Supervisor::createCoreTasks() Supervisor::createTask() - eventLogServer Supervisor::createTask() - workSite Supervisor::createTask() - vehicleConfigur: Initializing worksiteServer ationSe: WorkSite::WorkSite -- Adding attributes rve: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv/altex/onboard//config/dorado1/workSite.cfg r Supervisor::createTask() : Using default vehicle config file "/home/dorado1/auv/altex/onboard//config/dorado1/vehicle.cfg" - dropWeight Supervisor::createTask() - externalCommsServer Supervisor::createTask() - : WorkSite::WorkSite -- Finished loading parameters na: 0: charlie 3.000000E 1.000000N 3981.000000 m 4.000000 ms vig: 1: sylvia -10.000000E 0.000000N 2001.000000 m 4.000000 ms ati: WorkSite server: 0x21e4c onServer Supervisor::createTask() - layeredControlServer Supervisor::createTask() - dynamicControlServer Supervisor::createTask() - tailConeServer Supervisor::createTask() - crossbowServer Supervisor::createTask() - gpsServer : DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize() : DynamicControlServer - Got event 1 from TailCone S: MissionPlan::load() - file = /home/dorado1/auv/altex/onboard//missions/abortMplan.cfg uper: Successfully loaded /home/dorado1/auv/altex/onboard//missions/abortMplan.cfg vi: MissionPlan::load() - file = /home/dorado1/auv/altex/onboard//missions/lab1.cfg sor: Successfully loaded /home/dorado1/auv/altex/onboard//missions/lab1.cfg ::: PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200 createTask() - parosc: Preparing to fork iServer : SerialDevice: done... S: I'm the child...forking upervisor::createT: TailConeServer -- Maximum Elevator Actuator Excursion is 1795 Counts as: TailConeServer:: -- Minimum Elevator Actuator Excursion is -1557 Counts k(): TailConeServer -- Maximum Rudder Actuator Excursion is 1242 Counts - : TailConeServer -- Minimum Rudder Actuator Excursion is -1096 Counts psa9: SerialDevice: done... 16Serv: SerialDevice: done... er Supervisor::createTa: SerialDevice: done... sk() - seabirdServer Super: SerialDevice: done... visor::createTask() - metrabyteServer : Gps: initializing : SerialDevice: done... : SerialDevice: done... : SerialDevice: done... : SerialDevice: done... : PSA916: constructing... : Gps: done initializing... : Crossbow.cc: Setting polled mode : PSA916: initializing... : **** EventTriggers::add() - attaching proxy : PSA916: trying to write data... : Crossbow.cc: Setting polled mode : PSA916: debug mode on... : Parosci::init() - mode set okay : SerialDevice: done... : Crossbow.cc: In getSerialNumber() : PSA916: confirming data stream... : GarminGps::processRecord() - GpsUtils::parseFix() - incomplete GGA sentence? $PGRMO,,2 : Crossbow.cc: _device->read failed with error : **** EventTriggers::add() - attaching proxy : PeriodicTask::run() (crossbow) - sampleInterval=100, maxInterval=100 : seabirdDriver RUNNING... : SerialDevice: done... : SerialDevice: done... : GarminGps::processRecord() - GpsUtils::parseFix() - incomplete GGA sentence? $PGRMO,GPGGA,1 : Seabird.cc -- Loading CTD constants from /home/dorado1/auv/altex/onboard//config/dorado1/seabird.cfg : 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 : PeriodicTask::run() (MetraByte) - sampleInterval=1000, maxInterval=1000 : Seabird::Seabird() - create interface to depth sensor... : Seabird.cc -- constructing Log... : CTDLog.cc -- beginning constructor... : CTDLog.cc -- constructor succeeded : Seabird.cc -- constructor succeeded : seabirdDriver -- constructor succeeded : Seabird:initializing Seabird... : SerialDevice: done... : Seabird: sending configure commands... : SerialDevice::confirm() - Timed Out : PSA916: data not streaming... : PSA916: initializing... : PSA916: trying to write data... : Seabird: setting scans... : PSA916: debug mode on... : SerialDevice: done... : PSA916: confirming data stream... : Seabird: setting pump freq... : Seabird: setting upcast... : TailConeServer::initElevator : Succeeded initializing elevator actuator, proceed : Seabird: setting battery type... : Seabird: setting external voltages to 6... : Seabird::initialize() - confirming voltage... : TailConeServer::initRudder : Succeeded initializing rudder actuator, proceed : Seabird::initialize() - confirming voltage... : Seabird::initialize() - confirming voltage... : SerialDevice::confirm() - Timed Out : PSA916: data not streaming... : **** EventTriggers::add() - attaching proxy : Caught Exception: PSA916::initialize() failed after 2 tries : **** SharedData destructor for object PSA916Input_ShmemName **** : **** SharedData destructor for object PSA916Output_ShmemName **** : TaskServer::signalHandler() for task RangeFinderIFServer - exit() : **** SharedData destructor for object PSA916Input_ShmemName **** : **** SharedData destructor for object PSA916Output_ShmemName **** : Seabird::initialize() - confirming voltage... : Seabird::initialize() - confirming voltage... : Seabird::initialize() - confirming voltage... : MetraByte::getVoltage() - caught exception: Timed Out : PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200 : Task "psa916Server" died? Supervisor::createTask() - psa916Server : Supervisor::Supervisor() - task(s) died; exiting : Supervisor::shutdown() : TaskServer::signalHandler() for task AhrsIFServer - exit() : TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit() : TaskServer::signalHandler() for task NavigationIFServer - exit() : TaskServer::signalHandler() for task LayeredControlIFServer - exit() : TaskServer::signalHandler() for task DynamicControlIFServer - exit() : **** SharedData destructor for object LayeredControlInput_ShmemName **** : Supervisor::signalHandler(); caught signal 2 : Supervisor::signalHandler(); caught signal 2 : **** SharedData destructor for object SeabirdOutput_ShmemName **** : **** SharedData destructor for object GpsOutput_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 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 MetraByteOutput **** : NavigationOutput::~NavigationOutput() : **** SharedData destructor for object crossbowOutput **** : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() : **** SharedData destructor for object LayeredControlOutput_ShmemName **** : **** SharedData destructor for object crossbowCommand **** : NavigationOutput::~NavigationOutput() : **** SharedData destructor for object LayeredControlInput_ShmemName **** : **** SharedData destructor for object navigationOutput **** : Supervisor::cleanup() - delete _theSupervisor : Supervisor::cleanup() - delete _theSupervisor : TaskServer::signalHandler() for task LayeredControlIFServer - exit() : **** SharedData destructor for object crossbowCommand **** : TaskServer::signalHandler() for task CTDIFServer - exit() : TaskServer::signalHandler() for task GpsIFServer - exit() : **** SharedData destructor for object TailConeInput_ShmemName **** : TaskServer::signalHandler() for task DepthSensorIFServer - exit() : TaskServer::signalHandler() for task MetraByteIFServer - exit() : **** SharedData destructor for object navigationOutput **** : TaskServer::signalHandler() for task NavigationIFServer - exit() : **** SharedData destructor for object crossbowOutput **** : Supervisor::shutdown() : Supervisor::shutdown() : **** SharedData destructor for object SeabirdOutput_ShmemName **** : **** SharedData destructor for object GpsOutput_ShmemName **** : **** SharedData destructor for object ParosciOutput_ShmemName **** : **** SharedData destructor for object MetraByteOutput **** : **** SharedData destructor for object TailConeOutput_ShmemName **** : Supervisor::shutdown() - done() : TaskServer::signalHandler() for task GpsIFServer - exit() : TaskServer::signalHandler() for task DepthSensorIFServer - exit() : TaskServer::signalHandler() for task CTDIFServer - exit() : TaskServer::signalHandler() for task MetraByteIFServer - exit() : Supervisor::shutdown() - done() : **** SharedData destructor for object TailConeInput_ShmemName **** : **** SharedData destructor for object TailConeOutput_ShmemName ****