Supervisor::createCoreTasks() Supervisor::createTask() - eventLogServer Supervisor::createTask() - workSite Supervisor::createTask() - vehicleConfiguration: Initializing worksiteServer Server : WorkSite::WorkSite -- Adding attributes Sup: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv/altex/onboard//config/dorado419/workSite.cfg ervisor::createTask() -: Using default vehicle config file "/home/dorado1/auv/altex/onboard//config/dorado419/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 la: 1: 2 600531.687500E 4065156.000000N 73.199997 m 10.000000 ms channel:4 yer: 2: 3 598447.000000E 4067412.250000N 91.400002 m 10.000000 ms channel:5 edC: 3: 4 600848.125000E 4069389.500000N 80.199997 m 10.000000 ms channel:6 ont: 4: 5 602732.187500E 4067093.000000N 57.299999 m 10.000000 ms channel:7 rol: WorkSite server: 0x21c24 Server Supervisor::createTask() - dynamicControlServer Supervisor::createTask() - tailConeServer Supervisor::createTask() - crossbowServer Supervisor::createTask(): DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize() : DynamicControlServer - Got event 1 from TailCone : SerialDevice: done... : PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200 - gpsServer : TailConeServer -- Maximum Elevator Actuator Excursion is 1421 Counts S: TailConeServer:: -- Minimum Elevator Actuator Excursion is -1272 Counts up: TailConeServer -- Maximum Rudder Actuator Excursion is 1242 Counts er: TailConeServer -- Minimum Rudder Actuator Excursion is -1096 Counts vi: SerialDevice: done... sor::createTa: Preparing to fork sk(: I'm the child...forking ) - parosciServer Superv: SerialDevice: done... isor::createTask() - psa: SerialDevice: done... 916Server Supervisor::createTask() - : Gps: initializing sea: SerialDevice: done... birdSe: SerialDevice: done... : Gps: done initializing... rver: **** EventTriggers::add() - attaching proxy : Crossbow.cc: Setting polled mode Supe: SerialDevice: done... : SerialDevice: done... r: PSA916: constructing... vi: Crossbow.cc: Setting polled mode sor: PSA916: initializing... ::cr: Crossbow.cc: In getSerialNumber() e: PSA916: trying to write data... at: PSA916: debug mode on... eTask: SerialDevice: done... : Crossbow.cc: _device->read failed with error (): PSA916: confirming data stream... - me: PSA916: data is streaming... : PeriodicTask::run() (crossbow) - sampleInterval=100, maxInterval=100 tr: **** EventTriggers::add() - attaching proxy ab: TailConeServer::initElevator : Succeeded initializing elevator actuator, proceed yteServer Su: SerialDevice: done... pervisor::createTa: Parosci::init() - mode set okay sk() - lblServer S: seabirdDriver RUNNING... upervisor: SerialDevice: done... ::createTask() - s: Seabird.cc -- Loading CTD constants from /home/dorado1/auv/altex/onboard//config/dorado419/seabird.cfg cheduler : TailConeServer::initRudder : Succeeded initializing rudder actuator, proceed Su: SerialDevice: done... per: 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 vis: Seabird::Seabird() - create interface to depth sensor... o: gpsDriver::readRecord() - serial device timed out r:: Seabird.cc -- constructing Log... :cr: **** EventTriggers::add() - attaching proxy eate: SerialDevice: done... Ta: SerialDevice: done... sk() -: Schedule Server : Subscribing to Layered Control. dv: The beacon Array is: : PeriodicTask::run() (scheduleServer) - sampleInterval=200, maxInterval=200 : SerialDevice: done... : CTDLog.cc -- beginning constructor... lS: 2 e: GarminGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , rver S: CTDLog.cc -- constructor succeeded up: 4 e: PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200 rvi: Seabird.cc -- constructor succeeded so: 5 r::: PeriodicTask::run() (MetraByte) - sampleInterval=1000, maxInterval=1000 cre: seabirdDriver -- constructor succeeded a: 6 teTask: Seabird:initializing Seabird... (): 7 - f: SerialDevice: done... u: elC: 2 ellSe: 4 rv: 5 er: 6 : 7 : : 2 : 4 : 5 : 6 : 7 : : 2 : 4 : 5 : fuelCellServer -- constructing... : 6 : 7 : : FuelCellServer -- FuelCellServer() -- creating output : 2 : 4 : Navigation: Server for aux sensor "Velocimeter" not found : 5 : PeriodicTask::run() (navigation) - sampleInterval=200, maxInterval=200 : 6 : SerialDevice: done... : 7 : : FuelCellServer -- FuelCellServer() -- created output : 2 : fuelCellServer -- running... : 4 : FuelCellServer -- spawnAuxTasks() -- forking driver... : 5 : FuelCellServer -- spawnAuxTasks() -- execlping driver.. : 6 : 7 : : 2 : Lbl::readTaskIF - Got new ping time. Interval = 988923959.360528 : 4 : Lbl::readTaskIF - Got new return times. : 5 : SerialDeviceDriver::initialize() : in first loop : 6 : **** EventTriggers::add() - attaching proxy : fuelcellDriver -- creating FuelCell Object : Starting DVL Initialization. : 7 : FuelCell::createFCAttributes() : : SerialDevice: done... : 2 : FuelCell::loadFCConfigFile() : 4 : 5 : 6 : 7 : : 2 : LayeredControl::execute() -- (t = 0.000000) Behavior setpoint has changed to state Active : 4 : Behavior::shouldBehaviorStart -- Checking to see if depthEnvelope should run : 5 : -- it should : 6 : LayeredControl::execute() -- (t = 0.069995) Behavior depthEnvelope has changed to state Active : 7 : FuelCell.cc - Attributes: STATUS_PERIOD: 1000, DATA_PERIOD: 2000 : LayeredControl::execute() -- (t = 0.109993) Behavior missionTimer has changed to state Active : : **** EventTriggers::add() - attaching proxy : 2 : *** Mission started *** : 4 : Schedule Server -> Start : 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 : fuelcellDriver -- created FuelCell Object,running : Lbl::readTaskIF - Got new ping time. Interval = 219.744946 : PeriodicTask::run() (FuelCell) - sampleInterval=1000, maxInterval=2000 : Dvl::initialize() - The DVL is initialized. : **** EventTriggers::add() - attaching proxy : Parosci.cc -- Initial pressure = 1.068688 : **** EventTriggers::add() - attaching proxy : Parosci.cc -- Parosci initial pressure period = 30.461470 : Parosci.cc -- Parosci initial temp period = 5.880766 : Parosci.cc -- Paroscientific configured. : PeriodicTask::run() (Parosci) - 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 = 9.879323 : 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 = 9.819327 : 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. : 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 = 9.999315 : 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 = 9.989316 : Lbl::readTaskIF - Got new return times. : LayeredControl::execute() -- (t = 120.191766) Behavior setpoint has changed to state Finished : LayeredControl::execute() -- (t = 120.191766) Behavior setpoint has changed to state Active : 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. : 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 = 10.009314 : 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. : Lbl::readTaskIF - Got new ping time. Interval = 9.989316 : Lbl::readTaskIF - Got new return times. : Lbl::readTaskIF - Got new ping time. Interval = 10.009314 : MetraByte::getVoltage() - caught exception: Timed Out : 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 = 9.999315 : 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 : 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 = 9.999315 : Crossbow::readData: Insufficient characters : 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 = 9.999315 : 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 : 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 = 9.799329 : 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 = 9.999315 : 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 = 9.999315 : 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 = 9.999315 : 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 = 9.999315 : 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 = 9.799329 : 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 = 9.999315 : 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. : Lbl::readTaskIF - Got new ping time. Interval = 9.989316 : DepthEnvelope -- Measured depth 120.003146 over allowable depth 120.000000. Aborting! : Abort request issued by behavior "depthEnvelope" : *** LayeredControl - initiating mission abort... *** : Initiating Mission Abort! : **** EventTriggers::add() - attaching proxy : Schedule Server -> Stop : LayeredControl::execute() -- (t = 498.995816) Behavior missionTimer has changed to state Active : Stack empty after processing. Aborting. : *** LayeredControl - initiating vehicle shutdown... *** : Lbl::readTaskIF - Got new return times. : **** 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 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() : TaskServer::signalHandler() for task DvlIFServer - 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() : TaskServer::signalHandler() for task TailConeIFServer - exit() : Supervisor::signalHandler(); caught signal 2 : Supervisor::signalHandler(); caught signal 2 : **** SharedData destructor for object ParosciOutput_ShmemName **** : TaskServer::signalHandler() for task EventLogIFServer - exit() : TaskServer::signalHandler() for task WorkSiteIFServer - exit() : TaskServer::signalHandler() for task DropWeightIFServer - exit() : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() : TaskServer::signalHandler() for task CTDIFServer - exit() : TaskServer::signalHandler() for task MetraByteIFServer - exit() : **** SharedData destructor for object MetraByteOutput **** : TaskServer::signalHandler() for task FuelCellIFServer - exit() : **** SharedData destructor for object FuelCellOutput **** : **** SharedData destructor for object GpsOutput_ShmemName **** : **** SharedData destructor for object SeabirdOutput_ShmemName **** : TaskServer::signalHandler() for task LblIFServer - exit() : **** SharedData destructor for object navigationOutput **** : **** SharedData destructor for object crossbowOutput **** : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() : **** SharedData destructor for object DvlOutput_ShmemName **** : **** SharedData destructor for object PSA916Output_ShmemName **** : **** SharedData destructor for object crossbowCommand **** : **** 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() : **** SharedData destructor for object TailConeInput_ShmemName **** : Supervisor::cleanup() - delete _theSupervisor : Supervisor::cleanup() - delete _theSupervisor : **** SharedData destructor for object FuelCellOutput **** : TaskServer::signalHandler() for task NavigationIFServer - exit() : TaskServer::signalHandler() for task DepthSensorIFServer - exit() : TaskServer::signalHandler() for task MetraByteIFServer - exit() : **** SharedData destructor for object SeabirdOutput_ShmemName **** : **** SharedData destructor for object LblDriverOutput_ShmemName **** : **** SharedData destructor for object crossbowCommand **** : TaskServer::signalHandler() for task GpsIFServer - exit() : TaskServer::signalHandler() for task CTDIFServer - exit() : TaskServer::signalHandler() for task RangeFinderIFServer - exit() : TaskServer::signalHandler() for task FuelCellIFServer - exit() : **** SharedData destructor for object TailConeOutput_ShmemName **** : **** SharedData destructor for object crossbowOutput **** : Supervisor::shutdown() : Supervisor::shutdown() : **** SharedData destructor for object MetraByteOutput **** : Supervisor::shutdown() - done() : TaskServer::signalHandler() for task MetraByteIFServer - exit() : Supervisor::shutdown() - done() : Dvl::~Dvl: Destructor Finished. //1/home/dorado1/auv/altex/onboard/bin/dvl terminated (SIGSEGV) at 0007:0001F707. : **** SharedData destructor for object TailConeInput_ShmemName **** : **** SharedData destructor for object TailConeOutput_ShmemName **** //1/home/dorado1/auv/altex/onboard/bin/tailConeDriver terminated (SIGSEGV) at 0007:0002556A.