Supervisor::createCoreTasks() Supervisor::createTask() - eventLogServer Supervisor::createTask() - workSite Supervisor::createTask() - vehi: Initializing worksiteServer cleConfig: WorkSite::WorkSite -- Adding attributes ura: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv/altex/onboard//config/dorado389/workSite.cfg tionServer Supervisor::createTas: Using default vehicle config file "/home/dorado1/auv/altex/onboard//config/dorado389/vehicle.cfg" k() - dropWeight Supervisor::createTask() - externalCommsServer Supervisor::createTask() - navigationServer Supervisor::cre: WorkSite::WorkSite -- Finished loading parameters at: 0: 1 600674.187500E 4067388.750000N 73.699997 m 10.000000 ms channel:2 eTa: 1: 2 600531.687500E 4065156.000000N 73.199997 m 10.000000 ms channel:4 sk: 2: 3 598447.000000E 4067412.250000N 91.400002 m 10.000000 ms channel:5 () : 3: 4 600848.125000E 4069389.500000N 80.199997 m 10.000000 ms channel:6 - : 4: 5 602732.187500E 4067093.000000N 57.299999 m 10.000000 ms channel:7 lay: WorkSite server: 0x21b6c eredControlServer Supervisor::createTask() - dynamicControlServer Supervisor::createTask() - tailConeServer Supervisor::createTask() - octansServer Supervisor::createTask() - crossbowS: DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize() e: DynamicControlServer - Got event 1 from TailCone : PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200 rver : SerialDevice: done... Sup: Preparing to fork erv: I'm the child...forking isor::createTas: TailConeServer -- Maximum Elevator Actuator Excursion is 1421 Counts k(): TailConeServer:: -- Minimum Elevator Actuator Excursion is -1272 Counts -: TailConeServer -- Maximum Rudder Actuator Excursion is 1242 Counts gp: TailConeServer -- Minimum Rudder Actuator Excursion is -1096 Counts sSe: SerialDevice: done... rver : Preparing to fork S: I'm the child...forking uperv: SerialDevice: done... isor::createTask() - parosciS: SerialDevice: done... erv: SerialDevice: done... er Supervi: SerialDeviceDriver::initialize() sor: SerialDevice: done... ::create: **** EventTriggers::add() - attaching proxy : SerialDevice: done... Task() - psa916Server Supervisor::createTask: SerialDevice: done... (: Gps: initializing ) - : SerialDevice: done... s: SerialDevice: done... eabi: Crossbow.cc: Setting polled mode rdServer: Crossbow.cc: Setting polled mode S: Crossbow.cc: In getSerialNumber() uperv: Gps: done initializing... i: Crossbow.cc: _device->read failed with error so: **** EventTriggers::add() - attaching proxy : octans::readRecord() - serial device timed out r:: PeriodicTask::run() (crossbow) - sampleInterval=100, maxInterval=100 :: SerialDevice: done... c: PSA916: constructing... : **** EventTriggers::add() - attaching proxy reate: PSA916: initializing... : SerialDevice: done... : PSA916: trying to write data... T: PSA916: debug mode on... as: SerialDevice: done... k: PSA916: confirming data stream... () - metrabyt: Parosci::init() - mode set okay eServer : PSA916: data is streaming... : **** EventTriggers::add() - attaching proxy Supervisor::c: seabirdDriver RUNNING... reateTa: SerialDevice: done... sk() - lblServer Sup: Seabird.cc -- Loading CTD constants from /home/dorado1/auv/altex/onboard//config/dorado389/seabird.cfg ervisor::creat: octans::readRecord() - serial device timed out eT: 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 as: Seabird::Seabird() - create interface to depth sensor... k() : Seabird.cc -- constructing Log... - sch: SerialDevice: done... eduler S: CTDLog.cc -- beginning constructor... upe: CTDLog.cc -- constructor succeeded rvi: Seabird.cc -- constructor succeeded sor: seabirdDriver -- constructor succeeded ::: Seabird:initializing Seabird... crea: SerialDevice: done... t: SerialDevice: done... e: SerialDevice: done... T: The beacon Array is: a: 2 s: 4 : SerialDevice: done... k: 5 (: 6 ) : Schedule Server : Subscribing to Layered Control. : 7 -: : 2 dv: PeriodicTask::run() (scheduleServer) - sampleInterval=200, maxInterval=200 : 4 l: 5 Se: 6 r: 7 v: e: 2 : octans::readRecord() - serial device timed out r: 4 : 5 : PeriodicTask::run() (MetraByte) - sampleInterval=1000, maxInterval=1000 : 6 : 7 : : 2 : 4 : 5 : 6 : 7 : : 2 : 4 : 5 : 6 : 7 : : 2 : 4 : 5 : 6 : 7 : : 2 : 4 : 5 : 6 : 7 : : 2 : 4 SharedData::initSemaphore() - sem_init() of _notifySem: Resource temporarily unavailable : 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 : TailConeServer::initElevator : Succeeded initializing elevator actuator, proceed : Task "dvlServer" died? Supervisor::createTask() -: Parosci.cc -- Initial pressure = 1.060414 dvlServer : 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 RangeFinderIFServer - 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() : Supervisor::signalHandler(); caught signal 2 : NavigationOutput::~NavigationOutput() : **** SharedData destructor for object ParosciOutput_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 LayeredControlIFServer - exit() : TaskServer::signalHandler() for task CrossbowIFServer - exit() : TaskServer::signalHandler() for task GpsIFServer - 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 : **** SharedData destructor for object GpsOutput_ShmemName **** : TaskServer::signalHandler() for task LblIFServer - exit() : **** SharedData destructor for object octansOutput **** : **** SharedData destructor for object PSA916Output_ShmemName **** : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() : **** SharedData destructor for object PSA916Input_ShmemName **** : **** SharedData destructor for object LayeredControlOutput_ShmemName **** : **** SharedData destructor for object crossbowCommand **** : NavigationOutput::~NavigationOutput() : TaskServer::signalHandler() for task AhrsIFServer - exit() : **** SharedData destructor for object TailConeInput_ShmemName **** : **** SharedData destructor for object navigationOutput **** : Supervisor::cleanup() - delete _theSupervisor : **** SharedData destructor for object crossbowOutput **** : Supervisor::cleanup() - delete _theSupervisor : **** SharedData destructor for object LayeredControlInput_ShmemName **** : **** SharedData destructor for object GpsOutput_ShmemName **** : **** SharedData destructor for object ParosciOutput_ShmemName **** : **** SharedData destructor for object SeabirdOutput_ShmemName **** : TaskServer::signalHandler() for task DepthSensorIFServer - exit() : **** SharedData destructor for object MetraByteOutput **** : **** SharedData destructor for object LblDriverOutput_ShmemName **** : TaskServer::signalHandler() for task LayeredControlIFServer - exit() : **** SharedData destructor for object PSA916Output_ShmemName **** : TaskServer::signalHandler() for task RangeFinderIFServer - exit() : TaskServer::signalHandler() for task CtdIFServer - exit() : **** SharedData destructor for object navigationOutput **** : **** SharedData destructor for object crossbowOutput **** : **** SharedData destructor for object TailConeOutput_ShmemName **** : TaskServer::signalHandler() for task NavigationIFServer - exit() : TaskServer::signalHandler() for task MetraByteIFServer - exit() : Supervisor::shutdown() : TaskServer::signalHandler() for task GpsIFServer - exit() : Supervisor::shutdown() : **** SharedData destructor for object crossbowCommand **** : TaskServer::signalHandler() for task CrossbowIFServer - exit() : Supervisor::shutdown() - done() : TaskServer::signalHandler() for task MetraByteIFServer - exit() : TaskServer::signalHandler() for task CrossbowIFServer - exit() : TaskServer::signalHandler() for task GpsIFServer - exit() : TaskServer::signalHandler() - _theTaskServer doesn't exist : Supervisor::shutdown() - done() : TaskServer::signalHandler() - _theTaskServer doesn't exist : **** SharedData destructor for object TailConeInput_ShmemName **** : **** SharedData destructor for object TailConeOutput_ShmemName ****