Supervisor::createCoreTasks() Supervisor::createTask() - eventLogServer Supervisor::createTask() - workSite Supervisor::createTask() - vehicleConfigurationServe: Initializing worksiteServer r Superv: WorkSite::WorkSite -- Adding attributes is: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv/altex/onboard//config/dorado538/workSite.cfg or::createTask() - dropW: Using default vehicle config file "/home/dorado1/auv/altex/onboard//config/dorado538/vehicle.cfg" eight Supervisor::createTask() - externalCommsServer Supervisor::createTask() : WorkSite::WorkSite -- Finished loading parameters - : 0: 1 600674.187500E 4067388.750000N 73.699997 m 10.000000 ms channel:2 nav: 1: 2 600531.687500E 4065156.000000N 73.199997 m 10.000000 ms channel:4 iga: 2: 3 598447.000000E 4067412.250000N 91.400002 m 10.000000 ms channel:5 ti: 3: 4 600848.125000E 4069389.500000N 80.199997 m 10.000000 ms channel:6 on: 4: 5 602732.187500E 4067093.000000N 57.299999 m 10.000000 ms channel:7 S: WorkSite server: 0x21e4c erver 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 : SerialDevice: done... : PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200 ) - octan: TailConeServer -- Maximum Elevator Actuator Excursion is 1421 Counts s: TailConeServer:: -- Minimum Elevator Actuator Excursion is -1272 Counts Se: TailConeServer -- Maximum Rudder Actuator Excursion is 1242 Counts rv: TailConeServer -- Minimum Rudder Actuator Excursion is -1096 Counts er: SerialDevice: done... Supervisor::creat: Preparing to fork eTask() - : I'm the child...forking gpsServer Supervisor: Preparing to fork ::cre: I'm the child...forking ateTa: SerialDevice: done... sk() - parosciServer Super: SerialDevice: done... visor::createTask() - seabirdServer S: SerialDevice: done... uperv: SerialDevice: done... isor: SerialDevice: done... ::: SerialDeviceDriver::initialize() cre: Crossbow.cc: Setting polled mode a: SerialDevice: done... teTask: Crossbow.cc: Setting polled mode (): SerialDevice: done... - : **** EventTriggers::add() - attaching proxy : Crossbow.cc: In getSerialNumber() metraby: Crossbow.cc: device->read succeeded te: Crossbow.cc: I think the serial number is 17266 (4372) Ser: Crossbow.cc: Setting polled mode ve: Gps: initializing r : PeriodicTask::run() (crossbow) - sampleInterval=100, maxInterval=100 : SerialDevice: done... Super: Gps: done initializing... vi: **** EventTriggers::add() - attaching proxy sor::createTa: seabirdDriver RUNNING... s: SerialDevice: done... k() - lblServ: GarminGps::processRecord() - GpsUtils::parseFix() - incomplete GGA sentence? $PGRMO,,2 er : **** EventTriggers::add() - attaching proxy Supervisor: Parosci::init() - mode set okay ::createTask() -: GarminGps::processRecord() - GpsUtils::parseFix() - incomplete GGA sentence? $PGRMO,GPGGA,1 scheduler : SerialDevice: done... Supervisor::createTask() - d: SerialDevice: done... vl: Schedule Server : Subscribing to Layered Control. Ser: PeriodicTask::run() (scheduleServer) - sampleInterval=200, maxInterval=200 ver: Seabird.cc -- Loading CTD constants from /home/dorado1/auv/altex/onboard//config/dorado538/seabird.cfg S: SerialDevice: done... u: SerialDevice: done... pervisor::: PeriodicTask::run() (MetraByte) - sampleInterval=1000, maxInterval=1000 creat: 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 eT: Seabird::Seabird() - create interface to depth sensor... ask(: Seabird.cc -- constructing Log... ) - bu: The beacon Array is: o: 2 yL: 4 au: 5 nch: 6 e: CTDLog.cc -- beginning constructor... r: 7 Ser: ve: CTDLog.cc -- constructor succeeded r: 2 : Seabird.cc -- constructor succeeded : 4 : seabirdDriver -- constructor succeeded : 5 : Seabird:initializing Seabird... : 6 : 7 : : 2 : 4 : SerialDevice: done... : 5 : 6 : 7 : : 2 : 4 : 5 : 6 : 7 : : 2 : 4 : 5 : 6 : 7 : : SerialDeviceDriver::initialize() : 2 : Starting DVL Initialization. : 4 : SerialDevice: done... : 5 : 6 : buoyLauncherDriver::main():Creating driver with params /dev/ser8,57600,8,n,1 : 7 : : 2 : SerialDevice: done... : 4 : 5 : 6 : 7 : : 2 : 4 : 5 : 6 : 7 : : 2 : 4 : 5 : 6 : 7 : : 2 : 4 : 5 : PeriodicTask::run() (buoyLauncherDriver) - sampleInterval=2000, maxInterval=2000 : 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 : Dvl::initialize() - The DVL is initialized. : **** EventTriggers::add() - attaching proxy : Parosci.cc -- Initial pressure = 1.016977 : Parosci.cc -- Parosci initial pressure period = 30.459640 : Parosci.cc -- Parosci initial temp period = 5.878503 : 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 "Altimeter" not found : Navigation: Server for aux sensor "Velocimeter" not found : PeriodicTask::run() (navigation) - sampleInterval=200, maxInterval=200 : Lbl::readTaskIF - Got new ping time. Interval = 993768603.198811 : Lbl::readTaskIF - Got new return times. : 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 = 918.037110 : 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... : Lbl::readTaskIF - Got new return times. : Seabird::initialize() - confirming voltage... : Lbl::readTaskIF - Got new ping time. Interval = 9.989316 : Seabird::initialize() - disabling switch... : Seabird: sending DS command... : Seabird::initialize() - starting logging... : TailConeServer::initElevator : Succeeded initializing elevator actuator, proceed : Ctd:initialize() - Logging Started... : Ctd:initialize() - ready! : **** EventTriggers::add() - attaching proxy : TailConeServer::initRudder : Succeeded initializing rudder actuator, proceed : PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200 : 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 = 9.999315 : 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. : Lbl::readTaskIF - Got new ping time. Interval = 9.999315 : LayeredControl::execute() -- (t = 60.215875) Behavior setRudder has changed to state Finished : LayeredControl::execute() -- (t = 60.265871) Behavior setRudder has changed to state Active : 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 = 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. : Parosci.cc -- Error: Read bad pressure *************************************** bar : ParosciServer::depth() - error : ParosciServer::depth() - error : ParosciServer::depth() - error : ParosciServer::depth() - error : Lbl::readTaskIF - Got new ping time. Interval = 9.999315 : 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 : ParosciServer::depth() - error : ParosciServer::depth() - error : Parosci.cc -- Error: Read bad pressure *************************************** bar : ParosciServer::depth() - error : Task "navigationServer" died? Supervisor::createTask() - navigationServ: Parosci.cc -- Error: Read bad pressure *************************************** bar er : Supervisor::Supervisor() - task(s) died; exiting : Supervisor::shutdown() : ParosciServer::depth() - error : **** 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 LblIFServer - exit() : TaskServer::signalHandler() for task DvlIFServer - exit() : TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit() : TaskServer::signalHandler() for task DynamicControlIFServer - exit() : **** SharedData destructor for object LayeredControlInput_ShmemName **** : TaskServer::signalHandler() for task TailConeIFServer - 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 LayeredControlIFServer - exit() : TaskServer::signalHandler() for task CrossbowIFServer - exit() : TaskServer::signalHandler() for task CtdIFServer - exit() : **** SharedData destructor for object ParosciOutput_ShmemName **** : **** SharedData destructor for object SeabirdOutput_ShmemName **** : 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 **** : TaskServer::signalHandler() for task DepthSensorIFServer - exit() : Supervisor::signalHandler(); caught signal 2 : TaskServer::signalHandler() for task LblIFServer - exit() : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() : TaskServer::signalHandler() for task AhrsIFServer - exit() : **** SharedData destructor for object DvlOutput_ShmemName **** : **** SharedData destructor for object GpsOutput_ShmemName **** : **** SharedData destructor for object LayeredControlOutput_ShmemName **** : **** SharedData destructor for object DvlOutput_ShmemName **** : **** SharedData destructor for object crossbowCommand **** : **** SharedData destructor for object TailConeInput_ShmemName **** : TaskServer::signalHandler() for task DepthSensorIFServer - exit() : Supervisor::cleanup() - delete _theSupervisor : **** SharedData destructor for object crossbowOutput **** : **** SharedData destructor for object LayeredControlInput_ShmemName **** : **** SharedData destructor for object SeabirdOutput_ShmemName **** : **** SharedData destructor for object MetraByteOutput **** : TaskServer::signalHandler() for task CtdIFServer - exit() : TaskServer::signalHandler() for task LayeredControlIFServer - exit() : TaskServer::signalHandler() for task MetraByteIFServer - exit() : **** SharedData destructor for object BuoyLauncherInput_ShmemName **** : **** SharedData destructor for object BuoyLauncherOutput_ShmemName **** : Supervisor::cleanup() - delete _theSupervisor : **** SharedData destructor for object LblDriverOutput_ShmemName **** : **** SharedData destructor for object TailConeInput_ShmemName **** : **** SharedData destructor for object octansOutput **** : TaskServer::signalHandler() for task GpsIFServer - exit() : **** SharedData destructor for object TailConeOutput_ShmemName **** : **** SharedData destructor for object ParosciOutput_ShmemName **** : **** SharedData destructor for object crossbowOutput **** : Supervisor::shutdown() : **** SharedData destructor for object crossbowCommand **** : Supervisor::shutdown() : **** SharedData destructor for object BuoyLauncherOutput_ShmemName **** : **** SharedData destructor for object TailConeOutput_ShmemName **** : TaskServer::signalHandler() for task - exit() : Supervisor::shutdown() - done() : TaskServer::signalHandler() for task DepthSensorIFServer - 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 0007:00021247.