Supervisor::createCoreTasks() Supervisor::createTask() - eventLogServer Supervisor::createTask() - workSite Supervisor::createTask() - vehicleConfigurationServer S: Initializing worksiteServer uperviso: WorkSite::WorkSite -- Adding attributes r::: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv/altex/onboard//config/dorado389/workSite.cfg createTask() - dropWeigh: Using default vehicle config file "/home/dorado1/auv/altex/onboard//config/dorado389/vehicle.cfg" t Supervisor::createTask() - externalCommsServer Supervisor::createTask() - navigationServer Supervisor::createTask() - layeredControlServer S: WorkSite::WorkSite -- Finished loading parameters u: 0: 1 600674.187500E 4067388.750000N 73.699997 m 10.000000 ms channel:2 p: 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 iso: 3: 4 600848.125000E 4069389.500000N 80.199997 m 10.000000 ms channel:6 r:: 4: 5 602732.187500E 4067093.000000N 57.299999 m 10.000000 ms channel:7 :: WorkSite server: 0x21e74 createTask() - dynamicControlServer Supervisor::createTask() - tailConeServer Supervisor::createTask() - crossbowServer Supervisor::createTask() - gpsServer Supervisor::crea: Preparing to fork teTask() - parosci: DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize() : I'm the child...forking Ser: DynamicControlServer - Got event 1 from TailCone ver: SerialDevice: done... S: SerialDevice: done... upervi: PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200 sor::crea: TailConeServer -- Maximum Elevator Actuator Excursion is 1421 Counts te: TailConeServer:: -- Minimum Elevator Actuator Excursion is -1272 Counts Tas: TailConeServer -- Maximum Rudder Actuator Excursion is 1242 Counts k(: TailConeServer -- Minimum Rudder Actuator Excursion is -1096 Counts ) -: SerialDevice: done... psa916Server Sup: SerialDevice: done... ervisor::createTask(: SerialDevice: done... ) - : SerialDevice: done... s: Crossbow.cc: Setting polled mode eabirdS: Crossbow.cc: Setting polled mode erver: Crossbow.cc: In getSerialNumber() Sup: Crossbow.cc: _device->read failed with error erv: PeriodicTask::run() (crossbow) - sampleInterval=100, maxInterval=100 isor: Gps: initializing ::c: SerialDevice: done... reateT: Gps: done initializing... ask: **** EventTriggers::add() - attaching proxy (): SerialDevice: done... - metrabyteServer : Parosci::init() - mode set okay : SerialDevice: done... : PSA916: constructing... : PSA916: initializing... : PSA916: trying to write data... : seabirdDriver RUNNING... : PSA916: debug mode on... : SerialDevice: done... : PSA916: confirming data stream... : SerialDevice: done... : Seabird.cc -- Loading CTD constants from /home/dorado1/auv/altex/onboard//config/dorado389/seabird.cfg : PSA916: data is streaming... : **** EventTriggers::add() - attaching proxy : 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 : Seabird::Seabird() - create interface to depth sensor... : Seabird.cc -- constructing Log... : SerialDevice: done... : SerialDevice: done... : CTDLog.cc -- beginning constructor... : CTDLog.cc -- constructor succeeded : Seabird.cc -- constructor succeeded : PeriodicTask::run() (MetraByte) - sampleInterval=1000, maxInterval=1000 : seabirdDriver -- constructor succeeded : Seabird:initializing Seabird... : SerialDevice: done... : Parosci.cc -- Initial pressure = 0.827371 : Parosci.cc -- Parosci initial pressure period = 30.463540 : Parosci.cc -- Parosci initial temp period = 5.881444 : Parosci.cc -- Paroscientific configured. : PeriodicTask::run() (Parosci) - sampleInterval=200, maxInterval=200 : SerialDevice::confirm() - Timed Out : Seabird::initialize() - confirm() timed out; sleep a bit : Seabird: sending configure commands... : Seabird: setting scans... : Seabird: setting pump freq... : Seabird: setting upcast... : Seabird: setting battery type... : 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 setpoint has changed to state Active : Behavior::shouldBehaviorStart -- Checking to see if depthEnvelope should run : -- it should : LayeredControl::execute() -- (t = 0.009999) Behavior depthEnvelope has changed to state Active : LayeredControl::execute() -- (t = 0.019999) 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 : TailConeServer::initElevator : Succeeded initializing elevator actuator, proceed : TailConeServer::initRudder : Succeeded initializing rudder actuator, proceed : PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200 : LayeredControl::execute() -- (t = 60.195876) Behavior setpoint has changed to state Finished : LayeredControl::execute() -- (t = 60.195876) Behavior launch has changed to state Active : LayeredControl::execute() -- (t = 77.794671) Behavior launch has changed to state Finished : LayeredControl::execute() -- (t = 77.794671) Behavior descend has changed to state Active : Descend::execute() - Descend terminating on depth 10.201569 > 10.000000 at time 86.394082 : LayeredControl::execute() -- (t = 86.394082) Behavior descend has changed to state Finished : LayeredControl::execute() -- (t = 86.404081) Behavior setpoint has changed to state Active : LayeredControl::execute() -- (t = 686.592965) Behavior setpoint has changed to state Finished : LayeredControl::execute() -- (t = 686.592965) Behavior ascend has changed to state Active : LayeredControl::execute() -- (t = 734.399690) Behavior ascend has changed to state Finished : Stack empty after processing. Aborting. : *** LayeredControl - initiating mission abort... *** : Initiating Mission Abort! : **** EventTriggers::add() - attaching proxy : LayeredControl::execute() -- (t = 734.599676) 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 AhrsIFServer - exit() : TaskServer::signalHandler() for task GpsIFServer - exit() : TaskServer::signalHandler() for task DepthSensorIFServer - exit() : TaskServer::signalHandler() for task RangeFinderIFServer - exit() : **** SharedData destructor for object PSA916Input_ShmemName **** : TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit() : TaskServer::signalHandler() for task NavigationIFServer - exit() : TaskServer::signalHandler() for task DynamicControlIFServer - exit() : TaskServer::signalHandler() for task TailConeIFServer - exit() : NavigationOutput::~NavigationOutput() : Supervisor::signalHandler(); caught signal 2 : Supervisor::signalHandler(); caught signal 2 : **** SharedData destructor for object SeabirdOutput_ShmemName **** : TaskServer::signalHandler() for task EventLogIFServer - exit() : TaskServer::signalHandler() for task DropWeightIFServer - exit() : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() : **** SharedData destructor for object ParosciOutput_ShmemName **** : TaskServer::signalHandler() for task CTDIFServer - exit() : TaskServer::signalHandler() for task MetraByteIFServer - exit() : **** SharedData destructor for object MetraByteOutput **** : **** SharedData destructor for object GpsOutput_ShmemName **** : **** SharedData destructor for object crossbowOutput **** : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() : **** SharedData destructor for object PSA916Output_ShmemName **** : **** SharedData destructor for object GpsOutput_ShmemName **** : **** SharedData destructor for object crossbowCommand **** : **** SharedData destructor for object ParosciOutput_ShmemName **** : **** SharedData destructor for object PSA916Input_ShmemName **** : **** SharedData destructor for object navigationOutput **** : NavigationOutput::~NavigationOutput() : **** SharedData destructor for object TailConeInput_ShmemName **** : Supervisor::cleanup() - delete _theSupervisor : TaskServer::signalHandler() for task NavigationIFServer - exit() : Supervisor::cleanup() - delete _theSupervisor : **** SharedData destructor for object SeabirdOutput_ShmemName **** : **** SharedData destructor for object MetraByteOutput **** : TaskServer::signalHandler() for task CTDIFServer - exit() : **** SharedData destructor for object crossbowCommand **** : TaskServer::signalHandler() for task DepthSensorIFServer - exit() : TaskServer::signalHandler() for task GpsIFServer - exit() : TaskServer::signalHandler() for task RangeFinderIFServer - exit() : TaskServer::signalHandler() for task MetraByteIFServer - exit() : **** SharedData destructor for object TailConeOutput_ShmemName **** : **** SharedData destructor for object crossbowOutput **** : Supervisor::shutdown() : Supervisor::shutdown() : Supervisor::shutdown() - done() : Supervisor::shutdown() - done() : **** SharedData destructor for object TailConeInput_ShmemName **** : **** SharedData destructor for object TailConeOutput_ShmemName ****