Supervisor::createCoreTasks() Supervisor::createTask() - eventLogServer Supervisor::createTask() - workSite Supervisor::createTask() - vehicleConfig: Initializing worksiteServer urationSe: WorkSite::WorkSite -- Adding attributes rve: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv/altex/onboard//config/dorado538/workSite.cfg r Supervisor::createTask() - dropWe: Using default vehicle config file "/home/dorado1/auv/altex/onboard//config/dorado538/vehicle.cfg" ight Supervisor::createTask() - externalCommsServer Supervisor::createTask() - navigationServer Supervisor::createTask(: WorkSite::WorkSite -- Finished loading parameters ) : 0: 1 600674.187500E 4067388.750000N 73.699997 m 10.000000 ms channel:2 - l: 1: 2 600531.687500E 4065156.000000N 73.199997 m 10.000000 ms channel:4 ay: 2: 3 598447.000000E 4067412.250000N 91.400002 m 10.000000 ms channel:5 er: 3: 4 600848.125000E 4069389.500000N 80.199997 m 10.000000 ms channel:6 e: 4: 5 602732.187500E 4067093.000000N 57.299999 m 10.000000 ms channel:7 dCo: WorkSite server: 0x21e50 ntrolServer Supervisor::createTask() - dynamicControlServer Supervisor::createTask() - tailConeServer Supervisor::createTask() - crossbowServer Supervisor::createT: DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize() a: DynamicControlServer - Got event 1 from TailCone : SerialDevice: done... : PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200 sk() - oc: TailConeServer -- Maximum Elevator Actuator Excursion is 1421 Counts : TailConeServer:: -- Minimum Elevator Actuator Excursion is -1272 Counts ta: TailConeServer -- Maximum Rudder Actuator Excursion is 1242 Counts ns: TailConeServer -- Minimum Rudder Actuator Excursion is -1096 Counts Se: SerialDevice: done... rver Supervisor::cr: Preparing to fork eateTask() - gpsSer: I'm the child...forking ver Supervisor::creat: Preparing to fork eTas: I'm the child...forking k(: SerialDevice: done... ) - parosciServer Superv: SerialDevice: done... isor::createTask() - ps: SerialDevice: done... a916Server : SerialDevice: done... S: SerialDevice: done... uper: Crossbow.cc: Setting polled mode visor: SerialDeviceDriver::initialize() ::c: Crossbow.cc: Setting polled mode : SerialDevice: done... reat: Crossbow.cc: In getSerialNumber() eTask(: Gps: initializing : **** EventTriggers::add() - attaching proxy ): Crossbow.cc: device->read succeeded - : SerialDevice: done... seabi: Crossbow.cc: I think the serial number is 17266 (4372) r: TailConeServer::initElevator : Succeeded initializing elevator actuator, proceed dS: Crossbow.cc: Setting polled mode : SerialDevice: done... e: Gps: done initializing... rver : PeriodicTask::run() (crossbow) - sampleInterval=100, maxInterval=100 Su: **** EventTriggers::add() - attaching proxy pervisor::createTa: GarminGps::processRecord() - GpsUtils::parseFix() - incomplete GGA sentence? $PGRMO,,2 sk: **** EventTriggers::add() - attaching proxy () - metrab: SerialDevice: done... y: TailConeServer::initRudder : Succeeded initializing rudder actuator, proceed teServer: GarminGps::processRecord() - GpsUtils::parseFix() - incomplete GGA sentence? $PGRMO,GPGGA,1 Supervi: Parosci::init() - mode set okay sor::crea: seabirdDriver RUNNING... teTask() - dvlS: PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200 erver Supervisor::createTask() - bu: PSA916: constructing... o: SerialDevice: done... yLauncherServer : Seabird.cc -- Loading CTD constants from /home/dorado1/auv/altex/onboard//config/dorado538/seabird.cfg : SerialDevice: done... : PSA916: initializing... : PSA916: trying to write data... : 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 : PSA916: debug mode on... : PeriodicTask::run() (MetraByte) - sampleInterval=1000, maxInterval=1000 : SerialDevice: done... : Seabird::Seabird() - create interface to depth sensor... : PSA916: confirming data stream... : Seabird.cc -- constructing Log... : PSA916: data is streaming... : **** EventTriggers::add() - attaching proxy : CTDLog.cc -- beginning constructor... : CTDLog.cc -- constructor succeeded : Seabird.cc -- constructor succeeded : seabirdDriver -- constructor succeeded : Seabird:initializing Seabird... : SerialDeviceDriver::initialize() : Starting DVL Initialization. : SerialDevice: done... : PSA916::processRecord() - this should not have happened: record=99.99E : **** EventTriggers::add() - attaching proxy : buoyLauncherDriver::main():Creating driver with params /dev/ser8,57600,8,n,1 : SerialDevice: done... : BuoyLauncher::"*T7e" sent to LC : BuoyLauncher::recvd #Tw as response from LC : PeriodicTask::run() (buoyLauncherDriver) - sampleInterval=2000, maxInterval=2000 : Dvl::initialize() - The DVL is initialized. : **** EventTriggers::add() - attaching proxy : Parosci.cc -- Initial pressure = 0.988709 : Parosci.cc -- Parosci initial pressure period = 30.460520 : Parosci.cc -- Parosci initial temp period = 5.879520 : 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 : LayeredControl::execute() -- (t = 0.000000) 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... : SerialDevice::confirm() - Timed Out : SerialDevice::confirm() - Timed Out : Seabird: confirmed power on returns: -1 : Seabird: no power on detected yet... : BuoyLauncherDriver::getting 30 second status : BuoyLauncher::processing getLauncherStatus : BuoyLauncher::"*G71" sent to LC : SerialDevice::confirm() - Timed Out : Seabird: no power on detected yet... : BuoyLauncher::recvd #Gj as response from LC : BuoyLauncher::recvd 56 bytes from LC, should be 56 : SerialDevice::confirm() - Timed Out : Seabird:initializing Seabird... : 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 : BuoyLauncherDriver::getting 30 second status : BuoyLauncher::processing getLauncherStatus : BuoyLauncher::"*G71" sent to LC : BuoyLauncher::recvd #Gj as response from LC : BuoyLauncher::recvd 56 bytes from LC, should be 56 : BuoyLauncherDriver::getting 30 second status : BuoyLauncher::processing getLauncherStatus : BuoyLauncher::"*G71" sent to LC : BuoyLauncher::recvd #Gj as response from LC : BuoyLauncher::recvd 56 bytes from LC, should be 56 : BuoyLauncherDriver::getting 30 second status : BuoyLauncher::processing getLauncherStatus : BuoyLauncher::"*G71" sent to LC : BuoyLauncher::recvd #Gj as response from LC : BuoyLauncher::recvd 56 bytes from LC, should be 56 : BuoyLauncherDriver::getting 30 second status : BuoyLauncher::processing getLauncherStatus : BuoyLauncher::"*G71" sent to LC : BuoyLauncher::recvd #Gj as response from LC : BuoyLauncher::recvd 56 bytes from LC, should be 56 : BuoyLauncherDriver::getting 30 second status : BuoyLauncher::processing getLauncherStatus : BuoyLauncher::"*G71" sent to LC : BuoyLauncher::recvd #Gj as response from LC : BuoyLauncher::recvd 56 bytes from LC, should be 56 : MetraByte::getVoltage() - caught exception: Timed Out : BuoyLauncherDriver::getting 30 second status : BuoyLauncher::processing getLauncherStatus : BuoyLauncher::"*G71" sent to LC : BuoyLauncher::recvd #Gj as response from LC : BuoyLauncher::recvd 56 bytes from LC, should be 56 : BuoyLauncherDriver::getting 30 second status : BuoyLauncher::processing getLauncherStatus : BuoyLauncher::"*G71" sent to LC : BuoyLauncher::recvd #Gj as response from LC : BuoyLauncher::recvd 56 bytes from LC, should be 56 : BuoyLauncherDriver::getting 30 second status : BuoyLauncher::processing getLauncherStatus : BuoyLauncher::"*G71" sent to LC : BuoyLauncher::recvd #Gj as response from LC : BuoyLauncher::recvd 56 bytes from LC, should be 56 : BuoyLauncherDriver::getting 30 second status : BuoyLauncher::processing getLauncherStatus : BuoyLauncher::"*G71" sent to LC : BuoyLauncher::recvd #Gj as response from LC : BuoyLauncher::recvd 56 bytes from LC, should be 56 : BuoyLauncherDriver::getting 30 second status : BuoyLauncher::processing getLauncherStatus : BuoyLauncher::"*G71" sent to LC : BuoyLauncher::recvd #Gj as response from LC : BuoyLauncher::recvd 56 bytes from LC, should be 56 : BuoyLauncherDriver::getting 30 second status : BuoyLauncher::processing getLauncherStatus : BuoyLauncher::"*G71" sent to LC : BuoyLauncher::recvd #Gj as response from LC : BuoyLauncher::recvd 56 bytes from LC, should be 56 : BuoyLauncherDriver::getting 30 second status : BuoyLauncher::processing getLauncherStatus : BuoyLauncher::"*G71" sent to LC : BuoyLauncher::recvd #Gj as response from LC : LcXmodem::GetCharTimeout timeout : LcXmodem::GetCharTimeout timeout : LcXmodem::GetCharTimeout timeout : LcXmodem::GetCharTimeout timeout : LcXmodem::GetCharTimeout timeout : LcXmodem::GetCharTimeout timeout : BuoyLauncher::recvd 0 bytes from LC, should be 56 : Parosci.cc -- Error: Read bad pressure *************************************** bar : ParosciServer::depth() - error : ParosciServer::depth() - error : ParosciServer::depth() - error : Parosci.cc -- Error: Read bad pressure *************************************** bar : ParosciServer::depth() - error : ParosciServer::depth() - error : ParosciServer::depth() - error : ParosciServer::depth() - error : Navigation - 6 consecutive bad readings from sensor DepthSensor : Navigation - aborting! : NavigationOutput::~NavigationOutput() : **** SharedData destructor for object navigationOutput **** : TaskServer::signalHandler() for task NavigationIFServer - exit() : NavigationOutput::~NavigationOutput() : **** SharedData destructor for object navigationOutput **** : Parosci.cc -- Error: Read bad pressure *************************************** bar : ctdDriver::readRecord() - serial device timed out : **** EventTriggers::add() - attaching proxy : Seabird: error sscanfing 7 bytes in reply: 2DD12 : Task "navigationServer" died? : Seabird Driver: error sscanf'ing conductivity data string Sup: Seabird: error reading voltages erv: Seabird: error reading voltages isor::createT: Parosci.cc -- Error: Read bad pressure *************************************** bar ask() - navigationServer : 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() : TaskServer::signalHandler() for task DvlIFServer - exit() : TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit() : TaskServer::signalHandler() for task LayeredControlIFServer - exit() : TaskServer::signalHandler() for task DynamicControlIFServer - exit() : **** SharedData destructor for object LayeredControlInput_ShmemName **** : TaskServer::signalHandler() for task TailConeIFServer - exit() : Supervisor::signalHandler(); caught signal 2 : Supervisor::signalHandler(); caught signal 2 : **** SharedData destructor for object ParosciOutput_ShmemName **** : **** SharedData destructor for object LayeredControlOutput_ShmemName **** : **** SharedData destructor for object PSA916Input_ShmemName **** : **** 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 CrossbowIFServer - exit() : TaskServer::signalHandler() for task CtdIFServer - exit() : TaskServer::signalHandler() for task MetraByteIFServer - exit() : **** SharedData destructor for object MetraByteOutput **** : TaskServer::signalHandler() for task - exit() : **** SharedData destructor for object BuoyLauncherInput_ShmemName **** : **** SharedData destructor for object GpsOutput_ShmemName **** : **** SharedData destructor for object octansOutput **** : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() : **** SharedData destructor for object ParosciOutput_ShmemName **** : **** SharedData destructor for object DvlOutput_ShmemName **** : TaskServer::signalHandler() for task AhrsIFServer - exit() : **** SharedData destructor for object GpsOutput_ShmemName **** : **** SharedData destructor for object TailConeInput_ShmemName **** : **** SharedData destructor for object crossbowCommand **** : **** SharedData destructor for object PSA916Input_ShmemName **** : TaskServer::signalHandler() for task LayeredControlIFServer - exit() : **** SharedData destructor for object DvlOutput_ShmemName **** : **** SharedData destructor for object TailConeInput_ShmemName **** : 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 BuoyLauncherOutput_ShmemName **** : TaskServer::signalHandler() for task CtdIFServer - exit() : **** SharedData destructor for object MetraByteOutput **** : **** SharedData destructor for object BuoyLauncherInput_ShmemName **** : TaskServer::signalHandler() for task MetraByteIFServer - exit() : TaskServer::signalHandler() for task GpsIFServer - exit() : **** SharedData destructor for object TailConeOutput_ShmemName **** : **** SharedData destructor for object PSA916Output_ShmemName **** : **** SharedData destructor for object LayeredControlInput_ShmemName **** : **** SharedData destructor for object crossbowOutput **** : **** SharedData destructor for object TailConeOutput_ShmemName **** : Supervisor::shutdown() : Supervisor::shutdown() : **** SharedData destructor for object crossbowCommand **** : **** SharedData destructor for object SeabirdOutput_ShmemName **** : TaskServer::signalHandler() for task - exit() : TaskServer::signalHandler() for task TailConeIFServer - exit() : TaskServer::signalHandler() for task RangeFinderIFServer - exit() : **** SharedData destructor for object LayeredControlOutput_ShmemName **** : TaskServer::signalHandler() for task RangeFinderIFServer - exit() : TaskServer::signalHandler() for task LayeredControlIFServer - exit() : TaskServer::signalHandler() for task TailConeIFServer - exit() : Supervisor::shutdown() - done() : TaskServer::signalHandler() for task CtdIFServer - exit() : TaskServer::signalHandler() for task - exit() : Supervisor::shutdown() - done() : TaskServer::signalHandler() for task CrossbowIFServer - exit() : Dvl::~Dvl: Destructor Finished. //1/home/dorado1/auv/altex/onboard/bin/dvl terminated (SIGSEGV) at 0007:000207D7.