() - Logging Started... : Ctd:initialize() - ready! : **** EventTriggers::add() - attaching proxy : OdysseyThruster::control() - Timed out reading reply to cmd "#THVE0:" : OdysseyThruster::control() - Timed out reading reply to cmd "#THVE0:" : OdysseyThruster::control() - Timed out reading reply to cmd "#THVE0:" : OdysseyThruster::control() - Timed out reading reply to cmd "#THVE0:" : OdysseyThruster::control() - Timed out reading reply to cmd "#THVE0:" : LayeredControl::execute() -- (t = 22.798438) Behavior launch has changed to state Finished : LayeredControl::execute() -- (t = 22.798438) Behavior setpoint has changed to state Active : OdysseyThruster::control() - Timed out reading reply to cmd "#THFE0:" : OdysseyThruster::control() - Timed out reading reply to cmd "#THFE0:" : OdysseyThruster::control() - Timed out reading reply to cmd "#THFE0:" : OdysseyThruster::control() - Timed out reading reply to cmd "#THFE0:" : OdysseyThruster::control() - Timed out reading reply to cmd "#THFE0:" : OdysseyThruster::control() - Timed out reading reply to cmd "#THFE0:" : Seabird: error reading voltages : Seabird: error reading voltages : OdysseyThruster::control() - Timed out reading reply to cmd "#THFE0:" : OdysseyThruster::control() - Timed out reading reply to cmd "#THFE0:" : OdysseyThruster::control() - Timed out reading reply to cmd "#THFE0:" : OdysseyThruster::control() - Timed out reading reply to cmd "#THFE0:" : OdysseyThruster::control() - Timed out reading reply to cmd "#THFE0:" : OdysseyThruster::control() - Timed out reading reply to cmd "#THFE0:" : OdysseyThruster::control() - Timed out reading reply to cmd "#THFE0:" : OdysseyThruster::control() - Timed out reading reply to cmd "#THFE0:" : OdysseyThruster::control() - Timed out reading reply to cmd "#THFE0:" : OdysseyThruster::control() - Timed out reading reply to cmd "#THFE0:" : OdysseyThruster::control() - Timed out reading reply to cmd "#THFE0:" : OdysseyThruster::control() - Timed out reading reply to cmd "#THFE0:" : OdysseyThruster::control() - Timed out reading reply to cmd "#THFE0:" : OdysseyThruster::control() - Timed out reading reply to cmd "#THFE0:" : OdysseyThruster::control() - Timed out reading reply to cmd "#THFE0:" : OdysseyThruster::control() - Timed out reading reply to cmd "#THFE0:" : OdysseyThruster::control() - Timed out reading reply to cmd "#THFE0:" : OdysseyThruster::control() - Timed out reading reply to cmd "#THFE0:" : OdysseyThruster::control() - Timed out reading reply to cmd "#THFE0:" : OdysseyThruster::control() - Timed out reading reply to cmd "#THFE0:" : OdysseyThruster::control() - Timed out reading reply to cmd "#THFE0:" : OdysseyThruster::control() - Timed out reading reply to cmd "#THFE0:" : OdysseyThruster::control() - Timed out reading reply to cmd "#THFE0:" : OdysseyThruster::control() - Timed out reading reply to cmd "#THFE0:" : OdysseyThruster::control() - Timed out reading reply to cmd "#THFE0:" : OdysseyThruster::control() - Timed out reading reply to cmd "#THFE0:" : OdysseyThruster::control() - Timed out reading reply to cmd "#THFE0:" : OdysseyThruster::control() - Timed out reading reply to cmd "#THFE0:" : OdysseyThruster::control() - Timed out reading reply to cmd "#THFE0:" : OdysseyThruster::control() - Timed out reading reply to cmd "#THFE0:" : OdysseyThruster::control() - Timed out reading reply to cmd "#THFE0:" : OdysseyThruster::control() - Timed out reading reply to cmd "#THFE0:" : OdysseyThruster::control() - Timed out reading reply to cmd "#THFE0:" : OdysseyThruster::control() - Timed out reading reply to cmd "#THFE0:" : LayeredControl::execute() -- (t = 322.997873) Behavior setpoint has changed to state Finished : LayeredControl::execute() -- (t = 322.997873) Behavior ascend has changed to state Active : LayeredControl::execute() -- (t = 330.197380) Behavior ascend has changed to state Finished : Stack empty after processing. Aborting. : *** LayeredControl - initiating mission abort... *** : Initiating Mission Abort! : LayeredControl::execute() -- (t = 330.397366) Behavior missionTimer has changed to state Active : Stack empty after processing. Aborting. : *** LayeredControl - initiating vehicle shutdown... *** : **** SharedData destructor for object LayeredControlInput_ShmemName **** : **** SharedData destructor for object LayeredControlOutput_ShmemName **** : TaskServer::signalHandler() for task LayeredControlIFServer - exit() : **** SharedData destructor for object LayeredControlInput_ShmemName **** : **** SharedData destructor for object LayeredControlOutput_ShmemName **** : Task "layeredControlServer" died? Supervisor::createTask() - layeredControlServer : Supervisor::Supervisor() - task(s) died; exiting : Supervisor::shutdown() : TaskServer::signalHandler() for task WorkSiteIFServer - exit() : TaskServer::signalHandler() for task NavigationIFServer - exit() : TaskServer::signalHandler() for task DynamicControlIFServer - exit() : TaskServer::signalHandler() for task AhrsIFServer - exit() : TaskServer::signalHandler() for task RangeFinderIFServer - exit() : TaskServer::signalHandler() for task GpsIFServer - exit() : TaskServer::signalHandler() for task TailConeIFServer - exit() : TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit() : Supervisor::signalHandler(); caught signal 2 : Supervisor::signalHandler(); caught signal 2 : TaskServer::signalHandler() for task EventLogIFServer - exit() : TaskServer::signalHandler() for task DropWeightIFServer - exit() : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() : TaskServer::signalHandler() for task DepthSensorIFServer - exit() : TaskServer::signalHandler() for task CTDIFServer - exit() : **** SharedData destructor for object ParosciOutput_ShmemName **** : **** SharedData destructor for object SeabirdOutput_ShmemName **** : **** SharedData destructor for object GpsOutput_ShmemName **** : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() : **** SharedData destructor for object crossbowOutput **** : NavigationOutput::~NavigationOutput() : NavigationOutput::~NavigationOutput() : **** SharedData destructor for object crossbowCommand **** : **** SharedData destructor for object PSA916Output_ShmemName **** : TaskServer::signalHandler() for task RangeFinderIFServer - exit() : **** SharedData destructor for object GpsOutput_ShmemName **** : Supervisor::cleanup() - delete _theSupervisor : Supervisor::cleanup() - delete _theSupervisor : **** SharedData destructor for object ParosciOutput_ShmemName **** : TaskServer::signalHandler() for task DepthSensorIFServer - exit() : **** SharedData destructor for object SeabirdOutput_ShmemName **** : **** SharedData destructor for object crossbowCommand **** : TaskServer::signalHandler() for task CTDIFServer - exit() : **** SharedData destructor for object navigationOutput **** : TaskServer::signalHandler() for task GpsIFServer - exit() : **** SharedData destructor for object navigationOutput **** : **** SharedData destructor for object crossbowOutput **** : TaskServer::signalHandler() for task NavigationIFServer - exit() : Supervisor::shutdown() : Supervisor::shutdown() : Supervisor::shutdown() - done() : Supervisor::shutdown() - done()