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/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 Supervisor::createTask(): WorkSite::WorkSite -- Finished loading parameters : 0: L1 577333.000000E 4088477.750000N 47.200001 m 3.000000 ms channel:1 - : 1: L2 577333.000000E 4088477.750000N 47.200001 m 3.000000 ms channel:2 dy: 2: L3 577981.500000E 4085867.750000N 65.300003 m 10.000000 ms channel:3 na: 3: L4 577981.500000E 4085867.750000N 65.300003 m 10.000000 ms channel:4 mi: 4: L5 577981.500000E 4085867.750000N 65.300003 m 10.000000 ms channel:5 cC: 5: L6 578934.625000E 4082898.000000N 78.599998 m 3.000000 ms channel:6 on: 6: L7 574507.000000E 4085719.000000N 76.300003 m 3.000000 ms channel:7 tr: 7: L8 574507.000000E 4085719.000000N 76.300003 m 3.000000 ms channel:8 ol: 8: L9 574507.000000E 4085719.000000N 76.300003 m 3.000000 ms channel:9 Se: 9: La 574507.000000E 4085719.000000N 76.300003 m 3.000000 ms channel:10 rv: WorkSite server: 0x21e74 er Supervisor::createTask() - tailConeServer Supervisor::createTask() - crossbowServer Supervisor::createTask() - gpsServer Supervisor::createT: Preparing to fork ask() - parosciServer : DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize() : DynamicControlServer - Got event 1 from TailCone : MissionPlan::load() - file = /home/dorado1/auv/altex/onboard//missions/abortMplan.cfg : SerialDevice: done... : Successfully loaded /home/dorado1/auv/altex/onboard//missions/abortMplan.cfg : I'm the child...forking Supe: MissionPlan::load() - file = /home/dorado1/auv/altex/onboard//missions/pitchcontrol.cfg rvisor::: SerialDevice: done... cre: Successfully loaded /home/dorado1/auv/altex/onboard//missions/pitchcontrol.cfg a: PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200 teTask() - p: TailConeServer -- Maximum Elevator Actuator Excursion is 1421 Counts sa: TailConeServer:: -- Minimum Elevator Actuator Excursion is -1272 Counts 916: TailConeServer -- Maximum Rudder Actuator Excursion is 1242 Counts Se: TailConeServer -- Minimum Rudder Actuator Excursion is -1096 Counts rver: SerialDevice: done... Supervi: SerialDevice: done... sor::createTask() -: SerialDevice: done... seabirdServ: SerialDevice: done... er : Gps: initializing Su: Crossbow.cc: Setting polled mode p: SerialDevice: done... erviso: Crossbow.cc: Setting polled mode r:: Gps: done initializing... :cr: **** EventTriggers::add() - attaching proxy : Crossbow.cc: In getSerialNumber() eateTas: Crossbow.cc: _device->read failed with error : SerialDevice: done... k() : PeriodicTask::run() (crossbow) - sampleInterval=100, maxInterval=100 - metrabyteServer : Parosci::init() - mode set okay : SerialDevice: done... : seabirdDriver RUNNING... : PSA916: constructing... : SerialDevice: done... : Seabird.cc -- Loading CTD constants from /home/dorado1/auv/altex/onboard//config/dorado1/seabird.cfg : 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... : PSA916: initializing... : PSA916: trying to write data... : SerialDevice: done... : PSA916: debug mode on... : SerialDevice: done... : CTDLog.cc -- beginning constructor... : CTDLog.cc -- constructor succeeded : Seabird.cc -- constructor succeeded : seabirdDriver -- constructor succeeded : PSA916: confirming data stream... : Seabird:initializing Seabird... : SerialDevice: done... : SerialDevice: done... : PSA916: data is streaming... : **** EventTriggers::add() - attaching proxy : PeriodicTask::run() (MetraByte) - sampleInterval=1000, maxInterval=1000 : 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 = 0.965266 : Parosci.cc -- Parosci initial pressure period = 30.461330 : Parosci.cc -- Parosci initial temp period = 5.880274 : 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 = 0.019999) 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 Finished : LayeredControl::execute() -- (t = 60.205876) Behavior descend has changed to state Active : Descend::execute() - Descend terminating on depth 10.051374 > 10.000000 at time 85.394150 : LayeredControl::execute() -- (t = 85.394150) Behavior descend has changed to state Finished : LayeredControl::execute() -- (t = 85.404149) Behavior setpoint has changed to state Active : LayeredControl::execute() -- (t = 205.595916) Behavior setpoint has changed to state Finished : LayeredControl::execute() -- (t = 205.595916) Behavior ascend has changed to state Active : LayeredControl::execute() -- (t = 235.793847) 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 = 235.993833) 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() : 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 navigationOutput **** : TaskServer::signalHandler() for task EventLogIFServer - exit() : TaskServer::signalHandler() for task DropWeightIFServer - exit() : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() : TaskServer::signalHandler() for task DepthSensorIFServer - 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 PSA916Input_ShmemName **** : **** SharedData destructor for object SeabirdOutput_ShmemName **** : **** SharedData destructor for object crossbowOutput **** : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() : **** SharedData destructor for object GpsOutput_ShmemName **** : **** SharedData destructor for object PSA916Input_ShmemName **** : **** SharedData destructor for object crossbowCommand **** : NavigationOutput::~NavigationOutput() : **** SharedData destructor for object TailConeInput_ShmemName **** : TaskServer::signalHandler() for task NavigationIFServer - exit() : Supervisor::cleanup() - delete _theSupervisor : Supervisor::cleanup() - delete _theSupervisor : **** SharedData destructor for object crossbowOutput **** : **** SharedData destructor for object PSA916Output_ShmemName **** : TaskServer::signalHandler() for task DepthSensorIFServer - exit() : **** SharedData destructor for object SeabirdOutput_ShmemName **** : TaskServer::signalHandler() for task MetraByteIFServer - exit() : **** SharedData destructor for object crossbowCommand **** : TaskServer::signalHandler() for task GpsIFServer - exit() : **** SharedData destructor for object PSA916Output_ShmemName **** : TaskServer::signalHandler() for task AhrsIFServer - exit() : TaskServer::signalHandler() for task CTDIFServer - exit() : **** SharedData destructor for object TailConeOutput_ShmemName **** : Supervisor::shutdown() : Supervisor::shutdown() : **** SharedData destructor for object ParosciOutput_ShmemName **** : **** SharedData destructor for object MetraByteOutput **** : Supervisor::shutdown() - done() : TaskServer::signalHandler() for task DepthSensorIFServer - exit() : TaskServer::signalHandler() for task MetraByteIFServer - exit() : Supervisor::shutdown() - done() : **** SharedData destructor for object TailConeInput_ShmemName **** : **** SharedData destructor for object TailConeOutput_ShmemName ****