: Initializing worksiteServer : WorkSite::WorkSite -- Adding attributes : WorkSite::WorkSite -- Loading parameters from file /home/altex/auv/altex/onboard//config/dorodyssey1/workSite.cfg : Using default vehicle config file "/home/altex/auv/altex/onboard//config/dorodyssey1/vehicle.cfg" : Create tailcone : WorkSite::WorkSite -- Finished loading parameters : 0: charlie 3.000000E 1.000000N 3981.000000 m 4.000000 ms : 1: sylvia -10.000000E 0.000000N 2001.000000 m 4.000000 ms : Preparing to fork : SerialDevice: done... : SerialDevice: done... : WorkSite server: 0x20788 : Run tailcone : I'm the child...forking : SerialDevice: done... : SerialDevice: done... : SerialDevice: done... : seabirdDriver RUNNING... : Line 2: syntax error offending text: "" : VehicleConstants -- Caught exception while loading vehicle constants : SerialDevice: done... : SerialDevice: done... : PSA916: constructing... : SerialDevice: done... : PSA916: initializing... : PSA916: trying to write data... : PSA916: debug mode on... : Gps: initializing : SerialDevice: done... : SerialDevice: done... : PSA916: confirming data stream... : SerialDevice: done... : Crossbow.cc: Setting polled mode : Gps: done initializing... : Parosci::init() - mode set okay : **** EventTriggers::add() - attaching proxy : Seabird.cc -- Loading CTD constants from /home/altex/auv/altex/onboard//config/dorodyssey1/seabird.cfg : Crossbow.cc: Setting polled mode : Crossbow.cc: In getSerialNumber() : read failed : Crossbow.cc: _device->read failed with error : PeriodicTask::run() (crossbow) - sampleInterval=200, maxInterval=200 : 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... : GarminGps::processRecord() - GpsUtils::parseFix() - incomplete GGA sentence? $PGRMO,,2 : SerialDevice: done... : **** EventTriggers::add() - attaching proxy : GarminGps::processRecord() - GpsUtils::parseFix() - incomplete GGA sentence? $PGRMO,GPGGA,1 : PSA916: data is streaming... : **** EventTriggers::add() - attaching proxy : this should not have happened: : **** EventTriggers::add() - attaching proxy : Parosci.cc -- Initial pressure = 0.137895 : Parosci.cc -- Parosci initial pressure period = 30.258820 : Parosci.cc -- Parosci initial temp period = 5.833440 : Parosci.cc -- Paroscientific configured. : PeriodicTask::run() (Parosci) - sampleInterval=200, maxInterval=200 : SerialDevice::confirm() - Timed Out : Seabird::initialize() - confirm() timed out; sleep a bit : Seabird: sending configure commands... : Seabird: setting scans... : Seabird: setting pump freq... : Navigation: Server for aux sensor "Lbl" not found : Navigation: Server for aux sensor "Velocimeter" not found : PeriodicTask::run() (navigation) - sampleInterval=200, maxInterval=200 : 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 : TaskServer::signalHandler() for task WorkSiteIFServer - exit() : TaskServer::signalHandler() for task AhrsIFServer - exit() : TaskServer::signalHandler() for task RangeFinderIFServer - exit() : TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit() : TaskServer::signalHandler() for task TailConeIFServer - exit() : NavigationOutput::~NavigationOutput() : TaskServer::signalHandler() for task RangeFinderIFServer - exit() : TaskServer::signalHandler() for task NavigationIFServer - exit() : TaskServer::signalHandler() for task LayeredControlIFServer - exit() : TaskServer::signalHandler() for task DynamicControlIFServer - exit() : TaskServer::signalHandler() for task LayeredControlIFServer - exit() : Supervisor::signalHandler(); caught signal 2 : TaskServer::signalHandler() for task EventLogIFServer - exit() : TaskServer::signalHandler() for task DropWeightIFServer - exit() : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() : TaskServer::signalHandler() for task GpsIFServer - exit() : TaskServer::signalHandler() for task DepthSensorIFServer - exit() : TaskServer::signalHandler() for task CTDIFServer - exit() : **** SharedData destructor for object GpsOutput_ShmemName **** : **** SharedData destructor for object ParosciOutput_ShmemName **** : **** SharedData destructor for object SeabirdOutput_ShmemName **** : **** SharedData destructor for object crossbowOutput **** : **** SharedData destructor for object navigationOutput **** : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() : **** SharedData destructor for object PSA916Output_ShmemName **** : NavigationOutput::~NavigationOutput() : **** SharedData destructor for object crossbowCommand **** : **** SharedData destructor for object crossbowCommand **** : Supervisor::cleanup() - delete _theSupervisor : **** SharedData destructor for object GpsOutput_ShmemName **** : **** SharedData destructor for object ParosciOutput_ShmemName **** : **** SharedData destructor for object SeabirdOutput_ShmemName **** : TaskServer::signalHandler() for task NavigationIFServer - exit() : Supervisor::shutdown() : TaskServer::signalHandler() for task GpsIFServer - exit() : TaskServer::signalHandler() for task DepthSensorIFServer - exit() : Supervisor::shutdown() - done() : TaskServer::signalHandler() for task GpsIFServer - exit() : TaskServer::signalHandler() for task DepthSensorIFServer - exit() : TaskServer::signalHandler() for task CTDIFServer - exit()