: 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 : WorkSite server: 0x1f24c : Supervisor::createRealTasks() - spawning kvhInclinoDriver : Create tailcone : Supervisor::createRealTasks() - spawning gpsServer : SerialDevice: done... : Run tailcone : Supervisor::createRealTasks() - spawning parosciServer : Supervisor::createRealTasks() - spawning psa916Server : Supervisor::createRealTasks() - spawning ctdServer : 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/jim1.cfg : Successfully loaded /home/altex/auv/altex/onboard//missions/jim1.cfg : PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200 : SerialDevice: done... : SerialDevice: done... : PeriodicTask::run() (navigation) - sampleInterval=200, maxInterval=200 : KvhCompassDriver::initialize() : KvhInclinoDriver::initialize() : ParosciServer::depth() - device not ready : Navigation::periodicCallback() - bad parosci data? : indexing rudder ... : PSA916: constructing... : Gps: initializing : SerialDevice: done... : ParosciServer::depth() - device not ready : Gps: done initializing... : Navigation::periodicCallback() - bad parosci data? : **** EventTriggers::add() - attaching proxy : PSA916: initializing... : SerialDevice: done... : PSA916: trying to write data... : PSA916: debug mode on... : ParosciServer::depth() - device not ready : Navigation::periodicCallback() - bad parosci data? : SerialDevice: done... : SerialDevice: done... : Ctd::Ctd() - create interface to depth sensor... : Crossbow.cc: Setting polled mode : PSA916: confirming data stream... : Crossbow.cc: Setting polled mode : CTD:initializing CTD... : Crossbow.cc: In getSerialNumber() : SerialDevice: done... : read failed : Crossbow.cc: _device->read failed with error : CTD: sending configure commands... : ParosciServer::depth() - device not ready : Navigation::periodicCallback() - bad parosci data? : PSA916: data is streaming... : **** EventTriggers::add() - attaching proxy : this should not have happened: : ParosciServer::depth() - device not ready : Navigation::periodicCallback() - bad parosci data? : Gps::processRecord() - bad data : Gps::processRecord() - bad data : ParosciServer::depth() - device not ready : Navigation::periodicCallback() - bad parosci data? : CTD: setting scans... : KvhDriver::setUpdateRate(5) : CTD: setting pump freq... : ParosciServer::depth() - device not ready : Navigation::periodicCallback() - bad parosci data? : KvhInclinoDriver::initialize() - ready! : KvhInclinoDriver::initialize() - finished : **** EventTriggers::add() - attaching proxy : CTD: setting upcast... : ParosciServer::depth() - device not ready : Navigation::periodicCallback() - bad parosci data? : CTD: setting battery type... : KvhDriver::setUpdateRate(5) : ParosciServer::depth() - device not ready : Navigation::periodicCallback() - bad parosci data? : CTD: setting external voltages... : Ctd::initialize() - confirming voltage... : 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? : Ctd::initialize() - disabling switch... : CTD: sending DS command... : 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 = 1.714037 : Parosci.cc -- Parosci initial pressure period = 30.259680 : ParosciServer::depth() - device not ready : Navigation::periodicCallback() - bad parosci data? : Parosci.cc -- Parosci initial temp period = 5.833948 : Parosci.cc -- Paroscientific configured. : PeriodicTask::run() (Parosci) - sampleInterval=200, maxInterval=200 : done : indexing elevator ... : Ctd::initialize() - starting logging... : Ctd:initialize() - Logging Started... : Ctd:initialize() - ready! : **** EventTriggers::add() - attaching proxy : done : **** EventTriggers::add() - attaching proxy : **** 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 = 0.009999) 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 *** : LayeredControl::execute() -- (t = 49.226628) Behavior launch has changed to state Finished : LayeredControl::execute() -- (t = 49.296623) Behavior descend has changed to state Active : Descend::execute() - Descend terminating on depth 12.154023 > 12.000000 at time 93.623586 : LayeredControl::execute() -- (t = 93.703581) Behavior descend has changed to state Finished : LayeredControl::execute() -- (t = 93.703581) Behavior setpoint has changed to state Active : LayeredControl::execute() -- (t = 213.825352) Behavior setpoint has changed to state Finished : LayeredControl::execute() -- (t = 213.905347) Behavior ascend has changed to state Active : LayeredControl::execute() -- (t = 242.053418) Behavior ascend has changed to state Finished : Stack empty after processing. Aborting. : *** LayeredControl - initiating mission abort... *** : Initiating Mission Abort! : LayeredControl::execute() -- (t = 242.223407) Behavior setRudder has changed to state Active : Behavior::shouldBehaviorStart -- Checking to see if setElevator should run : -- it should : LayeredControl::execute() -- (t = 242.313400) Behavior setElevator has changed to state Active : LayeredControl::execute() -- (t = 242.323400) Behavior missionTimer has changed to state Active : LayeredControl::execute() -- (t = 243.423324) Behavior setRudder has changed to state Finished : LayeredControl::execute() -- (t = 243.503319) 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=0x29600 : 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 CTDOutput_ShmemName **** : **** SharedData destructor for object ParosciOutput_ShmemName **** : **** SharedData destructor for object GpsOutput_ShmemName **** : **** SharedData destructor for object GpsOutput_ShmemName **** : **** SharedData destructor for object CTDOutput_ShmemName **** : **** SharedData destructor for object ahrsOutput **** : Navigation::~Navigation() - delete log : **** SharedData destructor for object KvhCompassOutput_ShmemName **** : **** SharedData destructor for object navigationOutput **** : Supervisor::cleanup() - delete _theSupervisor : **** SharedData destructor for object ahrsOutput **** : Navigation::~Navigation() - delete output : NavigationOutput::~NavigationOutput() : Supervisor::shutdown() : **** SharedData destructor for object navigationOutput **** : Supervisor::shutdown() - done() : **** SharedData destructor for object crossbowOutput **** : **** SharedData destructor for object crossbowCommand ****