Supervisor::createCoreTasks() Supervisor::createTask() - eventLogServer Supervisor::createTask() - workSite Supervisor::createTask() - vehicleConfigurationServer Supervisor::createTask() - drop: Initializing worksiteServer Weight : WorkSite::WorkSite -- Adding attributes Sup: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv/altex/onboard//config/dorado1/workSite.cfg ervisor::createTask() - externalCommsServer : Using default vehicle config file "/home/dorado1/auv/altex/onboard//config/dorado1/vehicle.cfg" Supervisor::createTask() - navigationServer Supervisor::createTask() - layeredControlServer : WorkSite::WorkSite -- Finished loading parameters : 0: charlie 3.000000E 1.000000N 3981.000000 m 4.000000 ms : 1: sylvia -10.000000E 0.000000N 2001.000000 m 4.000000 ms : WorkSite server: 0x21e74 Supervisor::createTask() - dynamicControlServer Task::spawnServer() - execlp() of "layeredControl" failed: No such file or directory Supervisor::createTask() - tailConeServer Supervisor::createTask() - crossbowServer Supervisor::createTask() - gpsServer Supervisor::createTask() - parosciServer Supervisor::createTask() - psa91: Preparing to fork 6Server S: I'm the child...forking upervisor::createTask() - seabirdServer Super: SerialDevice: done... visor::createTask() - metrabyteServer : TailConeServer -- Maximum Elevator Actuator Excursion is 1795 Counts : TailConeServer:: -- Minimum Elevator Actuator Excursion is -1557 Counts : TailConeServer -- Maximum Rudder Actuator Excursion is 1242 Counts : TailConeServer -- Minimum Rudder Actuator Excursion is -1096 Counts : SerialDevice: done... : DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize() : SerialDevice: done... : SerialDevice: done... : PSA916: constructing... : DynamicControlServer - Got event 1 from TailCone : PSA916: initializing... : PSA916: trying to write data... : PSA916: debug mode on... : SerialDevice: done... : PSA916: confirming data stream... : SerialDevice: done... : PSA916: data is streaming... : **** EventTriggers::add() - attaching proxy : Gps: initializing : SerialDevice: done... : Gps: done initializing... : SerialDevice: done... : **** EventTriggers::add() - attaching proxy : Crossbow.cc: Setting polled mode : Crossbow.cc: Setting polled mode : Crossbow.cc: In getSerialNumber() : Crossbow.cc: _device->read failed with error : PeriodicTask::run() (crossbow) - sampleInterval=100, maxInterval=100 : SerialDevice: done... : SerialDevice: done... : Parosci::init() - mode set okay : seabirdDriver RUNNING... : SerialDevice: done... : SerialDevice: done... : Seabird.cc -- Loading CTD constants from /home/dorado1/auv/altex/onboard//config/dorado1/seabird.cfg : 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 : Seabird::Seabird() - create interface to depth sensor... : SerialDevice: done... : Seabird.cc -- constructing Log... : PeriodicTask::run() (MetraByte) - sampleInterval=1000, maxInterval=1000 : CTDLog.cc -- beginning constructor... : CTDLog.cc -- constructor succeeded : Seabird.cc -- constructor succeeded : seabirdDriver -- constructor succeeded : Seabird:initializing Seabird... : SerialDevice: done... : TailConeServer::initElevator : Succeeded initializing elevator actuator, proceed : TailConeServer::initRudder : Succeeded initializing rudder actuator, proceed : PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200 : Parosci.cc -- Initial pressure = 0.068948 : Parosci.cc -- Parosci initial pressure period = 30.458930 : Parosci.cc -- Parosci initial temp period = 5.879859 : Parosci.cc -- Paroscientific configured. : PeriodicTask::run() (Parosci) - sampleInterval=200, maxInterval=200 : SerialDevice::confirm() - Timed Out : Seabird::initialize() - confirm() timed out; sleep a bit : TaskServer::signalHandler() for task AhrsIFServer - exit() : TaskServer::signalHandler() for task RangeFinderIFServer - exit() : **** SharedData destructor for object PSA916Input_ShmemName **** : **** SharedData destructor for object crossbowOutput **** : Supervisor::signalHandler(); caught signal 2 : TaskServer::signalHandler() for task EventLogIFServer - exit() : TaskServer::signalHandler() for task WorkSiteIFServer - exit() : TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit() : TaskServer::signalHandler() for task DropWeightIFServer - exit() : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() : TaskServer::signalHandler() for task NavigationIFServer - exit() : TaskServer::signalHandler() for task LayeredControlIFServer - exit() : TaskServer::signalHandler() for task DynamicControlIFServer - exit() : TaskServer::signalHandler() for task LayeredControlIFServer - exit() : TaskServer::signalHandler() for task TailConeIFServer - 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 ParosciOutput_ShmemName **** : **** SharedData destructor for object SeabirdOutput_ShmemName **** : **** SharedData destructor for object MetraByteOutput **** : **** SharedData destructor for object GpsOutput_ShmemName **** : NavigationOutput::~NavigationOutput() : **** SharedData destructor for object PSA916Output_ShmemName **** : **** SharedData destructor for object PSA916Input_ShmemName **** : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() : **** SharedData destructor for object crossbowCommand **** : **** SharedData destructor for object crossbowCommand **** : Supervisor::cleanup() - delete _theSupervisor : **** SharedData destructor for object navigationOutput **** : **** SharedData destructor for object crossbowOutput **** : NavigationOutput::~NavigationOutput() : TaskServer::signalHandler() for task DepthSensorIFServer - exit() : **** SharedData destructor for object LayeredControlInput_ShmemName **** : TaskServer::signalHandler() for task CTDIFServer - exit() : **** SharedData destructor for object LayeredControlInput_ShmemName **** : TaskServer::signalHandler() for task MetraByteIFServer - exit() : **** SharedData destructor for object TailConeInput_ShmemName **** : TaskServer::signalHandler() for task GpsIFServer - exit() : TaskServer::signalHandler() for task RangeFinderIFServer - exit() : TaskServer::signalHandler() for task AhrsIFServer - exit() : Supervisor::shutdown() : TaskServer::signalHandler() for task NavigationIFServer - exit() : **** SharedData destructor for object ParosciOutput_ShmemName **** : **** SharedData destructor for object SeabirdOutput_ShmemName **** : **** SharedData destructor for object LayeredControlOutput_ShmemName **** : **** SharedData destructor for object MetraByteOutput **** : **** SharedData destructor for object LayeredControlOutput_ShmemName **** : **** SharedData destructor for object GpsOutput_ShmemName **** : **** SharedData destructor for object TailConeOutput_ShmemName **** : Supervisor::shutdown() - done() : TaskServer::signalHandler() for task NavigationIFServer - 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 TailConeInput_ShmemName **** : **** SharedData destructor for object TailConeOutput_ShmemName ****