: Initializing worksiteServer : Using default vehicle config file "/home/dorado1/auv/altex/onboard//config/doradoLong/vehicle.cfg" : WorkSite::WorkSite -- Adding attributes : WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv/altex/onboard//config/doradoLong/workSite.cfg : WorkSite::WorkSite -- Finished loading parameters : SerialDevice: done... : 0: charlie 3.000000E 1.000000N 3981.000000 m 4.000000 ms : 1: sylvia -10.000000E 0.000000N 2001.000000 m 4.000000 ms : WorkSite server: 0x20aa4 : TailConeServer::Maximum Elevator Actuator Excursion is 1057 Counts : Preparing to fork : TailConeServer::Minimum Elevator Actuator Excursion is -1004 Counts : I'm the child...forking : TailConeServer::Maximum Rudder Actuator Excursion is 736 Counts : TailConeServer::Minimum Rudder Actuator Excursion is -445 Counts : SerialDevice: done... : SerialDevice: done... : SerialDevice: done... : SerialDevice: done... : SerialDevice: done... : PSA916: constructing... : SerialDevice: done... : Crossbow.cc: Setting polled mode : Crossbow.cc: Setting polled mode : Gps: initializing : Crossbow.cc: In getSerialNumber() : SerialDevice: done... : PSA916: initializing... : read failed : PSA916: trying to write data... : seabirdDriver RUNNING... : PSA916: debug mode on... : MissionPlan::load() - file = /home/dorado1/auv/altex/onboard//missions/abortMplan.cfg : Gps: done initializing... : SerialDevice: done... : Crossbow.cc: _device->read failed with error : SerialDevice: done... : SerialDevice: done... : **** EventTriggers::add() - attaching proxy : Successfully loaded /home/dorado1/auv/altex/onboard//missions/abortMplan.cfg : SerialDevice: done... : PeriodicTask::run() (crossbow) - sampleInterval=100, maxInterval=100 : PSA916: confirming data stream... : MissionPlan::load() - file = /home/dorado1/auv/altex/onboard//missions/zigZag.cfg : PSA916: data is streaming... : Successfully loaded /home/dorado1/auv/altex/onboard//missions/zigZag.cfg : **** EventTriggers::add() - attaching proxy : Seabird.cc -- Loading CTD constants from /home/dorado1/auv/altex/onboard//config/doradoLong/seabird.cfg : PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200 : SerialDevice: done... : this should not have happened: : Parosci::init() - mode set okay : GarminGps::processRecord() - GpsUtils::parseFix() - incomplete GGA sentence? $PGRMO,,2 : **** EventTriggers::add() - attaching proxy : **** EventTriggers::add() - attaching proxy : PeriodicTask::run() (MetraByte) - sampleInterval=1000, maxInterval=1000 : 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... : CTDLog.cc -- beginning constructor... : CTDLog.cc -- constructor succeeded : Seabird.cc -- constructor succeeded : seabirdDriver -- constructor succeeded : Seabird:initializing Seabird... : SerialDevice: done... : GarminGps::processRecord() - GpsUtils::parseFix() - incomplete GGA sentence? $PGRMO,GPGGA,1 : Parosci.cc -- Initial pressure = 1.131430 : Parosci.cc -- Parosci initial pressure period = 30.460550 : Parosci.cc -- Parosci initial temp period = 5.880190 : Parosci.cc -- Paroscientific configured. : PeriodicTask::run() (Parosci) - sampleInterval=200, maxInterval=200 : SerialDevice::confirm() - Timed Out : Seabird::initialize() - confirm() timed out; sleep a bit : 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... : MetraByte::getVoltage() - caught exception: Timed Out : Seabird::initialize() - starting logging... : Ctd:initialize() - Logging Started... : Ctd:initialize() - ready! : **** EventTriggers::add() - attaching proxy : LayeredControl::execute() -- (t = 20.198616) Behavior setpoint has changed to state Finished : LayeredControl::execute() -- (t = 20.198616) Behavior descend has changed to state Active : TailConeServer::confirmCommand() - device timed out : TailConeServer::confirmCommand() - device timed out : Descend::execute() - Descend terminating on depth 31.576003 > 10.000000 at time 62.195739 : LayeredControl::execute() -- (t = 62.195739) Behavior descend has changed to state Finished : LayeredControl::execute() -- (t = 62.235736) Behavior setpoint has changed to state Active : TailConeServer::confirmCommand() - device timed out : Abort request issued by behavior "depthEnvelope" : *** LayeredControl - initiating mission abort... *** : Initiating Mission Abort! : LayeredControl::execute() -- (t = 141.600300) Behavior setRudder has changed to state Active : Behavior::shouldBehaviorStart -- Checking to see if setElevator should run : -- it should : LayeredControl::execute() -- (t = 141.630298) Behavior setElevator has changed to state Active : LayeredControl::execute() -- (t = 141.640297) Behavior missionTimer has changed to state Active : LayeredControl::execute() -- (t = 143.800149) Behavior setRudder has changed to state Finished : LayeredControl::execute() -- (t = 143.800149) Behavior setElevator has changed to state Finished : Stack empty after processing. Aborting. : *** LayeredControl - initiating vehicle shutdown... *** : TaskServer::signalHandler() for task LayeredControlIFServer - exit() : TailConeServer::confirmCommand() - device timed out : Task "layeredControlServer" died? : 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() : NavigationOutput::~NavigationOutput() : TaskServer::signalHandler() for task RangeFinderIFServer - exit() : TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit() : TaskServer::signalHandler() for task NavigationIFServer - exit() : TaskServer::signalHandler() for task DynamicControlIFServer - exit() : TailConeServer::shutdown()... got 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 DepthSensorIFServer - exit() : TaskServer::signalHandler() for task CTDIFServer - exit() : TaskServer::signalHandler() for task MetraByteIFServer - exit() : **** SharedData destructor for object GpsOutput_ShmemName **** : **** SharedData destructor for object ParosciOutput_ShmemName **** : **** SharedData destructor for object MetraByteOutput **** : Supervisor::signalHandler(); caught signal 2 : **** SharedData destructor for object crossbowOutput **** : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() : **** SharedData destructor for object GpsOutput_ShmemName **** : **** SharedData destructor for object navigationOutput **** : **** SharedData destructor for object crossbowCommand **** : **** SharedData destructor for object PSA916Output_ShmemName **** : NavigationOutput::~NavigationOutput() : Supervisor::cleanup() - delete _theSupervisor : TaskServer::signalHandler() for task NavigationIFServer - exit() : Supervisor::cleanup() - delete _theSupervisor : TaskServer::signalHandler() for task CTDIFServer - exit() : TaskServer::signalHandler() for task GpsIFServer - 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() : 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() : TailConeServer::shutdown() - tried 30 times : TailConeServer::shutdown() - done : TaskServer::signalHandler() for task TailConeIFServer - exit()