Supervisor::createCoreTasks() Supervisor::createTask() - eventLogServer Supervisor::createTask() - workSite Supervisor::createTask() - vehicleConfigurationServer S: Initializing worksiteServer upervisor: WorkSite::WorkSite -- Adding attributes ::: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv/altex/onboard//config/dorado389/workSite.cfg createTask() - dropWeight S: Using default vehicle config file "/home/dorado1/auv/altex/onboard//config/dorado389/vehicle.cfg" upervisor::createTask() - externalCommsServer Supervisor::createTask() - navigationServer Supervisor::createTask() - layeredControlServer Sup: WorkSite::WorkSite -- Finished loading parameters : 0: 1 600674.187500E 4067388.750000N 73.699997 m 10.000000 ms channel:2 ervi: 1: 2 600531.687500E 4065156.000000N 73.199997 m 10.000000 ms channel:4 sor: 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 cre: 4: 5 602732.187500E 4067093.000000N 57.299999 m 10.000000 ms channel:7 at: WorkSite server: 0x21b70 eTask() - dynamicControlServer Supervisor::createTask() - tailConeServer Supervisor::createTask() - octansServer Supervisor::createTask() - crossbowServer : DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize() : DynamicControlServer - Got event 1 from TailCone S: PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200 upervisor::createTas: Preparing to fork k() - : SerialDevice: done... gpsServer : I'm the child...forking Supervisor::: SerialDevice: done... createTask() - : TailConeServer -- Maximum Elevator Actuator Excursion is 1421 Counts par: TailConeServer:: -- Minimum Elevator Actuator Excursion is -1272 Counts os: TailConeServer -- Maximum Rudder Actuator Excursion is 1242 Counts ciS: TailConeServer -- Minimum Rudder Actuator Excursion is -1096 Counts er: Preparing to fork ve: SerialDevice: done... r : I'm the child...forking S: SerialDevice: done... upervisor::: SerialDeviceDriver::initialize() cre: SerialDevice: done... ateTas: **** EventTriggers::add() - attaching proxy k() - psa9: SerialDevice: done... 16Server Super: SerialDevice: done... visor::createTask() - seabi: octans::readRecord() - serial device timed out rdS: **** EventTriggers::add() - attaching proxy erv: SerialDevice: done... er : SerialDevice: done... Su: Crossbow.cc: Setting polled mode pervi: Crossbow.cc: Setting polled mode s: Gps: initializing or:: Crossbow.cc: In getSerialNumber() :: SerialDevice: done... cr: SerialDevice: done... eat: Crossbow.cc: _device->read failed with error e: PSA916: constructing... Tas: Gps: done initializing... : PeriodicTask::run() (crossbow) - sampleInterval=100, maxInterval=100 k: PSA916: initializing... () : **** EventTriggers::add() - attaching proxy -: PSA916: trying to write data... met: PSA916: debug mode on... rabyt: SerialDevice: done... : SerialDevice: done... eS: PSA916: confirming data stream... erver Supervisor::: Parosci::init() - mode set okay creat: PSA916: data is streaming... e: **** EventTriggers::add() - attaching proxy : seabirdDriver RUNNING... T: octans::readRecord() - serial device timed out ask() - lblSe: SerialDevice: done... rver Supervisor::c: Seabird.cc -- Loading CTD constants from /home/dorado1/auv/altex/onboard//config/dorado389/seabird.cfg reateTask() - sc: 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 hed: Seabird::Seabird() - create interface to depth sensor... : SerialDevice: done... ule: Seabird.cc -- constructing Log... r Supervisor::c: CTDLog.cc -- beginning constructor... re: CTDLog.cc -- constructor succeeded ate: octans::readRecord() - serial device timed out T: Seabird.cc -- constructor succeeded : SerialDevice: done... ask: SerialDevice: done... (: seabirdDriver -- constructor succeeded ) : SerialDevice: done... - : Schedule Server : Subscribing to Layered Control. : Seabird:initializing Seabird... dvlSer: PeriodicTask::run() (scheduleServer) - sampleInterval=200, maxInterval=200 : The beacon Array is: ver: 2 : SerialDevice: done... : PeriodicTask::run() (MetraByte) - sampleInterval=1000, maxInterval=1000 : 4 : 5 : 6 : 7 : : 2 : 4 : 5 : 6 : 7 : : 2 : 4 : 5 : 6 : 7 : : 2 : 4 : 5 : 6 : 7 : : 2 : 4 : 5 : 6 : SerialDevice: done... : 7 : : 2 : 4 : 5 : 6 : Navigation: Server for aux sensor "Velocimeter" not found : 7 : PeriodicTask::run() (navigation) - sampleInterval=200, maxInterval=200 : SharedData::initSemaphore() - sem_init() of _protectSem: Resource temporarily unavailable : 2 : 4 : 5 : 6 : 7 : : TaskServer::signalHandler() for task DvlIFServer - exit() : 2 : 4 : **** SharedData destructor for object DvlOutput_ShmemName **** : 5 : 6 : 7 : : Lbl::readTaskIF - Got new ping time. Interval = 991852937.992499 : 2 : Lbl::readTaskIF - Got new return times. : 4 : in first loop : 5 : **** EventTriggers::add() - attaching proxy : 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 : LayeredControl::execute() -- (t = 0.000000) Behavior setpoint has changed to state Active : Behavior::shouldBehaviorStart -- Checking to see if depthEnvelope should run : -- it should : LayeredControl::execute() -- (t = 0.379974) Behavior depthEnvelope has changed to state Active : LayeredControl::execute() -- (t = 0.389973) Behavior missionTimer has changed to state Active : **** EventTriggers::add() - attaching proxy : *** Mission started *** : Schedule Server -> Start : Lbl::readTaskIF - Got new ping time. Interval = 1085.585632 : Task "dvlServer" died? Supervisor::createTask() - 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 GpsIFServer - exit() : TaskServer::signalHandler() for task DepthSensorIFServer - exit() : TaskServer::signalHandler() for task RangeFinderIFServer - exit() : TaskServer::signalHandler() for task LblIFServer - exit() : **** SharedData destructor for object PSA916Input_ShmemName **** : NavigationOutput::~NavigationOutput() : 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 : **** SharedData destructor for object SeabirdOutput_ShmemName **** : **** SharedData destructor for object ParosciOutput_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 CtdIFServer - exit() : TaskServer::signalHandler() for task MetraByteIFServer - exit() : **** SharedData destructor for object MetraByteOutput **** : Supervisor::signalHandler(); caught signal 2 : **** SharedData destructor for object GpsOutput_ShmemName **** //1/home/dorado1/auv/altex/onboard/bin/tailConeDriver terminated (SIGSEGV) at 0007:00011FEA. : TaskServer::signalHandler() for task LblIFServer - exit() : TaskServer::signalHandler() for task TailConeIFServer - exit() : **** SharedData destructor for object navigationOutput **** : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() : **** SharedData destructor for object octansOutput **** : **** SharedData destructor for object crossbowCommand **** : **** SharedData destructor for object PSA916Output_ShmemName **** : **** SharedData destructor for object LayeredControlOutput_ShmemName **** : TaskServer::signalHandler() for task AhrsIFServer - exit() : **** SharedData destructor for object GpsOutput_ShmemName **** : **** SharedData destructor for object ParosciOutput_ShmemName **** : **** SharedData destructor for object PSA916Input_ShmemName **** : NavigationOutput::~NavigationOutput() : Supervisor::cleanup() - delete _theSupervisor : **** SharedData destructor for object crossbowOutput **** : TaskServer::signalHandler() for task NavigationIFServer - exit() : TaskServer::signalHandler() for task CtdIFServer - exit() : TaskServer::signalHandler() for task LayeredControlIFServer - exit() : **** SharedData destructor for object MetraByteOutput **** : TaskServer::signalHandler() for task DepthSensorIFServer - exit() : Supervisor::cleanup() - delete _theSupervisor : **** SharedData destructor for object LblDriverOutput_ShmemName **** : **** SharedData destructor for object TailConeInput_ShmemName **** : TaskServer::signalHandler() for task MetraByteIFServer - exit() : TaskServer::signalHandler() for task RangeFinderIFServer - exit() : **** SharedData destructor for object crossbowOutput **** : Supervisor::shutdown() : **** SharedData destructor for object SeabirdOutput_ShmemName **** : **** SharedData destructor for object crossbowCommand **** : **** SharedData destructor for object LayeredControlInput_ShmemName **** : Supervisor::shutdown() : **** SharedData destructor for object TailConeOutput_ShmemName **** : TaskServer::signalHandler() for task TailConeIFServer - exit() : Supervisor::shutdown() - done() : TaskServer::signalHandler() for task LayeredControlIFServer - exit() : TaskServer::signalHandler() for task CtdIFServer - exit() : Supervisor::shutdown() - done() : TaskServer::signalHandler() for task CrossbowIFServer - exit()