: launchCoreTasks: Starting Crossbow driver... : launchCoreTasks: Done starting Crossbow driver : Using default vehicle config file "/home/altex/auv/altex/onboard//config/vehicle.cfg" : Create tailcone : SerialDevice: done... : SerialDevice: done... : Crossbow.cc: Setting polled mode : Crossbow.cc: Setting polled mode : Crossbow.cc: In getSerialNumber() : read failed : Crossbow.cc: _device->read failed with error : Crossbow::readData: Checksum does not agree : Crossbow::readData: ff 0 0 43 72 b5 ff 9 9a 0 : Crossbow::readData: 6d b8 ff ff d1 0 de fb 82 ff : Crossbow::readData: e2 b ee 2b 45 fc 8a 17 fc 18 : : SerialDevice: done... : KvhInclinoDriver::initialize() : SerialDevice: done... : KvhCompassDriver::initialize() : Gps: initializing : SerialDevice: done... : Gps: done initializing... : **** EventTriggers::add() - attaching proxy : KvhDriver::setUpdateRate(5) : Ctd::Ctd() - create interface to depth sensor... : PSA916: constructing... : Gps::processRecord() - bad data : WorkSite server: 0x1f1bc : CTD:initializing CTD... : SerialDevice: done... : PSA916: initializing... : PSA916: trying to write data... : KvhInclinoDriver::initialize() - ready! : PSA916: debug mode on... : KvhInclinoDriver::initialize() - finished : SerialDevice: done... : **** EventTriggers::add() - attaching proxy : PSA916: confirming data stream... : PSA916: data is streaming... : Gps::processRecord() - bad data : SerialDevice: done... : **** EventTriggers::add() - attaching proxy : this should not have happened: : KvhDriver::setUpdateRate(5) : PeriodicTask::run() (navigation) - sampleInterval=200, maxInterval=200 : Run tailcone : MissionPlan::load() - file = /home/altex/auv/altex/onboard//missions/abortMplan.cfg : Successfully loaded /home/altex/auv/altex/onboard//missions/abortMplan.cfg : MissionPlan::load() - file = /home/altex/auv/altex/onboard//missions/mis9a.cfg : Navigation::periodicCallback() - bad ahrs data? : setpoint: Note! Depth not set in setpoint. Is this correct? : Successfully loaded /home/altex/auv/altex/onboard//missions/mis9a.cfg : PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200 : Navigation::periodicCallback() - bad ahrs data? : Navigation::periodicCallback() - bad ahrs data? : KvhCompassDriver::initialize() - ready! : KvhCompassDriver::initialize() - finished : **** EventTriggers::add() - attaching proxy : ParosciServer::depth() - device not ready : Navigation::periodicCallback() - bad parosci data? : ParosciServer::depth() - device not ready : Navigation::periodicCallback() - bad parosci data? : ParosciServer::depth() - device not ready : Navigation::periodicCallback() - bad parosci data? : ParosciServer::depth() - device not ready : Navigation::periodicCallback() - bad parosci data? : indexing rudder ... : ParosciServer::depth() - device not ready : Navigation::periodicCallback() - bad parosci data? : ParosciServer::depth() - device not ready : Navigation::periodicCallback() - bad parosci data? : ParosciServer::depth() - device not ready : Navigation::periodicCallback() - bad parosci data? : ParosciServer::depth() - device not ready : Navigation::periodicCallback() - bad parosci data? : ParosciServer::depth() - device not ready : Navigation::periodicCallback() - bad parosci data? : ParosciServer::depth() - device not ready : Navigation::periodicCallback() - bad parosci data? : ParosciServer::depth() - device not ready : Navigation::periodicCallback() - bad parosci data? : Parosci.cc -- Initial pressure = 1.654742 : ParosciServer::depth() - device not ready : Navigation::periodicCallback() - bad parosci data? : Parosci.cc -- Parosci initial pressure period = 30.259750 : Parosci.cc -- Parosci initial temp period = 5.833991 : Parosci.cc -- Paroscientific configured. : PeriodicTask::run() (Parosci) - sampleInterval=200, maxInterval=200 : SerialDevice::confirm() - Timed Out : Ctd::initialize() - confirm() timed out; sleep a bit : done : indexing elevator ... : done : **** EventTriggers::add() - attaching proxy : **** EventTriggers::add() - attaching proxy : Behavior::shouldBehaviorStart -- Checking to see if launch should run : -- it should : LayeredControl::execute() -- (t = 0.009999) Behavior launch has changed to state Active : Behavior::shouldBehaviorStart -- Checking to see if depthEnvelope should run : -- it should : LayeredControl::execute() -- (t = 0.019999) Behavior depthEnvelope has changed to state Active : LayeredControl::execute() -- (t = 0.029998) Behavior missionTimer has changed to state Active : **** EventTriggers::add() - attaching proxy : *** Mission started *** Domain error in pow : SerialDevice::confirm() - Timed Out : Ctd::initialize() - confirm() timed out again, send multiple newlines : CTD: first Ctrl-Z sent... : CTD: sending configure commands... : CTD: setting scans... : CTD: setting pump freq... : CTD: setting upcast... : CTD: setting battery type... : CTD: setting external voltages... : Ctd::initialize() - confirming voltage... : Ctd::initialize() - disabling switch... : CTD: sending DS command... : Ctd::initialize() - starting logging... : Ctd:initialize() - Logging Started... : Ctd:initialize() - ready! : **** EventTriggers::add() - attaching proxy : LayeredControl::execute() -- (t = 20.058626) Behavior launch has changed to state Finished : LayeredControl::execute() -- (t = 20.098623) Behavior setpoint has changed to state Active : LayeredControl::execute() -- (t = 20.108622) Behavior yoyo has changed to state Active : LayeredControl::execute() -- (t = 260.212174) Behavior setpoint has changed to state Finished : LayeredControl::execute() -- (t = 260.282169) Behavior yoyo has changed to state Finished : LayeredControl::execute() -- (t = 260.292169) Behavior ascend has changed to state Active : LayeredControl::execute() -- (t = 277.810969) Behavior ascend has changed to state Finished : Stack empty after processing. Aborting. : *** LayeredControl - initiating mission abort... *** : Initiating Mission Abort! : LayeredControl::execute() -- (t = 278.010955) Behavior setRudder has changed to state Active : Behavior::shouldBehaviorStart -- Checking to see if setElevator should run : -- it should : LayeredControl::execute() -- (t = 278.100949) Behavior setElevator has changed to state Active : LayeredControl::execute() -- (t = 278.110948) Behavior missionTimer has changed to state Active : LayeredControl::execute() -- (t = 279.040884) Behavior setRudder has changed to state Finished : LayeredControl::execute() -- (t = 279.240871) Behavior setElevator has changed to state Finished : Abort request issued by behavior "missionTimer" : *** LayeredControl - initiating vehicle shutdown... *** : Task "layeredControlServer" died? : Supervisor::Supervisor() - task(s) died; exiting : Supervisor::shutdown() : **** SharedData destructor for object KvhCompassOutput_ShmemName **** : Navigation::~Navigation() - this=0x294d0 : **** SharedData destructor for object PSA916Output_ShmemName **** : **** SharedData destructor for object ParosciOutput_ShmemName **** : NavigationOutput::~NavigationOutput() : **** SharedData destructor for object dynamicControlInput **** : **** SharedData destructor for object dynamicControlInput **** : Supervisor::signalHandler(); caught signal 2 : Navigation::~Navigation() - delete parosci : **** SharedData destructor for object ParosciOutput_ShmemName **** : **** SharedData destructor for object GpsOutput_ShmemName **** : **** SharedData destructor for object CTDOutput_ShmemName **** : **** SharedData destructor for object GpsOutput_ShmemName **** : AHRSOutput::AHRSOutput() : Navigation::~Navigation() - delete log : **** SharedData destructor for object KvhInclinoOutput_ShmemName **** : Navigation::~Navigation() - delete output : **** SharedData destructor for object KvhCompassOutput_ShmemName **** : **** SharedData destructor for object navigationOutput **** : Supervisor::cleanup() - delete _theSupervisor : NavigationOutput::~NavigationOutput() : **** SharedData destructor for object ahrsOutput **** : **** SharedData destructor for object navigationOutput **** : Supervisor::shutdown() : Navigation::~Navigation() - delete ahrs : Supervisor::shutdown() - done() : **** SharedData destructor for object crossbowOutput **** : **** SharedData destructor for object crossbowCommand ****