Supervisor::createCoreTasks() Supervisor::createTask() - eventLogServer Supervisor::createTask() - workSite Supervisor::createTask() - vehicleConfigurationServer S: Initializing worksiteServer upervisor:: WorkSite::WorkSite -- Adding attributes :cr: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv/altex/onboard//config/dorado389/workSite.cfg eateTa: Using default vehicle config file "/home/dorado1/auv/altex/onboard//config/dorado389/vehicle.cfg" sk() - dropWeight Supervisor::createTask() - externalCommsServer Supervisor::createTask() - navigationServer Supervisor::createTask() - layeredControlServer : WorkSite::WorkSite -- Finished loading parameters S: 0: 1 600674.187500E 4067388.750000N 73.699997 m 10.000000 ms channel:2 up: 1: 2 600531.687500E 4065156.000000N 73.199997 m 10.000000 ms channel:4 erv: 2: 3 598447.000000E 4067412.250000N 91.400002 m 10.000000 ms channel:5 is: 3: 4 600848.125000E 4069389.500000N 80.199997 m 10.000000 ms channel:6 or: 4: 5 602732.187500E 4067093.000000N 57.299999 m 10.000000 ms channel:7 ::: WorkSite server: 0x21b70 createTask() - dynamicControlServer Supervisor::createTask() - tailConeServer Supervisor::createTask() - octansServer Supervisor::createTask() - c: DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize() r: DynamicControlServer - Got event 1 from TailCone : SerialDevice: done... : PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200 ossbowServer : TailConeServer -- Maximum Elevator Actuator Excursion is 1421 Counts : TailConeServer:: -- Minimum Elevator Actuator Excursion is -1272 Counts Su: TailConeServer -- Maximum Rudder Actuator Excursion is 1242 Counts p: TailConeServer -- Minimum Rudder Actuator Excursion is -1096 Counts er: Preparing to fork : SerialDevice: done... visor:: I'm the child...forking :createTask() - gpsServer Super: SerialDevice: done... visor::cr: Preparing to fork eateTask: I'm the child...forking () - parosciSer: SerialDevice: done... ver : SerialDeviceDriver::initialize() : SerialDevice: done... : **** EventTriggers::add() - attaching proxy Super: SerialDevice: done... visor::createTask() - psa916S: TailConeServer::initElevator : Succeeded initializing elevator actuator, proceed er: SerialDevice: done... ver Supervisor::createTask(: octans::readRecord() - serial device timed out ) : **** EventTriggers::add() - attaching proxy - : SerialDevice: done... : SerialDevice: done... seab: Gps: initializing irdS: Crossbow.cc: Setting polled mode : SerialDevice: done... erver : Crossbow.cc: Setting polled mode : Gps: done initializing... S: Crossbow.cc: In getSerialNumber() up: **** EventTriggers::add() - attaching proxy e: SerialDevice: done... rvi: PSA916: constructing... : Crossbow.cc: _device->read failed with error sor:: PSA916: initializing... :: TailConeServer::initRudder : Succeeded initializing rudder actuator, proceed crea: PeriodicTask::run() (crossbow) - sampleInterval=100, maxInterval=100 : PSA916: trying to write data... teTas: PSA916: debug mode on... k() -: SerialDevice: done... m: PSA916: confirming data stream... e: SerialDevice: done... t: GarminGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: : PSA916: data is streaming... raby: **** EventTriggers::add() - attaching proxy teS: **** EventTriggers::add() - attaching proxy erver Sup: Parosci::init() - mode set okay ervisor::creat: octans::readRecord() - serial device timed out eTas: seabirdDriver RUNNING... k() - l: PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200 : SerialDevice: done... blServer Supervisor:: Seabird.cc -- Loading CTD constants from /home/dorado1/auv/altex/onboard//config/dorado389/seabird.cfg :createTask() : SerialDevice: done... : 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 - sch: Seabird::Seabird() - create interface to depth sensor... edul: Seabird.cc -- constructing Log... er Supervis: SerialDevice: done... o: CTDLog.cc -- beginning constructor... r::c: CTDLog.cc -- constructor succeeded rea: Seabird.cc -- constructor succeeded t: octans::readRecord() - serial device timed out e: seabirdDriver -- constructor succeeded Task: Seabird:initializing Seabird... () : Schedule Server : Subscribing to Layered Control. -: SerialDevice: done... d: SerialDevice: done... v: PeriodicTask::run() (scheduleServer) - sampleInterval=200, maxInterval=200 : PeriodicTask::run() (MetraByte) - sampleInterval=1000, maxInterval=1000 lSe: SerialDevice: done... rver : The beacon Array is: : 2 : 4 : 5 : 6 : 7 : : 2 : 4 : 5 : 6 : 7 : : 2 : 4 : 5 : 6 : 7 : : 2 : 4 : 5 : 6 : 7 : : 2 : 4 : 5 : Navigation: Server for aux sensor "Velocimeter" not found : 6 : PeriodicTask::run() (navigation) - sampleInterval=200, maxInterval=200 : 7 : : SerialDevice: done... : 2 : 4 : 5 : 6 : 7 : : 2 : octans::readRecord() - serial device timed out : 4 : Lbl::readTaskIF - Got new ping time. Interval = 991846145.037848 : 5 : Lbl::readTaskIF - Got new return times. : 6 : in first loop : 7 : **** EventTriggers::add() - attaching proxy : : SerialDeviceDriver::initialize() : 2 : 4 : Starting DVL Initialization. : 5 : 6 : 7 : SerialDevice: done... : LayeredControl::execute() -- (t = 0.000000) Behavior setpoint has changed to state Active : : Behavior::shouldBehaviorStart -- Checking to see if depthEnvelope should run : 2 : -- it should : 4 : LayeredControl::execute() -- (t = 0.069995) Behavior depthEnvelope has changed to state Active : 5 : LayeredControl::execute() -- (t = 0.089994) Behavior missionTimer has changed to state Active : 6 : **** EventTriggers::add() - attaching proxy : 7 : *** Mission started *** : : Schedule Server -> Start : 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 : Navigation - 4 consecutive bad readings from sensor Ahrs : Navigation - aborting! : NavigationOutput::~NavigationOutput() : **** SharedData destructor for object navigationOutput **** : TaskServer::signalHandler() for task NavigationIFServer - exit() : NavigationOutput::~NavigationOutput() : **** SharedData destructor for object navigationOutput **** : layeredControl - caught SharedObject::Error Server "NavigationIFServer" not found : **** 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 **** : Dvl::initialize() - The DVL is initialized. : **** EventTriggers::add() - attaching proxy : Parosci.cc -- Initial pressure = 0.968024 : Parosci.cc -- Parosci initial pressure period = 30.461710 : SerialDevice::confirm() - Timed Out : Parosci.cc -- Parosci initial temp period = 5.880537 : Seabird::initialize() - confirm() timed out; sleep a bit : Parosci.cc -- Paroscientific configured. : PeriodicTask::run() (Parosci) - sampleInterval=200, maxInterval=200 : Task "navigationServer" died? Supervisor::createTask() - navigationServer : Task "layeredControlServer" died? Supervisor::createTask() - layeredControlSer: octans::readRecord() - serial device timed out ver : Supervisor::Supervisor() - task(s) died; exiting : Supervisor::shutdown() : **** SharedData destructor for object LblDriverOutput_ShmemName **** : TaskServer::signalHandler() for task TailConeIFServer - exit() : TaskServer::signalHandler() for task AhrsIFServer - exit() : TaskServer::signalHandler() for task GpsIFServer - exit() : TaskServer::signalHandler() for task DepthSensorIFServer - exit() : TaskServer::signalHandler() for task RangeFinderIFServer - exit() : TaskServer::signalHandler() for task DvlIFServer - exit() : TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit() : **** SharedData destructor for object PSA916Input_ShmemName **** : TaskServer::signalHandler() for task NavigationIFServer - exit() : TaskServer::signalHandler() for task WorkSiteIFServer - exit() : TaskServer::signalHandler() for task DynamicControlIFServer - exit() : Supervisor::signalHandler(); caught signal 2 : **** SharedData destructor for object ParosciOutput_ShmemName **** : **** SharedData destructor for object MetraByteOutput **** : **** SharedData destructor for object GpsOutput_ShmemName **** : TaskServer::signalHandler() for task CrossbowIFServer - exit() : TaskServer::signalHandler() for task CtdIFServer - exit() : TaskServer::signalHandler() for task MetraByteIFServer - exit() : **** SharedData destructor for object SeabirdOutput_ShmemName **** : TaskServer::signalHandler() for task LblIFServer - exit() : Supervisor::signalHandler(); caught signal 2 : TaskServer::signalHandler() for task EventLogIFServer - exit() : TaskServer::signalHandler() for task DropWeightIFServer - exit() : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() : NavigationOutput::~NavigationOutput() : **** SharedData destructor for object octansOutput **** : TaskServer::signalHandler() for task LblIFServer - exit() : **** SharedData destructor for object TailConeInput_ShmemName **** : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() : **** SharedData destructor for object crossbowCommand **** : **** SharedData destructor for object PSA916Output_ShmemName **** : **** SharedData destructor for object DvlOutput_ShmemName **** : TaskServer::signalHandler() for task AhrsIFServer - exit() : **** SharedData destructor for object TailConeInput_ShmemName **** : **** SharedData destructor for object GpsOutput_ShmemName **** : **** SharedData destructor for object ParosciOutput_ShmemName **** : **** SharedData destructor for object PSA916Input_ShmemName **** : **** SharedData destructor for object DvlOutput_ShmemName **** : NavigationOutput::~NavigationOutput() : Supervisor::cleanup() - delete _theSupervisor : **** SharedData destructor for object crossbowOutput **** : **** SharedData destructor for object SeabirdOutput_ShmemName **** : **** SharedData destructor for object MetraByteOutput **** : Supervisor::cleanup() - delete _theSupervisor : TaskServer::signalHandler() for task DepthSensorIFServer - exit() : TaskServer::signalHandler() for task GpsIFServer - exit() : **** SharedData destructor for object navigationOutput **** : TaskServer::signalHandler() for task CtdIFServer - exit() : **** SharedData destructor for object LblDriverOutput_ShmemName **** : TaskServer::signalHandler() for task MetraByteIFServer - exit() : **** SharedData destructor for object TailConeOutput_ShmemName **** : TaskServer::signalHandler() for task RangeFinderIFServer - exit() : **** SharedData destructor for object TailConeOutput_ShmemName **** : **** SharedData destructor for object crossbowOutput **** : **** SharedData destructor for object navigationOutput **** : Supervisor::shutdown() : Supervisor::shutdown() : **** SharedData destructor for object crossbowCommand **** : TaskServer::signalHandler() for task NavigationIFServer - exit() : TaskServer::signalHandler() for task TailConeIFServer - exit() : TaskServer::signalHandler() for task TailConeIFServer - exit() : TaskServer::signalHandler() for task NavigationIFServer - exit() : Supervisor::shutdown() - done() : TaskServer::signalHandler() - _theTaskServer doesn't exist : Supervisor::shutdown() - done() : TaskServer::signalHandler() for task CrossbowIFServer - exit() : TaskServer::signalHandler() - _theTaskServer doesn't exist : Dvl::~Dvl: Destructor Finished. //1/home/dorado1/auv/altex/onboard/bin/dvl terminated (SIGSEGV) at 0007:0001F91B.