Supervisor::createCoreTasks() Supervisor::createTask() - eventLogServer Supervisor::createTask() - workSite Supervisor::createTask() - vehicleConfigurationServ: Initializing worksiteServer er Supe: WorkSite::WorkSite -- Adding attributes rvi: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv/altex/onboard//config/dorado389/workSite.cfg sor::createTask() - dropWeight S: Using default vehicle config file "/home/dorado1/auv/altex/onboard//config/dorado389/vehicle.cfg" upervisor::createTask() - externalCommsServer Supervisor::createTask() - navigationServer Supervisor::createTa: WorkSite::WorkSite -- Finished loading parameters sk: 0: 1 600674.187500E 4067388.750000N 73.699997 m 10.000000 ms channel:2 () : 1: 2 600531.687500E 4065156.000000N 73.199997 m 10.000000 ms channel:4 - l: 2: 3 598447.000000E 4067412.250000N 91.400002 m 10.000000 ms channel:5 aye: 3: 4 600848.125000E 4069389.500000N 80.199997 m 10.000000 ms channel:6 red: 4: 5 602732.187500E 4067093.000000N 57.299999 m 10.000000 ms channel:7 C: WorkSite server: 0x21b6c ontrolServer Supervisor::createTask() - dynamicControlServer Supervisor::createTask() - tailConeServer Supervisor::createTask() - octansServer Supervisor::createTask() - crossbowServer : DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize() : DynamicControlServer - Got event 1 from TailCone : PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200 Sup: Preparing to fork ervisor:: I'm the child...forking :cr: SerialDevice: done... eateTask() - gpsServe: TailConeServer -- Maximum Elevator Actuator Excursion is 1421 Counts r: SerialDevice: done... : TailConeServer:: -- Minimum Elevator Actuator Excursion is -1272 Counts Supe: TailConeServer -- Maximum Rudder Actuator Excursion is 1242 Counts rv: TailConeServer -- Minimum Rudder Actuator Excursion is -1096 Counts isor: SerialDevice: done... ::createTask: Preparing to fork () - : I'm the child...forking parosci: SerialDevice: done... Server Super: SerialDeviceDriver::initialize() vis: SerialDevice: done... or::cr: SerialDevice: done... ea: **** EventTriggers::add() - attaching proxy teTask() - psa916Server Sup: SerialDevice: done... ervisor::createTask() - seab: octans::readRecord() - serial device timed out ird: **** EventTriggers::add() - attaching proxy Se: Gps: initializing : SerialDevice: done... rv: SerialDevice: done... er: SerialDevice: done... Supe: Crossbow.cc: Setting polled mode rvi: Gps: done initializing... sor:: **** EventTriggers::add() - attaching proxy : Crossbow.cc: Setting polled mode :creat: Crossbow.cc: In getSerialNumber() eTas: Crossbow.cc: device->read succeeded k(: SerialDevice: done... : Crossbow.cc: I think the serial number is 17266 (4372) ): PSA916: constructing... - m: PSA916: initializing... : GarminGps::processRecord() - GpsUtils::parseFix() - incomplete GGA sentence? $PGRMO,,2 e: Crossbow.cc: Setting polled mode tra: PSA916: trying to write data... by: SerialDevice: done... te: **** EventTriggers::add() - attaching proxy Ser: PSA916: debug mode on... : PeriodicTask::run() (crossbow) - sampleInterval=100, maxInterval=100 ver S: SerialDevice: done... uper: PSA916: confirming data stream... visor: Parosci::init() - mode set okay ::: PSA916: data is streaming... c: seabirdDriver RUNNING... r: **** EventTriggers::add() - attaching proxy e: GarminGps::processRecord() - GpsUtils::parseFix() - incomplete GGA sentence? $PGRMO,GPGGA,1 ateTask() : SerialDevice: done... - lblServer Supervis: Seabird.cc -- Loading CTD constants from /home/dorado1/auv/altex/onboard//config/dorado389/seabird.cfg or::creat: octans::readRecord() - serial device timed out eTask(: 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... - sc: Seabird.cc -- constructing Log... heduler: SerialDevice: done... Superv: CTDLog.cc -- beginning constructor... iso: CTDLog.cc -- constructor succeeded r:: Seabird.cc -- constructor succeeded :cr: seabirdDriver -- constructor succeeded ea: Seabird:initializing Seabird... teTa: SerialDevice: done... sk(): SerialDevice: done... : SerialDevice: done... -: SerialDevice: done... : The beacon Array is: : 2 dvl: 4 S: Schedule Server : Subscribing to Layered Control. erv: 5 er : PeriodicTask::run() (scheduleServer) - sampleInterval=200, maxInterval=200 : 6 : 7 : octans::readRecord() - serial device timed out : : PeriodicTask::run() (MetraByte) - sampleInterval=1000, maxInterval=1000 : 2 : 4 : 5 : 6 : 7 : : Navigation: Server for aux sensor "Velocimeter" not found : 2 : PeriodicTask::run() (navigation) - sampleInterval=200, maxInterval=200 : 4 : 5 : 6 : 7 : : 2 : 4 : 5 : 6 : 7 : : Lbl::readTaskIF - Got new ping time. Interval = 991835991.504948 : 2 : in first loop : 4 : **** EventTriggers::add() - attaching proxy : SerialDevice: done... : 5 : LayeredControl::execute() -- (t = 0.000000) Behavior setpoint has changed to state Active : 6 : LayeredControl::execute() -- (t = 0.029998) Behavior missionTimer has changed to state Active : 7 : **** EventTriggers::add() - attaching proxy : : *** Mission started *** : Schedule Server -> Start : 2 : 4 : 5 : 6 : 7 : : 2 : 4 : SerialDeviceDriver::initialize() : 5 : 6 : Starting DVL Initialization. : 7 : SerialDevice: done... : : 2 : 4 : 5 : 6 : 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 : Lbl::readTaskIF - Got new ping time. Interval = 58.276008 : Dvl::initialize() - The DVL is initialized. : **** EventTriggers::add() - attaching proxy : Parosci.cc -- Initial pressure = 1.103162 : Parosci.cc -- Parosci initial pressure period = 30.464050 : Parosci.cc -- Parosci initial temp period = 5.882198 : Parosci.cc -- Paroscientific configured. : PeriodicTask::run() (Parosci) - sampleInterval=200, maxInterval=200 : octans::readRecord() - buf= : octans::readRecord() - serial device buffer full : octans::readRecord() - buf= : octans::readRecord() - serial device buffer full : octans::readRecord() - buf= : octans::readRecord() - serial device buffer full : octans::readRecord() - buf= : octans::readRecord() - serial device buffer full : SerialDevice::confirm() - Timed Out : Seabird::initialize() - confirm() timed out; sleep a bit : Lbl::readTaskIF - Got new return times. : Lbl::readTaskIF - Got new ping time. Interval = 9.269365 : 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... : Lbl::readTaskIF - Got new return times. : Lbl::readTaskIF - Got new ping time. Interval = 9.989316 : 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 = 10.009314 : TailConeServer::initElevator : Succeeded initializing elevator actuator, proceed : 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 : 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 : Lbl::readTaskIF - Got new return times. : Lbl::readTaskIF - Got new ping time. Interval = 9.999315 : **** SharedData destructor for object LblDriverOutput_ShmemName **** : TaskServer::signalHandler() for task AhrsIFServer - exit() : TaskServer::signalHandler() for task GpsIFServer - exit() : TaskServer::signalHandler() for task RangeFinderIFServer - exit() : TaskServer::signalHandler() for task LblIFServer - exit() : TaskServer::signalHandler() for task DvlIFServer - exit() : **** SharedData destructor for object PSA916Input_ShmemName **** : TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit() : TaskServer::signalHandler() for task NavigationIFServer - exit() : TaskServer::signalHandler() for task DynamicControlIFServer - exit() : **** SharedData destructor for object LayeredControlInput_ShmemName **** : TaskServer::signalHandler() for task TailConeIFServer - exit() : NavigationOutput::~NavigationOutput() : **** SharedData destructor for object LayeredControlOutput_ShmemName **** : Supervisor::signalHandler(); caught signal 2 : TaskServer::signalHandler() for task EventLogIFServer - exit() : TaskServer::signalHandler() for task WorkSiteIFServer - 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 DepthSensorIFServer - exit() : TaskServer::signalHandler() for task CtdIFServer - exit() : TaskServer::signalHandler() for task MetraByteIFServer - exit() : **** SharedData destructor for object MetraByteOutput **** : **** SharedData destructor for object GpsOutput_ShmemName **** : **** SharedData destructor for object ParosciOutput_ShmemName **** : **** SharedData destructor for object SeabirdOutput_ShmemName **** : **** SharedData destructor for object octansOutput **** : TaskServer::signalHandler() for task LblIFServer - exit() : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() : **** SharedData destructor for object PSA916Output_ShmemName **** : TaskServer::signalHandler() for task AhrsIFServer - exit() : **** SharedData destructor for object GpsOutput_ShmemName **** : **** SharedData destructor for object DvlOutput_ShmemName **** : **** SharedData destructor for object navigationOutput **** : **** SharedData destructor for object PSA916Input_ShmemName **** : **** SharedData destructor for object crossbowCommand **** : **** SharedData destructor for object DvlOutput_ShmemName **** : TaskServer::signalHandler() for task LayeredControlIFServer - exit() : NavigationOutput::~NavigationOutput() : **** SharedData destructor for object TailConeInput_ShmemName **** : Supervisor::cleanup() - delete _theSupervisor : **** SharedData destructor for object crossbowOutput **** : TaskServer::signalHandler() for task NavigationIFServer - exit() : TaskServer::signalHandler() for task MetraByteIFServer - exit() : **** SharedData destructor for object ParosciOutput_ShmemName **** : TaskServer::signalHandler() for task GpsIFServer - exit() : **** SharedData destructor for object SeabirdOutput_ShmemName **** : **** SharedData destructor for object LblDriverOutput_ShmemName **** : TaskServer::signalHandler() for task DepthSensorIFServer - exit() : TaskServer::signalHandler() for task RangeFinderIFServer - exit() : TaskServer::signalHandler() for task CtdIFServer - exit() : **** SharedData destructor for object LayeredControlInput_ShmemName **** : **** SharedData destructor for object TailConeOutput_ShmemName **** : **** SharedData destructor for object crossbowOutput **** : Supervisor::shutdown() : **** SharedData destructor for object MetraByteOutput **** : **** SharedData destructor for object crossbowCommand **** : **** SharedData destructor for object LayeredControlOutput_ShmemName **** : Supervisor::shutdown() - done() : TaskServer::signalHandler() for task MetraByteIFServer - exit() : TaskServer::signalHandler() for task LayeredControlIFServer - exit() : TaskServer::signalHandler() for task CrossbowIFServer - exit() : **** 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 0007:0001F91B.