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 Supervi: WorkSite::WorkSite -- Finished loading parameters s: 0: L1 577333.000000E 4088477.750000N 47.200001 m 3.000000 ms channel:1 or:: 1: L2 577333.000000E 4088477.750000N 47.200001 m 3.000000 ms channel:2 :c: 2: L3 577981.500000E 4085867.750000N 65.300003 m 10.000000 ms channel:3 rea: 3: L4 577981.500000E 4085867.750000N 65.300003 m 10.000000 ms channel:4 te: 4: L5 577981.500000E 4085867.750000N 65.300003 m 10.000000 ms channel:5 Ta: 5: L6 578934.625000E 4082898.000000N 78.599998 m 3.000000 ms channel:6 sk: 6: L7 574507.000000E 4085719.000000N 76.300003 m 3.000000 ms channel:7 (): 7: L8 574507.000000E 4085719.000000N 76.300003 m 3.000000 ms channel:8 -: 8: L9 574507.000000E 4085719.000000N 76.300003 m 3.000000 ms channel:9 d: 9: La 574507.000000E 4085719.000000N 76.300003 m 3.000000 ms channel:10 yn: WorkSite server: 0x21e74 amicControlServer Supervisor::createTask() - tailConeServer Supervisor::createTask() - crossbowServer Supervisor::createTask() - gpsServer : Preparing to fork S: I'm the child...forking uperv: DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize() i: DynamicControlServer - Got event 1 from TailCone : MissionPlan::load() - file = /home/dorado1/auv/altex/onboard//missions/abortMplan.cfg sor:: Successfully loaded /home/dorado1/auv/altex/onboard//missions/abortMplan.cfg :: SerialDevice: done... cr: MissionPlan::load() - file = /home/dorado1/auv/altex/onboard//missions/pitchcontrol.cfg eateT: Successfully loaded /home/dorado1/auv/altex/onboard//missions/pitchcontrol.cfg as: PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200 k() - paros: SerialDevice: done... ciServer Supervisor::createTask() - psa916Server: TailConeServer -- Maximum Elevator Actuator Excursion is 1421 Counts : TailConeServer:: -- Minimum Elevator Actuator Excursion is -1272 Counts : TailConeServer -- Maximum Rudder Actuator Excursion is 1242 Counts : TailConeServer -- Minimum Rudder Actuator Excursion is -1096 Counts S: SerialDevice: done... upervisor::crea: SerialDevice: done... teTas: Crossbow.cc: Setting polled mode k() -: Crossbow.cc: Setting polled mode se: SerialDevice: done... ab: Crossbow.cc: In getSerialNumber() irdSer: Crossbow.cc: _device->read failed with error ver: PeriodicTask::run() (crossbow) - sampleInterval=100, maxInterval=100 Superv: SerialDevice: done... isor::createTask() - m: Gps: initializing etr: SerialDevice: done... abyte: Gps: done initializing... Se: **** EventTriggers::add() - attaching proxy rv: SerialDevice: done... er: SerialDevice: done... : PSA916: constructing... : PSA916: initializing... : PSA916: trying to write data... : PSA916: debug mode on... : SerialDevice: done... : GarminGps::processRecord() - GpsUtils::parseFix() - incomplete GGA sentence? $PGRMO,,2 : PSA916: confirming data stream... : Parosci::init() - mode set okay : **** EventTriggers::add() - attaching proxy : PSA916: data is streaming... : **** EventTriggers::add() - attaching proxy : GarminGps::processRecord() - GpsUtils::parseFix() - incomplete GGA sentence? $PGRMO,GPGGA,1 : seabirdDriver RUNNING... : SerialDevice: done... : 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... : 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 = 0.944582 : Parosci.cc -- Parosci initial pressure period = 30.461500 : Parosci.cc -- Parosci initial temp period = 5.880317 : 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 = 0.009999) 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 *** : 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 = 75.994794) Behavior launch has changed to state Finished : LayeredControl::execute() -- (t = 75.994794) Behavior descend has changed to state Active : Descend::execute() - Descend terminating on depth 10.049477 > 10.000000 at time 82.594342 : LayeredControl::execute() -- (t = 82.594342) Behavior descend has changed to state Finished : LayeredControl::execute() -- (t = 82.604341) Behavior setpoint has changed to state Active : LayeredControl::execute() -- (t = 202.796108) Behavior setpoint has changed to state Finished : LayeredControl::execute() -- (t = 202.796108) Behavior ascend has changed to state Active : LayeredControl::execute() -- (t = 220.994861) 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 = 221.194847) 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 DepthSensorIFServer - 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 **** : TaskServer::signalHandler() for task EventLogIFServer - exit() : TaskServer::signalHandler() for task DropWeightIFServer - exit() : TaskServer::signalHandler() for task ExternalCommsIFServer - 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 ParosciOutput_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 ParosciOutput_ShmemName **** : **** SharedData destructor for object PSA916Input_ShmemName **** : **** SharedData destructor for object navigationOutput **** : NavigationOutput::~NavigationOutput() : **** SharedData destructor for object TailConeInput_ShmemName **** : **** SharedData destructor for object crossbowOutput **** : Supervisor::cleanup() - delete _theSupervisor : Supervisor::cleanup() - delete _theSupervisor : TaskServer::signalHandler() for task CTDIFServer - exit() : **** SharedData destructor for object MetraByteOutput **** : TaskServer::signalHandler() for task AhrsIFServer - exit() : TaskServer::signalHandler() for task NavigationIFServer - exit() : TaskServer::signalHandler() for task MetraByteIFServer - exit() : TaskServer::signalHandler() for task RangeFinderIFServer - exit() : TaskServer::signalHandler() for task GpsIFServer - exit() : TaskServer::signalHandler() for task DepthSensorIFServer - exit() : **** SharedData destructor for object TailConeOutput_ShmemName **** : Supervisor::shutdown() : 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 ****