Supervisor::createCoreTasks() Supervisor::createTask() - eventLogServer Supervisor::createTask() - workSite Supervisor::createTask() - vehicleCo: Initializing worksiteServer nfigurati: WorkSite::WorkSite -- Adding attributes onS: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv/altex/onboard//config/dorado389/workSite.cfg erver Supervisor::createTask() - dropWeight : Using default vehicle config file "/home/dorado1/auv/altex/onboard//config/dorado389/vehicle.cfg" Supervisor::createTask() - externalCommsServer Supervisor::createTask() - navigationServer Supervisor::createTask() - layeredControlServer Sup: WorkSite::WorkSite -- Finished loading parameters ervis: 0: 1 600674.187500E 4067388.750000N 73.699997 m 10.000000 ms channel:2 or: 1: 2 600531.687500E 4065156.000000N 73.199997 m 10.000000 ms channel:4 ::c: 2: 3 598447.000000E 4067412.250000N 91.400002 m 10.000000 ms channel:5 rea: 3: 4 600848.125000E 4069389.500000N 80.199997 m 10.000000 ms channel:6 teT: 4: 5 602732.187500E 4067093.000000N 57.299999 m 10.000000 ms channel:7 ask: WorkSite server: 0x21b6c () - dynamicControlServer Supervisor::createTask() - tailConeServer Supervisor::createTask() - octansServer Supervisor::createTask() - crossbowServer Supervisor::: Preparing to fork crea: I'm the child...forking teTa: SerialDevice: done... sk() - gpsServer : DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize() : DynamicControlServer - Got event 1 from TailCone : PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200 Su: TailConeServer -- Maximum Elevator Actuator Excursion is 1421 Counts pervis: TailConeServer:: -- Minimum Elevator Actuator Excursion is -1272 Counts or:: TailConeServer -- Maximum Rudder Actuator Excursion is 1242 Counts :cr: TailConeServer -- Minimum Rudder Actuator Excursion is -1096 Counts eat: SerialDevice: done... eT: SerialDevice: done... ask() - parosciSe: Preparing to fork rver: I'm the child...forking Supervis: SerialDevice: done... or::create: SerialDeviceDriver::initialize() Task: SerialDevice: done... () - ps: **** EventTriggers::add() - attaching proxy a916S: SerialDevice: done... erver Super: SerialDevice: done... visor::createTas: SerialDevice: done... k() - seabirdServe: Gps: initializing r S: SerialDevice: done... upervis: Gps: done initializing... or: **** EventTriggers::add() - attaching proxy ::createTask: octans::readRecord() - serial device timed out (): SerialDevice: done... : SerialDevice: done... : **** EventTriggers::add() - attaching proxy - : PSA916: constructing... metra: GarminGps::processRecord() - GpsUtils::parseFix() - incomplete GGA sentence? $PGRMO,,2 by: PSA916: initializing... te: SerialDevice: done... Se: **** EventTriggers::add() - attaching proxy r: PSA916: trying to write data... ver : Crossbow.cc: Setting polled mode S: PSA916: debug mode on... : Parosci::init() - mode set okay upe: SerialDevice: done... rvisor: PSA916: confirming data stream... :: Crossbow.cc: Setting polled mode :creat: Crossbow.cc: In getSerialNumber() : PSA916: data is streaming... e: **** EventTriggers::add() - attaching proxy : GarminGps::processRecord() - GpsUtils::parseFix() - incomplete GGA sentence? $PGRMO,GPGGA,1 Task(: Crossbow.cc: _device->read failed with error ) : seabirdDriver RUNNING... - lbl: PeriodicTask::run() (crossbow) - sampleInterval=100, maxInterval=100 Server: SerialDevice: done... Supervisor::create: octans::readRecord() - serial device timed out T: Seabird.cc -- Loading CTD constants from /home/dorado1/auv/altex/onboard//config/dorado389/seabird.cfg ask() - s: SerialDevice: done... cheduler : 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 Su: Seabird::Seabird() - create interface to depth sensor... perv: Seabird.cc -- constructing Log... isor::crea: SerialDevice: done... t: SerialDevice: done... eT: SerialDevice: done... as: CTDLog.cc -- beginning constructor... k(): CTDLog.cc -- constructor succeeded : Schedule Server : Subscribing to Layered Control. - d: Seabird.cc -- constructor succeeded vlSe: PeriodicTask::run() (scheduleServer) - sampleInterval=200, maxInterval=200 rve: seabirdDriver -- constructor succeeded r : The beacon Array is: : Seabird:initializing Seabird... : 2 : PeriodicTask::run() (MetraByte) - sampleInterval=1000, maxInterval=1000 : 4 : SerialDevice: done... : 5 : 6 : 7 : octans::readRecord() - serial device timed out : : 2 : 4 : 5 : 6 : 7 : : 2 : 4 : 5 : 6 : 7 : : 2 : 4 : 5 : 6 : 7 : : SerialDevice: done... : 2 : 4 : 5 : 6 : 7 : : 2 : 4 : 5 : 6 : 7 : : 2 : 4 : 5 : 6 : 7 : SerialDeviceDriver::initialize() : : 2 : Starting DVL Initialization. : 4 : SerialDevice: done... : 5 : 6 : 7 : : 2 : 4 : 5 : 6 : 7 : : 2 : 4 : 5 : 6 : Navigation: Server for aux sensor "Velocimeter" not found : 7 : PeriodicTask::run() (navigation) - sampleInterval=200, maxInterval=200 : : 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 = 991836274.875536 : Lbl::readTaskIF - Got new return times. : in first loop : **** 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 *** : Schedule Server -> Start : Lbl::readTaskIF - Got new ping time. Interval = 339.266759 : Dvl::initialize() - The DVL is initialized. : **** EventTriggers::add() - attaching proxy : Parosci.cc -- Initial pressure = 1.052830 : Parosci.cc -- Parosci initial pressure period = 30.447740 : TailConeServer::initElevator : Succeeded initializing elevator actuator, proceed : Parosci.cc -- Parosci initial temp period = 5.881995 : Parosci.cc -- Paroscientific configured. : PeriodicTask::run() (Parosci) - sampleInterval=200, maxInterval=200 : TailConeServer::initRudder : Succeeded initializing rudder actuator, proceed : octans::readRecord() - buf= : octans::readRecord() - serial device buffer full : octans::readRecord() - buf= : DepthSensor (Navigation): Received bad depth reading: -28.388493 Substitute previous depth value of 0.000000 : octans::readRecord() - serial device buffer full : octans::readRecord() - buf= : octans::readRecord() - serial device buffer full : DepthSensor (Navigation): Received bad depth reading: -28.388493 Substitute previous depth value of 0.000000 : SerialDevice::confirm() - Timed Out : octans::readRecord() - buf= : Seabird::initialize() - confirm() timed out; sleep a bit : octans::readRecord() - serial device buffer full : DepthSensor (Navigation): Received bad depth reading: -28.518804 Substitute previous depth value of 0.000000 : PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200 : DepthSensor (Navigation): Received bad depth reading: -28.518804 Substitute previous depth value of 0.000000 : DepthSensor (Navigation): Received bad depth reading: -28.388493 Substitute previous depth value of 0.000000 : DepthSensor(Navigation): _maxConsecutiveBad exceeded, accept reading: "-28.388493" : Lbl::readTaskIF - Got new return times. : Lbl::readTaskIF - Got new ping time. Interval = 9.999315 : 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 = 9.999315 : Lbl::readTaskIF - Got new return times. : Lbl::readTaskIF - Got new ping time. Interval = 10.009314 : **** 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() : TaskServer::signalHandler() for task WorkSiteIFServer - exit() : **** SharedData destructor for object PSA916Input_ShmemName **** : TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit() : NavigationOutput::~NavigationOutput() : TaskServer::signalHandler() for task NavigationIFServer - exit() : TaskServer::signalHandler() for task DynamicControlIFServer - exit() : **** SharedData destructor for object LayeredControlInput_ShmemName **** : TaskServer::signalHandler() for task TailConeIFServer - 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 **** : 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() : **** SharedData destructor for object GpsOutput_ShmemName **** : **** SharedData destructor for object ParosciOutput_ShmemName **** : **** SharedData destructor for object SeabirdOutput_ShmemName **** : **** SharedData destructor for object navigationOutput **** : **** SharedData destructor for object octansOutput **** : **** SharedData destructor for object LayeredControlOutput_ShmemName **** : TaskServer::signalHandler() for task LblIFServer - exit() : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() : **** SharedData destructor for object DvlOutput_ShmemName **** : **** SharedData destructor for object PSA916Output_ShmemName **** : TaskServer::signalHandler() for task AhrsIFServer - exit() : **** SharedData destructor for object crossbowCommand **** : **** SharedData destructor for object GpsOutput_ShmemName **** : **** SharedData destructor for object PSA916Input_ShmemName **** : **** SharedData destructor for object DvlOutput_ShmemName **** : TaskServer::signalHandler() for task NavigationIFServer - exit() : TaskServer::signalHandler() for task LayeredControlIFServer - exit() : **** SharedData destructor for object TailConeInput_ShmemName **** : **** SharedData destructor for object crossbowOutput **** : **** SharedData destructor for object ParosciOutput_ShmemName **** : **** SharedData destructor for object SeabirdOutput_ShmemName **** : **** SharedData destructor for object MetraByteOutput **** : Supervisor::cleanup() - delete _theSupervisor : TaskServer::signalHandler() for task MetraByteIFServer - exit() : **** SharedData destructor for object LblDriverOutput_ShmemName **** : TaskServer::signalHandler() for task GpsIFServer - exit() : TaskServer::signalHandler() for task RangeFinderIFServer - exit() : TaskServer::signalHandler() for task DepthSensorIFServer - exit() : TaskServer::signalHandler() for task CtdIFServer - exit() : NavigationOutput::~NavigationOutput() : **** SharedData destructor for object TailConeOutput_ShmemName **** : **** SharedData destructor for object crossbowOutput **** : **** SharedData destructor for object LayeredControlInput_ShmemName **** : Supervisor::shutdown() : **** SharedData destructor for object crossbowCommand **** : **** SharedData destructor for object navigationOutput **** : TaskServer::signalHandler() for task NavigationIFServer - exit() : Supervisor::shutdown() - done() : TaskServer::signalHandler() for task LayeredControlIFServer - exit() : TaskServer::signalHandler() for task CrossbowIFServer - exit() : Dvl::~Dvl: Destructor Finished. //1/home/dorado1/auv/altex/onboard/bin/dvl terminated (SIGSEGV) at 0007:0001F91B.