: Using default vehicle config file "/home/altex/auv/altex/onboard//config/vehicle.cfg" : Supervisor::createRealTasks() - spawning odyTailCone : Supervisor::createRealTasks() - spawning ahrsServer : Supervisor::createRealTasks() - spawning kvhCompassDriver : Supervisor::createRealTasks() - spawning kvhInclinoDriver : Create tailcone : WorkSite server: 0x1f24c : Supervisor::createRealTasks() - spawning gpsServer : SerialDevice: done... : Run tailcone : Supervisor::createRealTasks() - spawning parosciServer : Supervisor::createRealTasks() - spawning psa916Server : MissionPlan::load() - file = /home/altex/auv/altex/onboard//missions/abortMplan.cfg : Successfully loaded /home/altex/auv/altex/onboard//missions/abortMplan.cfg : Supervisor::createRealTasks() - spawning ctdServer : MissionPlan::load() - file = /home/altex/auv/altex/onboard//missions/xbow5a.cfg : Successfully loaded /home/altex/auv/altex/onboard//missions/xbow5a.cfg : PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200 : SerialDevice: done... : KvhCompassDriver::initialize() : SerialDevice: done... : KvhInclinoDriver::initialize() : PeriodicTask::run() (navigation) - sampleInterval=200, maxInterval=200 : SerialDevice: done... : ParosciServer::depth() - device not ready : Navigation::periodicCallback() - bad parosci data? : Crossbow.cc: Setting polled mode : ParosciServer::depth() - device not ready : Navigation::periodicCallback() - bad parosci data? : Crossbow.cc: Setting polled mode : Crossbow.cc: In getSerialNumber() : read failed : Crossbow.cc: _device->read failed with error : ParosciServer::depth() - device not ready : Navigation::periodicCallback() - bad parosci data? : ParosciServer::depth() - device not ready : Navigation::periodicCallback() - bad parosci data? : PSA916: constructing... : ParosciServer::depth() - device not ready : indexing rudder ... : Navigation::periodicCallback() - bad parosci data? : SerialDevice: done... : Gps: initializing : SerialDevice: done... : Gps: done initializing... : **** EventTriggers::add() - attaching proxy : KvhDriver::setUpdateRate(5) : PSA916: initializing... : ParosciServer::depth() - device not ready : Ctd::Ctd() - create interface to depth sensor... : Navigation::periodicCallback() - bad parosci data? : PSA916: trying to write data... : PSA916: debug mode on... : SerialDevice: done... : CTD:initializing CTD... : KvhDriver::setUpdateRate(5) : SerialDevice: done... : PSA916: confirming data stream... : ParosciServer::depth() - device not ready : Navigation::periodicCallback() - bad parosci data? : Gps::processRecord() - bad data : KvhInclinoDriver::initialize() - ready! : KvhInclinoDriver::initialize() - finished : **** EventTriggers::add() - attaching proxy : PSA916: data is streaming... : **** EventTriggers::add() - attaching proxy : Gps::processRecord() - bad data : this should not have happened: : ParosciServer::depth() - device not ready : Navigation::periodicCallback() - bad parosci data? : ParosciServer::depth() - device not ready : Navigation::periodicCallback() - bad parosci 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? : 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? : 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 = 1.716795 : Parosci.cc -- Parosci initial pressure period = 30.259820 : ParosciServer::depth() - device not ready : Navigation::periodicCallback() - bad parosci data? : Parosci.cc -- Parosci initial temp period = 5.834017 : 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 : 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 = 0.009999) Behavior missionTimer has changed to state Active : **** EventTriggers::add() - attaching proxy : *** Mission started *** : 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 = 30.197931) Behavior setpoint has changed to state Finished : LayeredControl::execute() -- (t = 30.207931) Behavior setpoint has changed to state Active : LayeredControl::execute() -- (t = 150.399697) Behavior setpoint has changed to state Finished : LayeredControl::execute() -- (t = 150.409696) Behavior setpoint has changed to state Active : Crossbow::readData: Checksum does not agree : Crossbow::readData: 2 92 fe d4 f 70 ff ca ff f2 : Crossbow::readData: 0 69 1 2c 2 b6 2a a1 f de : Crossbow::readData: fc 5 1e 39 6 a8 70 1f 3a 0 : : LayeredControl::execute() -- (t = 270.591463) Behavior setpoint has changed to state Finished : Stack empty after processing. Aborting. : *** LayeredControl - initiating mission abort... *** : Initiating Mission Abort! : LayeredControl::execute() -- (t = 270.801449) Behavior setRudder has changed to state Active : Behavior::shouldBehaviorStart -- Checking to see if setElevator should run : -- it should : LayeredControl::execute() -- (t = 270.821447) Behavior setElevator has changed to state Active : LayeredControl::execute() -- (t = 270.821447) Behavior missionTimer has changed to state Active : LayeredControl::execute() -- (t = 271.991367) Behavior setRudder has changed to state Finished : LayeredControl::execute() -- (t = 272.001367) 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() : Navigation::~Navigation() - this=0x295e0 : AHRSOutput::AHRSOutput() : **** SharedData destructor for object ParosciOutput_ShmemName **** : **** SharedData destructor for object PSA916Output_ShmemName **** : NavigationOutput::~NavigationOutput() : **** SharedData destructor for object dynamicControlInput **** : **** SharedData destructor for object dynamicControlInput **** : Supervisor::signalHandler(); caught signal 2 : Navigation::~Navigation() - delete parosci : AHRSOutput::AHRSOutput() : **** SharedData destructor for object GpsOutput_ShmemName **** : **** SharedData destructor for object CTDOutput_ShmemName **** : **** SharedData destructor for object GpsOutput_ShmemName **** : **** SharedData destructor for object CTDOutput_ShmemName **** : **** SharedData destructor for object ParosciOutput_ShmemName **** : **** SharedData destructor for object ahrsOutput **** : Navigation::~Navigation() - delete log : Navigation::~Navigation() - delete output : **** SharedData destructor for object navigationOutput **** : **** SharedData destructor for object KvhCompassOutput_ShmemName **** : Supervisor::cleanup() - delete _theSupervisor : **** SharedData destructor for object ahrsOutput **** : NavigationOutput::~NavigationOutput() : Supervisor::shutdown() : **** SharedData destructor for object navigationOutput **** : Supervisor::shutdown() - done() : **** SharedData destructor for object crossbowOutput **** : **** SharedData destructor for object crossbowCommand ****