Supervisor::createCoreTasks() Supervisor::createTask() - eventLogServer Supervisor::createTask() - workSite Supervisor::createTask() - vehicleConfigurationServer Su: Initializing worksiteServer perviso: WorkSite::WorkSite -- Adding attributes r::: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv/altex/onboard//config/dorado1/workSite.cfg createTask() - dropWeight S: Using default vehicle config file "/home/dorado1/auv/altex/onboard//config/dorado1/vehicle.cfg" upervisor::createTask() - externalCommsServer Supervisor::createTask() - navigationServer Supervisor::createTask() - layeredControlServer Sup: WorkSite::WorkSite -- Finished loading parameters e: 0: L1 577333.000000E 4088477.750000N 47.200001 m 3.000000 ms channel:1 rv: 1: L2 577333.000000E 4088477.750000N 47.200001 m 3.000000 ms channel:2 iso: 2: L3 577981.500000E 4085867.750000N 65.300003 m 10.000000 ms channel:3 r:: 3: L4 577981.500000E 4085867.750000N 65.300003 m 10.000000 ms channel:4 :c: 4: L5 577981.500000E 4085867.750000N 65.300003 m 10.000000 ms channel:5 re: 5: L6 578934.625000E 4082898.000000N 78.599998 m 3.000000 ms channel:6 ate: 6: L7 574507.000000E 4085719.000000N 76.300003 m 3.000000 ms channel:7 Ta: 7: L8 574507.000000E 4085719.000000N 76.300003 m 3.000000 ms channel:8 sk: 8: L9 574507.000000E 4085719.000000N 76.300003 m 3.000000 ms channel:9 (): 9: La 574507.000000E 4085719.000000N 76.300003 m 3.000000 ms channel:10 -: WorkSite server: 0x21e74 dynamicControlServer Supervisor::createTask() - tailConeServer Supervisor::createTask() - crossbowServer Supervisor::createTask() - gpsServer Supervis: Preparing to fork or::createTask() - parosciServer : I'm the child...forking : DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize() : DynamicControlServer - Got event 1 from TailCone : MissionPlan::load() - file = /home/dorado1/auv/altex/onboard//missions/abortMplan.cfg Su: SerialDevice: done... per: Successfully loaded /home/dorado1/auv/altex/onboard//missions/abortMplan.cfg viso: MissionPlan::load() - file = /home/dorado1/auv/altex/onboard//missions/pitchcontrol.cfg r: SerialDevice: done... ::: Successfully loaded /home/dorado1/auv/altex/onboard//missions/pitchcontrol.cfg creat: PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200 eTask() - psa91: TailConeServer -- Maximum Elevator Actuator Excursion is 1421 Counts 6S: TailConeServer:: -- Minimum Elevator Actuator Excursion is -1272 Counts erv: TailConeServer -- Maximum Rudder Actuator Excursion is 1242 Counts er : TailConeServer -- Minimum Rudder Actuator Excursion is -1096 Counts Su: SerialDevice: done... p: SerialDevice: done... ervisor::createTask: SerialDevice: done... () - seabirdServer Su: SerialDevice: done... perv: Gps: initializing i: Crossbow.cc: Setting polled mode so: SerialDevice: done... r::crea: SerialDevice: done... t: Crossbow.cc: Setting polled mode eT: Gps: done initializing... as: Crossbow.cc: In getSerialNumber() k() : **** EventTriggers::add() - attaching proxy - me: Crossbow.cc: _device->read failed with error trab: PeriodicTask::run() (crossbow) - sampleInterval=100, maxInterval=100 yteSer: Parosci::init() - mode set okay ver : SerialDevice: done... : PSA916: constructing... : PSA916: initializing... : PSA916: trying to write data... : PSA916: debug mode on... : SerialDevice: done... : PSA916: confirming data stream... : PSA916: data is streaming... : **** EventTriggers::add() - attaching proxy : seabirdDriver RUNNING... : SerialDevice: done... : Seabird.cc -- Loading CTD constants from /home/dorado1/auv/altex/onboard//config/dorado1/seabird.cfg : 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 : Seabird::Seabird() - create interface to depth sensor... : SerialDevice: done... : Seabird.cc -- constructing Log... : PeriodicTask::run() (MetraByte) - sampleInterval=1000, maxInterval=1000 : CTDLog.cc -- beginning constructor... : CTDLog.cc -- constructor succeeded : Seabird.cc -- constructor succeeded : seabirdDriver -- constructor succeeded : Seabird:initializing Seabird... : SerialDevice: done... : TailConeServer::initElevator : Succeeded initializing elevator actuator, proceed : TailConeServer::initRudder : Succeeded initializing rudder actuator, proceed : PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200 : Parosci.cc -- Initial pressure = 0.068948 : Parosci.cc -- Parosci initial pressure period = 30.462110 : Parosci.cc -- Parosci initial temp period = 5.880613 : Parosci.cc -- Paroscientific configured. : PeriodicTask::run() (Parosci) - sampleInterval=200, maxInterval=200 : SerialDevice::confirm() - Timed Out : Seabird::initialize() - confirm() timed out; sleep a bit : 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 = 0.019999) 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 *** : SerialDevice::confirm() - Timed Out : Seabird::initialize() - confirm() timed out again, send multiple newlines : Seabird: first Ctrl-Z sent... : 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... : Seabird::initialize() - starting logging... : Ctd:initialize() - Logging Started... : Ctd:initialize() - ready! : **** EventTriggers::add() - attaching proxy : LayeredControl::execute() -- (t = 60.195876) Behavior setpoint has changed to state Finished : LayeredControl::execute() -- (t = 60.195876) Behavior launch has changed to state Active : Seabird: error reading voltages : Seabird: error reading voltages : LayeredControl::execute() -- (t = 70.195191) Behavior launch has changed to state Finished : LayeredControl::execute() -- (t = 70.195191) Behavior descend has changed to state Active : Descend::execute() - Descend terminating on depth 20.002020 > 20.000000 at time 93.393602 : LayeredControl::execute() -- (t = 93.403601) Behavior descend has changed to state Finished : LayeredControl::execute() -- (t = 93.413601) Behavior setpoint has changed to state Active : LayeredControl::execute() -- (t = 213.595368) Behavior setpoint has changed to state Finished : LayeredControl::execute() -- (t = 213.595368) Behavior ascend has changed to state Active : LayeredControl::execute() -- (t = 302.999243) 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 = 303.199229) 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 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 **** : **** SharedData destructor for object ParosciOutput_ShmemName **** : 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() : 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 PSA916Input_ShmemName **** : **** SharedData destructor for object navigationOutput **** : NavigationOutput::~NavigationOutput() : **** SharedData destructor for object TailConeInput_ShmemName **** : Supervisor::cleanup() - delete _theSupervisor : Supervisor::cleanup() - delete _theSupervisor : TaskServer::signalHandler() for task CTDIFServer - exit() : **** SharedData destructor for object ParosciOutput_ShmemName **** : **** SharedData destructor for object MetraByteOutput **** : TaskServer::signalHandler() for task DepthSensorIFServer - exit() : **** SharedData destructor for object crossbowCommand **** : TaskServer::signalHandler() for task MetraByteIFServer - exit() : TaskServer::signalHandler() for task RangeFinderIFServer - exit() : TaskServer::signalHandler() for task NavigationIFServer - exit() : TaskServer::signalHandler() for task GpsIFServer - exit() : **** SharedData destructor for object TailConeOutput_ShmemName **** : Supervisor::shutdown() : **** SharedData destructor for object crossbowOutput **** : Supervisor::shutdown() : **** SharedData destructor for object SeabirdOutput_ShmemName **** : Supervisor::shutdown() - done() : TaskServer::signalHandler() for task CTDIFServer - exit() : Supervisor::shutdown() - done() : **** SharedData destructor for object TailConeInput_ShmemName **** : **** SharedData destructor for object TailConeOutput_ShmemName ****