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/dorado1/workSite.cfg createTask() : Using default vehicle config file "/home/dorado1/auv/altex/onboard//config/dorado1/vehicle.cfg" - dropWeight Supervisor::createTask() - externalCommsServer Supervisor::createTask() - navigationServer Supervisor::createTask() - layeredControlServer : WorkSite::WorkSite -- Finished loading parameters S: 0: charlie 3.000000E 1.000000N 3981.000000 m 4.000000 ms up: 1: sylvia -10.000000E 0.000000N 2001.000000 m 4.000000 ms e: WorkSite server: 0x21e74 rvisor::createTask() - dynamicControlServer Supervisor::createTask() - tailConeServer Supervisor::createTask() - crossbowServer Supervisor::createTa: DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize() s: DynamicControlServer - Got event 1 from TailCone : MissionPlan::load() - file = /home/dorado1/auv/altex/onboard//missions/abortMplan.cfg k() -: Successfully loaded /home/dorado1/auv/altex/onboard//missions/abortMplan.cfg gp: MissionPlan::load() - file = /home/dorado1/auv/altex/onboard//missions/1100mis1.cfg sSe: Successfully loaded /home/dorado1/auv/altex/onboard//missions/1100mis1.cfg rve: PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200 r : Preparing to fork : SerialDevice: done... Supe: TailConeServer -- Maximum Elevator Actuator Excursion is 1795 Counts r: I'm the child...forking vi: TailConeServer:: -- Minimum Elevator Actuator Excursion is -1557 Counts sor:: TailConeServer -- Maximum Rudder Actuator Excursion is 1242 Counts :cre: TailConeServer -- Minimum Rudder Actuator Excursion is -1096 Counts at: SerialDevice: done... eTask() - parosciServer Sup: SerialDevice: done... ervisor::createT: SerialDevice: done... ask() - psa916Server Supervisor::: Gps: initializing cre: SerialDevice: done... ateTas: Gps: done initializing... k(: SerialDevice: done... ): **** EventTriggers::add() - attaching proxy - seabir: SerialDevice: done... dSer: Crossbow.cc: Setting polled mode : SerialDevice: done... v: PSA916: constructing... e: GarminGps::processRecord() - GpsUtils::parseFix() - incomplete GGA sentence? A,1 r : TailConeServer::initElevator : Succeeded initializing elevator actuator, proceed Su: Crossbow.cc: Setting polled mode : PSA916: initializing... p: **** EventTriggers::add() - attaching proxy ervi: PSA916: trying to write data... sor:: Crossbow.cc: In getSerialNumber() :cre: PSA916: debug mode on... : SerialDevice: done... ateTas: SerialDevice: done... : Crossbow.cc: _device->read failed with error k() : PSA916: confirming data stream... - m: PeriodicTask::run() (crossbow) - sampleInterval=100, maxInterval=100 e: PSA916: data is streaming... tr: **** EventTriggers::add() - attaching proxy abyteSe: Parosci::init() - mode set okay rver : TailConeServer::initRudder : Succeeded initializing rudder actuator, proceed : seabirdDriver RUNNING... : 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... : Seabird.cc -- constructing Log... : SerialDevice: done... : CTDLog.cc -- beginning constructor... : CTDLog.cc -- constructor succeeded : Seabird.cc -- constructor succeeded : seabirdDriver -- constructor succeeded : Seabird:initializing Seabird... : SerialDevice: done... : SerialDevice: done... : PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200 : PeriodicTask::run() (MetraByte) - sampleInterval=1000, maxInterval=1000 : Parosci.cc -- Initial pressure = 0.068948 : Parosci.cc -- Parosci initial pressure period = 30.459090 : Parosci.cc -- Parosci initial temp period = 5.877418 : Parosci.cc -- Paroscientific configured. : PeriodicTask::run() (Parosci) - sampleInterval=200, maxInterval=200 : SerialDevice::confirm() - Timed Out : Seabird::initialize() - confirm() timed out; sleep a bit : Lbl NavSensor - could not create LBL task interface : Navigation: Server for aux sensor "Lbl" not found : Navigation: Server for aux sensor "Velocimeter" not found : PeriodicTask::run() (navigation) - sampleInterval=200, maxInterval=200 : **** 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 = 0.009999) Behavior depthEnvelope has changed to state Active : LayeredControl::execute() -- (t = 0.019999) Behavior missionTimer has changed to state Active : **** EventTriggers::add() - attaching proxy : *** Mission started *** : 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... : Seabird::initialize() - starting logging... : Ctd:initialize() - Logging Started... : Ctd:initialize() - ready! : **** EventTriggers::add() - attaching proxy : LayeredControl::execute() -- (t = 20.198616) Behavior setpoint has changed to state Finished : LayeredControl::execute() -- (t = 20.208616) Behavior descend has changed to state Active : Descend::execute() - Descend terminating on depth 10.080548 > 10.000000 at time 66.995410 : LayeredControl::execute() -- (t = 66.995410) Behavior descend has changed to state Finished : LayeredControl::execute() -- (t = 67.005410) Behavior setpoint has changed to state Active : LayeredControl::execute() -- (t = 247.193066) Behavior setpoint has changed to state Finished : LayeredControl::execute() -- (t = 247.193066) Behavior ascend has changed to state Active : LayeredControl::execute() -- (t = 293.399901) Behavior ascend has changed to state Finished : Stack empty after processing. Aborting. : *** LayeredControl - initiating mission abort... *** : Initiating Mission Abort! : **** EventTriggers::add() - attaching proxy : LayeredControl::execute() -- (t = 293.599887) 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() : TaskServer::signalHandler() for task WorkSiteIFServer - exit() : TaskServer::signalHandler() for task AhrsIFServer - exit() : TaskServer::signalHandler() for task GpsIFServer - exit() : TaskServer::signalHandler() for task RangeFinderIFServer - exit() : **** SharedData destructor for object PSA916Input_ShmemName **** : TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit() : NavigationOutput::~NavigationOutput() : TaskServer::signalHandler() for task NavigationIFServer - exit() : TaskServer::signalHandler() for task DynamicControlIFServer - exit() : TaskServer::signalHandler() for task TailConeIFServer - exit() : Supervisor::signalHandler(); caught signal 2 : **** SharedData destructor for object SeabirdOutput_ShmemName **** : **** SharedData destructor for object ParosciOutput_ShmemName **** : Supervisor::signalHandler(); caught signal 2 : TaskServer::signalHandler() for task EventLogIFServer - exit() : TaskServer::signalHandler() for task DropWeightIFServer - exit() : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() : TaskServer::signalHandler() for task DepthSensorIFServer - exit() : TaskServer::signalHandler() for task CTDIFServer - exit() : TaskServer::signalHandler() for task MetraByteIFServer - exit() : **** SharedData destructor for object MetraByteOutput **** : **** SharedData destructor for object GpsOutput_ShmemName **** : **** SharedData destructor for object crossbowOutput **** : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() : **** SharedData destructor for object PSA916Output_ShmemName **** : **** SharedData destructor for object GpsOutput_ShmemName **** : **** SharedData destructor for object PSA916Input_ShmemName **** : **** SharedData destructor for object crossbowCommand **** : **** SharedData destructor for object navigationOutput **** : NavigationOutput::~NavigationOutput() : **** SharedData destructor for object TailConeInput_ShmemName **** : Supervisor::cleanup() - delete _theSupervisor : Supervisor::cleanup() - delete _theSupervisor : **** SharedData destructor for object ParosciOutput_ShmemName **** : TaskServer::signalHandler() for task CTDIFServer - exit() : TaskServer::signalHandler() for task DepthSensorIFServer - exit() : **** SharedData destructor for object MetraByteOutput **** : **** SharedData destructor for object crossbowCommand **** : TaskServer::signalHandler() for task NavigationIFServer - exit() : **** SharedData destructor for object crossbowOutput **** : TaskServer::signalHandler() for task RangeFinderIFServer - exit() : TaskServer::signalHandler() for task MetraByteIFServer - exit() : **** SharedData destructor for object TailConeOutput_ShmemName **** : Supervisor::shutdown() : Supervisor::shutdown() : **** SharedData destructor for object SeabirdOutput_ShmemName **** : TaskServer::signalHandler() for task AhrsIFServer - exit() : TaskServer::signalHandler() for task AhrsIFServer - exit() : Supervisor::shutdown() - done() : TaskServer::signalHandler() for task CTDIFServer - exit() : Supervisor::shutdown() - done() : **** SharedData destructor for object TailConeInput_ShmemName **** : **** SharedData destructor for object TailConeOutput_ShmemName ****