Supervisor::createCoreTasks() Supervisor::createTask() - eventLogServer Supervisor::createTask() - workSite Supervisor::createTask() - vehicleConfigurationServer S: Initializing worksiteServer uperviso: WorkSite::WorkSite -- Adding attributes r::: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv/altex/onboard//config/dorado389/workSite.cfg createTask() : Using default vehicle config file "/home/dorado1/auv/altex/onboard//config/dorado389/vehicle.cfg" - dropWeight Supervisor::createTask() - externalCommsServer Supervisor::createTask() - navigationServer Supervisor::createTask() : WorkSite::WorkSite -- Finished loading parameters - : 0: 1 600674.187500E 4067388.750000N 73.699997 m 10.000000 ms channel:2 lay: 1: 2 600531.687500E 4065156.000000N 73.199997 m 10.000000 ms channel:4 ere: 2: 3 598447.000000E 4067412.250000N 91.400002 m 10.000000 ms channel:5 dCo: 3: 4 600848.125000E 4069389.500000N 80.199997 m 10.000000 ms channel:6 ntr: 4: 5 602732.187500E 4067093.000000N 57.299999 m 10.000000 ms channel:7 olS: WorkSite server: 0x21c24 erver Supervisor::createTask() - dynamicControlServer Supervisor::createTask() - tailConeServer Supervisor::createTask() - crossbowServer Supervisor::createTask() - gpsServer Supervisor::createTask(: Preparing to fork ) - parosciServer : DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize() S: DynamicControlServer - Got event 1 from TailCone : PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200 : I'm the child...forking uperv: SerialDevice: done... isor::createTask() - psa916Ser: TailConeServer -- Maximum Elevator Actuator Excursion is 1421 Counts ve: TailConeServer:: -- Minimum Elevator Actuator Excursion is -1272 Counts r : SerialDevice: done... S: TailConeServer -- Maximum Rudder Actuator Excursion is 1242 Counts upervi: TailConeServer -- Minimum Rudder Actuator Excursion is -1096 Counts sor: SerialDevice: done... ::crea: SerialDevice: done... teTask() - seabirdServer : SerialDevice: done... Supervisor:: Gps: initializing :cre: SerialDevice: done... ateTask: Gps: done initializing... (): SerialDevice: done... : **** EventTriggers::add() - attaching proxy - : SerialDevice: done... met: Crossbow.cc: Setting polled mode r: PSA916: constructing... abyt: PSA916: initializing... eS: SerialDevice: done... : Crossbow.cc: Setting polled mode : PSA916: trying to write data... er: PSA916: debug mode on... ver Su: SerialDevice: done... p: Crossbow.cc: In getSerialNumber() e: PSA916: confirming data stream... rvisor:: Crossbow.cc: _device->read failed with error :c: Parosci::init() - mode set okay r: GarminGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: - e: PeriodicTask::run() (crossbow) - sampleInterval=100, maxInterval=100 : PSA916: data is streaming... a: seabirdDriver RUNNING... teT: **** EventTriggers::add() - attaching proxy a: **** EventTriggers::add() - attaching proxy sk() - lbl: SerialDevice: done... Server 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 sche: Seabird::Seabird() - create interface to depth sensor... dule: Seabird.cc -- constructing Log... r Supervisor::c: CTDLog.cc -- beginning constructor... re: CTDLog.cc -- constructor succeeded a: SerialDevice: done... te: Seabird.cc -- constructor succeeded Task(: seabirdDriver -- constructor succeeded ) -: Seabird:initializing Seabird... : Schedule Server : Subscribing to Layered Control. dv: SerialDevice: done... : SerialDevice: done... l : PeriodicTask::run() (scheduleServer) - sampleInterval=200, maxInterval=200 : SerialDevice: done... : PeriodicTask::run() (MetraByte) - sampleInterval=1000, maxInterval=1000 : The beacon Array is: : 2 : 4 : 5 : 6 : SerialDevice: done... : 7 : : 2 : 4 : 5 : 6 : 7 : : 2 : SerialDeviceDriver::initialize() : 4 : 5 : Starting DVL Initialization. : 6 : SerialDevice: done... : 7 : : 2 : 4 : 5 : 6 : 7 : : 2 : 4 : 5 : 6 : 7 : : 2 : 4 : 5 : 6 : 7 : : 2 : 4 : 5 : 6 : 7 : : 2 : Navigation: Server for aux sensor "Velocimeter" not found : 4 : PeriodicTask::run() (navigation) - sampleInterval=200, maxInterval=200 : 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 = 985022088.431190 : Lbl::readTaskIF - Got new return times. : **** EventTriggers::add() - attaching proxy : 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 = 0.029998) Behavior depthEnvelope has changed to state Active : LayeredControl::execute() -- (t = 0.049997) Behavior missionTimer has changed to state Active : **** EventTriggers::add() - attaching proxy : *** Mission started *** : Schedule Server -> Start : Lbl::readTaskIF - Got new ping time. Interval = 1223.496185 : **** EventTriggers::add() - attaching proxy : TailConeServer::initElevator : Succeeded initializing elevator actuator, proceed : Parosci.cc -- Initial pressure = 0.965266 : Parosci.cc -- Parosci initial pressure period = 30.460960 : Parosci.cc -- Parosci initial temp period = 5.880012 : Parosci.cc -- Paroscientific configured. : PeriodicTask::run() (Parosci) - sampleInterval=200, maxInterval=200 : TailConeServer::initRudder : Succeeded initializing rudder actuator, proceed : PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200 : 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 = 9.999315 : 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 = 9.999315 : 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 = 9.989316 : Lbl::readTaskIF - Got new return times. : Lbl::readTaskIF - Got new ping time. Interval = 10.009314 : Lbl::readTaskIF - Got new return times. : Lbl::readTaskIF - Got new ping time. Interval = 9.999315 : Lbl::readTaskIF - Got new return times. : LayeredControl::execute() -- (t = 60.195876) Behavior setpoint has changed to state Finished : LayeredControl::execute() -- (t = 60.205876) Behavior descend has changed to state Active : Lbl::readTaskIF - Got new ping time. Interval = 9.989316 : Lbl::readTaskIF - Got new return times. : Lbl::readTaskIF - Got new ping time. Interval = 10.009314 : Descend::execute() - Descend terminating on depth 10.165325 > 10.000000 at time 72.595027 : LayeredControl::execute() -- (t = 72.595027) Behavior descend has changed to state Finished : LayeredControl::execute() -- (t = 72.605026) Behavior setpoint has changed to state Active : Seabird: error reading voltages : Seabird: error reading voltages : 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 = 9.989316 : Lbl::readTaskIF - Got new return times. : Lbl::readTaskIF - Got new ping time. Interval = 10.009314 : DepthEnvelope -- Measured depth 25.199381 over allowable depth 25.000000. Aborting! : Abort request issued by behavior "depthEnvelope" : *** LayeredControl - initiating mission abort... *** : Initiating Mission Abort! : **** EventTriggers::add() - attaching proxy : Schedule Server -> Stop : LayeredControl::execute() -- (t = 100.593109) Behavior missionTimer has changed to state Active : Stack empty after processing. Aborting. : *** LayeredControl - initiating vehicle shutdown... *** : **** 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 **** : Task "layeredControlServer" died? Supervisor::createTask() - layeredControlServer : 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 RangeFinderIFServer - exit() : TaskServer::signalHandler() for task LblIFServer - 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() : TaskServer::signalHandler() for task TailConeIFServer - exit() : NavigationOutput::~NavigationOutput() : Supervisor::signalHandler(); caught signal 2 : Supervisor::signalHandler(); caught signal 2 : **** 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 DepthSensorIFServer - exit() : **** SharedData destructor for object ParosciOutput_ShmemName **** : TaskServer::signalHandler() for task CTDIFServer - exit() : TaskServer::signalHandler() for task MetraByteIFServer - exit() : **** SharedData destructor for object MetraByteOutput **** : **** SharedData destructor for object GpsOutput_ShmemName **** : TaskServer::signalHandler() for task LblIFServer - exit() : **** SharedData destructor for object navigationOutput **** : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() : **** SharedData destructor for object crossbowOutput **** : **** SharedData destructor for object PSA916Output_ShmemName **** : **** SharedData destructor for object crossbowCommand **** : **** SharedData destructor for object GpsOutput_ShmemName **** : **** SharedData destructor for object PSA916Input_ShmemName **** : NavigationOutput::~NavigationOutput() : **** SharedData destructor for object TailConeInput_ShmemName **** : TaskServer::signalHandler() for task DepthSensorIFServer - exit() : Supervisor::cleanup() - delete _theSupervisor : **** SharedData destructor for object crossbowOutput **** : Supervisor::cleanup() - delete _theSupervisor : **** SharedData destructor for object LblDriverOutput_ShmemName **** : TaskServer::signalHandler() for task NavigationIFServer - exit() : **** SharedData destructor for object SeabirdOutput_ShmemName **** : **** SharedData destructor for object MetraByteOutput **** : **** SharedData destructor for object crossbowCommand **** : TaskServer::signalHandler() for task CTDIFServer - exit() : TaskServer::signalHandler() for task AhrsIFServer - exit() : TaskServer::signalHandler() for task MetraByteIFServer - exit() : TaskServer::signalHandler() for task GpsIFServer - exit() : TaskServer::signalHandler() for task RangeFinderIFServer - exit() : **** SharedData destructor for object TailConeOutput_ShmemName **** : **** SharedData destructor for object ParosciOutput_ShmemName **** : Supervisor::shutdown() : Supervisor::shutdown() : Supervisor::shutdown() - done() : TaskServer::signalHandler() for task DepthSensorIFServer - exit() : Supervisor::shutdown() - done() : **** SharedData destructor for object TailConeInput_ShmemName **** : **** SharedData destructor for object TailConeOutput_ShmemName ****