Supervisor::createCoreTasks() Supervisor::createTask() - eventLogServer Supervisor::createTask() - workSite Supervisor::createTask() - vehicleConfigurationServ: Initializing worksiteServer er Superv: WorkSite::WorkSite -- Adding attributes is: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv/altex/onboard//config/dorado538/workSite.cfg or::cr: Using default vehicle config file "/home/dorado1/auv/altex/onboard//config/dorado538/vehicle.cfg" eateTask() - dropWeight Supervisor::createTask() - externalCommsServer Supervisor: WorkSite::WorkSite -- Finished loading parameters ::c: 0: 1 600674.187500E 4067388.750000N 73.699997 m 10.000000 ms channel:2 rea: 1: 2 600531.687500E 4065156.000000N 73.199997 m 10.000000 ms channel:4 te: 2: 3 598447.000000E 4067412.250000N 91.400002 m 10.000000 ms channel:5 Tas: 3: 4 600848.125000E 4069389.500000N 80.199997 m 10.000000 ms channel:6 k(: 4: 5 602732.187500E 4067093.000000N 57.299999 m 10.000000 ms channel:7 ) : WorkSite server: 0x21e50 - navigationServer Supervisor::createTask() - layeredControlServer Supervisor::createTask() - dynamicControlServer Supervisor::createTask() - tailConeServer Supervisor::createTask() - crossbowServer Supervisor::createTask() : DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize() -: DynamicControlServer - Got event 1 from TailCone : PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200 octansServer Super: SerialDevice: done... vis: Preparing to fork or::: I'm the child...forking createTask() - gpsServer : TailConeServer -- Maximum Elevator Actuator Excursion is 1421 Counts : TailConeServer:: -- Minimum Elevator Actuator Excursion is -1272 Counts S: TailConeServer -- Maximum Rudder Actuator Excursion is 1242 Counts up: TailConeServer -- Minimum Rudder Actuator Excursion is -1096 Counts ervi: SerialDevice: done... sor::create: SerialDevice: done... Task(: Preparing to fork ) - : I'm the child...forking parosciServer Supervisor::: SerialDevice: done... createTask() - seabirdServer: SerialDevice: done... Su: SerialDevice: done... pervisor::c: SerialDeviceDriver::initialize() : SerialDevice: done... reat: SerialDevice: done... eTask(: Crossbow.cc: Setting polled mode ) - m: **** EventTriggers::add() - attaching proxy e: Crossbow.cc: Setting polled mode traby: Crossbow.cc: In getSerialNumber() teSe: Crossbow.cc: _device->read failed with error : Gps: initializing rver: PeriodicTask::run() (crossbow) - sampleInterval=100, maxInterval=100 : SerialDevice: done... : Gps: done initializing... : **** EventTriggers::add() - attaching proxy Super: SerialDevice: done... visor::createTa: seabirdDriver RUNNING... sk() - lblServer Supe: SerialDevice: done... rvisor::createTask() : Parosci::init() - mode set okay - sche: SerialDevice: done... duler Supervisor::create: SerialDevice: done... T: SerialDevice: done... a: SerialDevice: done... sk() : Seabird.cc -- Loading CTD constants from /home/dorado1/auv/altex/onboard//config/dorado538/seabird.cfg -: Schedule Server : Subscribing to Layered Control. : The beacon Array is: dv: 2 lSer: PeriodicTask::run() (scheduleServer) - sampleInterval=200, maxInterval=200 v: 4 er : 5 S: PeriodicTask::run() (MetraByte) - sampleInterval=1000, maxInterval=1000 u: 6 per: 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 vi: 7 sor: Seabird::Seabird() - create interface to depth sensor... ::: crea: Seabird.cc -- constructing Log... : 2 teT: 4 ask(: 5 ) : 6 - : 7 buo: yL: 2 a: 4 un: CTDLog.cc -- beginning constructor... : 5 ch: 6 erSe: CTDLog.cc -- constructor succeeded r: 7 ver: Seabird.cc -- constructor succeeded : : seabirdDriver -- constructor succeeded : 2 : Seabird:initializing Seabird... : 4 : 5 : 6 : SerialDevice: done... : 7 : : 2 : 4 : 5 : 6 : 7 : : 2 : 4 : 5 : 6 : 7 : : 2 : 4 : 5 : SerialDeviceDriver::initialize() : 6 : Starting DVL Initialization. : 7 : SerialDevice: done... : : 2 : buoyLauncherDriver::main():Creating driver with params /dev/ser8,57600,8,n,1 : 4 : 5 : 6 : SerialDevice: done... : 7 : : 2 : 4 : 5 : 6 : 7 : : 2 : 4 : 5 : 6 : 7 : : PS8000: Inactivate unused channels: $V, 2,00.0000,00.0000,00.0000,09.0000,00.0000,09.0000,00.0000,09.0000,00.0000,09.0000,00.0000,09.0000,00.0000,09.0000,00.0000,00.0000,00.0000,00.0000,00.0000,00.0000 : BuoyLauncher::"*T7e" sent to LC : Seabird: sending configure commands... : BuoyLauncher::recvd #Tw as response from LC : PeriodicTask::run() (buoyLauncherDriver) - sampleInterval=2000, maxInterval=2000 : Seabird: setting scans... : Dvl::initialize() - The DVL is initialized. : **** EventTriggers::add() - attaching proxy : Seabird: setting pump freq... : Seabird: setting upcast... : Seabird: setting battery type... : TailConeServer::initElevator : Succeeded initializing elevator actuator, proceed : Parosci.cc -- Initial pressure = 0.950098 : Parosci.cc -- Parosci initial pressure period = 30.459670 : Seabird: setting external voltages to 6... : Parosci.cc -- Parosci initial temp period = 5.878240 : Parosci.cc -- Paroscientific configured. : PeriodicTask::run() (Parosci) - sampleInterval=200, maxInterval=200 : Seabird::initialize() - confirming voltage... : Seabird::initialize() - confirming voltage... : TailConeServer::initRudder : Succeeded initializing rudder actuator, proceed : Seabird::initialize() - confirming voltage... : Seabird::initialize() - confirming voltage... : Seabird::initialize() - confirming voltage... : Seabird::initialize() - confirming voltage... : PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200 : Seabird::initialize() - disabling switch... : Seabird: sending DS command... : Navigation: Server for aux sensor "Altimeter" not found : Navigation: Server for aux sensor "Velocimeter" not found : PeriodicTask::run() (navigation) - sampleInterval=200, maxInterval=200 : in first loop : **** EventTriggers::add() - attaching proxy : LayeredControl::execute() -- (t = 0.000000) Behavior setRudder has changed to state Active : LayeredControl::execute() -- (t = 0.000000) Behavior missionTimer has changed to state Active : **** EventTriggers::add() - attaching proxy : *** Mission started *** : Schedule Server -> Start : Lbl::readTaskIF - Got new ping time. Interval = 993700254.342630 : Seabird::initialize() - starting logging... : Ctd:initialize() - Logging Started... : Ctd:initialize() - ready! : **** EventTriggers::add() - attaching proxy : Lbl::readTaskIF - Got new return times. : Lbl::readTaskIF - Got new ping time. Interval = 9.989316 : Lbl::readTaskIF - Got new return times. : Lbl::readTaskIF - Got new ping time. Interval = 9.999315 : 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 : Lbl::readTaskIF - Got new return times. : Lbl::readTaskIF - Got new ping time. Interval = 9.999315 : Lbl::readTaskIF - Got new return times. : Lbl::readTaskIF - Got new ping time. Interval = 9.999315 : Lbl::readTaskIF - Got new return times. : Lbl::readTaskIF - Got new ping time. Interval = 10.009314 : Lbl::readTaskIF - Got new return times. : BuoyLauncherDriver::getting 30 second status : BuoyLauncher::processing getLauncherStatus : BuoyLauncher::"*G71" sent to LC : BuoyLauncher::recvd #Gj as response from LC : LayeredControl::execute() -- (t = 60.215875) Behavior setRudder has changed to state Finished : LayeredControl::execute() -- (t = 60.215875) Behavior setRudder has changed to state Active : Lbl::readTaskIF - Got new ping time. Interval = 9.999315 : BuoyLauncher::recvd 56 bytes from LC, should be 56 : Lbl::readTaskIF - Got new return times. : Lbl::readTaskIF - Got new ping time. Interval = 9.989316 : Lbl::readTaskIF - Got new return times. : Lbl::readTaskIF - Got new ping time. Interval = 9.999315 : Lbl::readTaskIF - Got new return times. : Lbl::readTaskIF - Got new ping time. Interval = 10.009314 : BuoyLauncherDriver::getting 30 second status : BuoyLauncher::processing getLauncherStatus : BuoyLauncher::"*G71" sent to LC : BuoyLauncher::recvd #Gj as response from LC : Lbl::readTaskIF - Got new return times. : BuoyLauncher::recvd 56 bytes from LC, should be 56 : Lbl::readTaskIF - Got new ping time. Interval = 9.989316 : Lbl::readTaskIF - Got new return times. : Lbl::readTaskIF - Got new ping time. Interval = 9.999315 : Lbl::readTaskIF - Got new return times. : Lbl::readTaskIF - Got new ping time. Interval = 10.009314 : LayeredControl::execute() -- (t = 120.391753) Behavior setRudder has changed to state Finished : Stack empty after processing. Aborting. : *** LayeredControl - initiating mission abort... *** : Initiating Mission Abort! : **** EventTriggers::add() - attaching proxy : Schedule Server -> Stop : LayeredControl::execute() -- (t = 120.591739) 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() : **** SharedData destructor for object LblDriverOutput_ShmemName **** : 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 LblIFServer - exit() : TaskServer::signalHandler() for task DvlIFServer - exit() : TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit() : TaskServer::signalHandler() for task NavigationIFServer - exit() : TaskServer::signalHandler() for task DynamicControlIFServer - exit() : NavigationOutput::~NavigationOutput() : TaskServer::signalHandler() for task TailConeIFServer - exit() : Supervisor::signalHandler(); caught signal 2 : Supervisor::signalHandler(); caught signal 2 : **** SharedData destructor for object GpsOutput_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() : **** SharedData destructor for object ParosciOutput_ShmemName **** : TaskServer::signalHandler() for task MetraByteIFServer - exit() : **** SharedData destructor for object MetraByteOutput **** : TaskServer::signalHandler() for task - exit() : **** SharedData destructor for object BuoyLauncherInput_ShmemName **** : TaskServer::signalHandler() for task LblIFServer - exit() : **** SharedData destructor for object navigationOutput **** : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() : **** SharedData destructor for object octansOutput **** : TaskServer::signalHandler() for task AhrsIFServer - exit() : **** SharedData destructor for object DvlOutput_ShmemName **** : **** SharedData destructor for object GpsOutput_ShmemName **** : **** SharedData destructor for object crossbowCommand **** : **** SharedData destructor for object ParosciOutput_ShmemName **** : **** SharedData destructor for object DvlOutput_ShmemName **** : NavigationOutput::~NavigationOutput() : TaskServer::signalHandler() for task NavigationIFServer - exit() : **** SharedData destructor for object TailConeInput_ShmemName **** : Supervisor::cleanup() - delete _theSupervisor : **** SharedData destructor for object crossbowOutput **** : Supervisor::cleanup() - delete _theSupervisor : **** SharedData destructor for object LblDriverOutput_ShmemName **** : TaskServer::signalHandler() for task DepthSensorIFServer - exit() : **** SharedData destructor for object crossbowOutput **** : TaskServer::signalHandler() for task GpsIFServer - 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 CrossbowIFServer - exit() : **** SharedData destructor for object TailConeOutput_ShmemName **** : Supervisor::shutdown() : Supervisor::shutdown() : **** SharedData destructor for object SeabirdOutput_ShmemName **** : TaskServer::signalHandler() for task - exit() : Supervisor::shutdown() - done() : TaskServer::signalHandler() for task CtdIFServer - exit() : TaskServer::signalHandler() for task - exit() : Supervisor::shutdown() - done() : **** SharedData destructor for object TailConeInput_ShmemName **** : **** SharedData destructor for object TailConeOutput_ShmemName **** : Dvl::~Dvl: Destructor Finished. //1/home/dorado1/auv/altex/onboard/bin/dvl terminated (SIGSEGV) at 0007:00021247.