Supervisor::createCoreTasks() Supervisor::createTask() - eventLogServer Supervisor::createTask() - workSite Supervisor::createTask() - vehicleConfigurationServer S: Initializing worksiteServer upervisor: WorkSite::WorkSite -- Adding attributes ::: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv/altex/onboard/config/dorado556/workSite.cfg createTask() - dropWeight Supervisor::createTas: Using default vehicle config file "/home/dorado1/auv/altex/onboard/config/dorado556/vehicle.cfg" k() - externalCommsServer Supervisor::createTask() - navigationServer Supervi: WorkSite::WorkSite -- Finished loading parameters so: 0: 1 600674.187500E 4067388.750000N 73.699997 m 10.000000 ms channel:2 r::cr: 1: 2 600531.687500E 4065156.000000N 73.199997 m 10.000000 ms channel:4 eateTa: 2: 3 598447.000000E 4067412.250000N 91.400002 m 10.000000 ms channel:5 sk() : 3: 4 600848.125000E 4069389.500000N 80.199997 m 10.000000 ms channel:6 - lay: 4: 5 602732.187500E 4067093.000000N 57.299999 m 10.000000 ms channel:7 eredCo: WorkSite server: 0x21ee8 ntrolServer Supervisor::crea: ahrs if is Ahrs teTask() - dynamicControlServer Supervisor::createTask() - newTailConeServer Supervisor::createTask() - crossbowServer Supervisor::createTask() - gpsServer : DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize() : DynamicControlServer - Got event 1 from TailCone Superv: SerialDevice: done... isor::cre: TailConeServer -- Maximum Elevator Actuator Excursion is 0 Counts ate: TailConeServer:: -- Minimum Elevator Actuator Excursion is 0 Counts Task(): TailConeServer -- Maximum Rudder Actuator Excursion is 0 Counts - par: TailConeServer -- Minimum Rudder Actuator Excursion is 0 Counts osciS: SerialDevice: done... erver Supervisor::: Preparing to fork createTask() - psa916Server : I'm the child...forking Su: SerialDevice: done... pervisor::createTask() - seabirdServer : SerialDevice: done... Supervisor::createTask() -: SerialDevice: done... : SerialDevice: done... seabirdServer Super: SerialDevice: done... visor::createTask() - metr: SerialDevice: done... aby: 3 Modules found teServer Supervi: Gps: initializing sor:: SerialDevice: done... :cre: SerialDevice: done... ate: Gps: done initializing... Task(: **** EventTriggers::add() - attaching proxy ): Crossbow.cc: Setting polled mode -: SerialDevice: done... ips4Server : Crossbow.cc: Setting polled mode Supervis: Crossbow.cc: In getSerialNumber() or::cr: Crossbow.cc: device->read succeeded eate: Crossbow.cc: I think the serial number is 17252 (4364) Task: Crossbow.cc: Setting polled mode () - is: PeriodicTask::run() (crossbow) - sampleInterval=100, maxInterval=100 us Super: SerialDevice: done... vi: seabirdDriver RUNNING... sor::createTask() : Parosci::init() - mode set okay - lblServer Sup: seabirdDriver RUNNING... erviso: gpsDriver::readRecord() - serial device timed out r:: PSA916: constructing... :: **** EventTriggers::add() - attaching proxy createTask() - sched: Navigation: Server for core sensor "Ahrs" not found uler : SerialDevice: done... : Seabird/ctdDriver -- Loading CTD constants from /home/dorado1/auv/altex/onboard/config/dorado556/ctdDriver.cfg Supervisor::crea: GarminGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: 0 t: CTD/ctdDriver -- Calibration constants: T_a = 3.679880e-003 T_b = 6.065964e-004 T_c = 1.663836e-005 T_d = 2.138056e-006 T_f0 = 3188.468000 C_a = 1.139962e-004 C_b = 1.611862e+000 C_c = -10.638105 C_d = -8.839956e-005 C_m = 3.900 EPS = -9.570000e-008 eTa: PSA916: initializing... sk(: Seabird/ctdDriver::Seabird() - create interface to depth sensor... ) - b: PSA916: trying to write data... uoy: SerialDevice: done... L: Seabird/ctdDriver -- constructing Log... au: Seabird/seabird -- Loading CTD constants from /home/dorado1/auv/altex/onboard/config/dorado556/seabird.cfg nc: PSA916: debug mode on... herServer : PeriodicTask::run() (MetraByte) - sampleInterval=1000, maxInterval=1000 : PSA916: confirming data stream... : Schedule Server : Subscribing to Layered Control. : CTDLog.cc -- beginning constructor... : IsusLog.cc -- beginning constructor... : CTDLog.cc -- constructor succeeded : PSA916: data is streaming... : CTD/seabird -- Calibration constants: T_a = 3.679880e-003 T_b = 6.039117e-004 T_c = 1.630564e-005 T_d = 2.128883e-006 T_f0 = 3171.158000 C_a = 1.559483e-003 C_b = 1.517884e+000 C_c = -10.475456 C_d = -8.451399e-005 C_m = 2.900 EPS = -9.570000e-008 : PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200 : PeriodicTask::run() (scheduleServer) - sampleInterval=200, maxInterval=200 : isusLog.cc -- constructor succeeded : Seabird/ctdDriver -- constructor succeeded : **** EventTriggers::add() - attaching proxy : SerialDevice: done... : Seabird/seabird::Seabird() - create interface to depth sensor... : gpsDriver::readRecord() - serial device timed out : Ips4Log.cc -- beginning constructor... : SerialDeviceDriver::initialize() : seabirdDriver -- constructor succeeded : SerialDevice: done... : Seabird/seabird -- constructing Log... : GarminGps::processRecord() - GpsUtils::parseFix() - incomplete GGA sentence? : ips4Log.cc -- constructor succeeded : Isus:initializing Isus with lamp off... : Seabird/ctdDriver:initializing Seabird... : The beacon Array is: : PSA916::processRecord() - this should not have happened: record=99.99E : BuoyLaunch::Cannot create IF to buoyLauncher - Server "BuoyLauncherIFServer" not found : CTDLog.cc -- beginning constructor... : SerialDeviceDriver::initialize() : 2 : **** EventTriggers::add() - attaching proxy : PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200 : CTDLog.cc -- constructor succeeded : Ips4:initializing Ips4... : 4 : buoyLauncherDriver::main():Creating driver with params tcp:arm4:12001,9600,8,n,1 : Seabird/seabird -- constructor succeeded : 5 : seabirdDriver -- constructor succeeded : 6 : Seabird/seabird:initializing Seabird... : 7 : : 2 : 4 : 5 : 6 : 7 : : 2 : 4 : 5 : 6 : 7 : : 2 : 4 : BuoyLauncherLog.cc -- beginning constructor... : 5 : BuoyLauncherLog.cc -- constructor succeeded : 6 : BuoyLauncher::"*T~" sent to LC : 7 : : 2 : 4 : 5 : 6 : BuoyLauncher::recvd #Tw as response from LC : 7 : : 2 : 4 : 5 : 6 : 7 : : 2 : 4 : 5 : 6 : 7 : : 2 : 4 : 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 : SerialDevice::confirm() - Timed Out : Seabird/ctdDriver::initialize() - confirm() timed out; sleep a bit : PeriodicTask::run() (buoyLauncherDriver) - sampleInterval=2000, maxInterval=2000 : Parosci.cc -- Initial pressure = 1.136256 : Parosci.cc -- Parosci initial pressure period = 30.459870 : SerialDevice::confirm() - Timed Out : Seabird/seabird::initialize() - confirm() timed out; sleep a bit : Isus:time set with val 1002479332 -> Sun Oct 7 11:28:55 2001 : Parosci.cc -- Parosci initial temp period = 5.879376 : Parosci.cc -- Paroscientific configured. : PeriodicTask::run() (Parosci) - sampleInterval=200, maxInterval=200 : Isus:initialized : Isus:starting Isus... : Isus:started : Navigation: Server for aux sensor "Dvl" not found : Seabird/ctdDriver: sending configure commands...(14218) : Seabird/ctdDriver: setting scans... : Seabird/ctdDriver: setting pump freq... : Seabird/ctdDriver: setting upcast... : Seabird/ctdDriver: setting battery type... : Seabird/ctdDriver: setting external voltages to 6...(14218) : SerialDevice::confirm() - Timed Out : Seabird/seabird::initialize() - confirm() timed out again, send multiple newlines : Seabird/seabird: first Ctrl-Z sent... : Seabird/seabird: sending configure commands...(14239) : Seabird/ctdDriver::initialize() - confirming voltage... : Seabird/ctdDriver::initialize() - confirming voltage... : Navigation: Server for aux sensor "KearfottServer" not found : Navigation: Server for aux sensor "Velocimeter" not found : Navigation:: The PSA is present, but was not selected to be used as the altimeter in vehicle.cfg. Abort. : NavigationOutput::~NavigationOutput() : **** SharedData destructor for object navigationOutput **** : TaskServer::signalHandler() for task NavigationIFServer - exit() : NavigationOutput::~NavigationOutput() : **** SharedData destructor for object navigationOutput **** : Task "navigationServer" died? Supervisor::createTask() - navigationServer : Supervisor::Supervisor() - task(s) died; exiting : Supervisor::shutdown() : **** SharedData destructor for object LblDriverOutput_ShmemName **** : TaskServer::signalHandler() for task WorkSiteIFServer - exit() : TaskServer::signalHandler() for task RangeFinderIFServer - exit() : TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit() : TaskServer::signalHandler() for task DynamicControlIFServer - exit() : **** SharedData destructor for object LayeredControlInput_ShmemName **** : Supervisor::signalHandler(); caught signal 2 : **** SharedData destructor for object PSA916Input_ShmemName **** : **** SharedData destructor for object ParosciOutput_ShmemName **** : **** SharedData destructor for object GpsOutput_ShmemName **** : Supervisor::signalHandler(); caught signal 2 : TaskServer::signalHandler() for task - exit() : **** SharedData destructor for object BuoyLauncherInput_ShmemName **** : TaskServer::signalHandler() for task EventLogIFServer - exit() : TaskServer::signalHandler() for task DropWeightIFServer - exit() : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() : TaskServer::signalHandler() for task LayeredControlIFServer - exit() : TaskServer::signalHandler() for task TailConeIFServer - exit() : TaskServer::signalHandler() for task CrossbowIFServer - exit() : TaskServer::signalHandler() for task GpsIFServer - exit() : TaskServer::signalHandler() for task DepthSensorIFServer - exit() : TaskServer::signalHandler() for task ctdDriver - exit() : TaskServer::signalHandler() for task seabird - exit() : TaskServer::signalHandler() for task MetraByteIFServer - exit() : TaskServer::signalHandler() for task Ips4IFServer - exit() : Isus:stopping Isus... : **** SharedData destructor for object MetraByteOutput **** : TaskServer::signalHandler() for task LblIFServer - exit() : Ips4:stopping Ips4... : **** SharedData destructor for object seabirdSeabirdOutput_ShmemName **** : **** SharedData destructor for object ctdDriverSeabirdOutput_ShmemName **** : **** SharedData destructor for object LayeredControlOutput_ShmemName **** : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() : TaskServer::signalHandler() for task LblIFServer - exit() : **** SharedData destructor for object crossbowCommand **** : **** SharedData destructor for object PSA916Input_ShmemName **** : StepGetStat (3) failed to read chars, rcvd=2, want=8 : TaskServer::signalHandler() for task LayeredControlIFServer - exit() : Supervisor::cleanup() - delete _theSupervisor : **** SharedData destructor for object PSA916Output_ShmemName **** : Supervisor::cleanup() - delete _theSupervisor : TaskServer::signalHandler() for task DepthSensorIFServer - exit() : TaskServer::signalHandler() for task GpsIFServer - exit() : **** SharedData destructor for object crossbowOutput **** : **** SharedData destructor for object BuoyLauncherOutput_ShmemName **** : Ips4:stopped : TaskServer::signalHandler() for task MetraByteIFServer - exit() : **** SharedData destructor for object BuoyLauncherInput_ShmemName **** : **** SharedData destructor for object TailConeInput_ShmemName **** : **** SharedData destructor for object ctdDriverSeabirdOutput_ShmemName **** : **** SharedData destructor for object seabirdSeabirdOutput_ShmemName **** : TaskServer::signalHandler() for task seabird - exit() : **** SharedData destructor for object LblDriverOutput_ShmemName **** : TaskServer::signalHandler() for task ctdDriver - exit() : **** SharedData destructor for object PSA916Output_ShmemName **** : **** SharedData destructor for object crossbowOutput **** : StepGetStat (3) 1c 1c 00 00 05 00 00 : **** SharedData destructor for object LayeredControlInput_ShmemName **** : Supervisor::shutdown() : Supervisor::shutdown() : **** SharedData destructor for object ParosciOutput_ShmemName **** : TaskServer::signalHandler() for task RangeFinderIFServer - exit() : **** SharedData destructor for object GpsOutput_ShmemName **** : **** SharedData destructor for object crossbowCommand **** : **** SharedData destructor for object Ips4Output_ShmemName **** : **** SharedData destructor for object MetraByteOutput **** : TaskServer::signalHandler() for task - exit() : **** SharedData destructor for object TailConeOutput_ShmemName **** : TaskServer::signalHandler() for task CrossbowIFServer - exit() : TaskServer::signalHandler() for task RangeFinderIFServer - exit() : Supervisor::shutdown() - done() : TaskServer::signalHandler() for task LayeredControlIFServer - exit() : TaskServer::signalHandler() for task - exit() : TaskServer::signalHandler() for task CrossbowIFServer - exit() : TaskServer::signalHandler() for task GpsIFServer - exit() : TaskServer::signalHandler() for task DepthSensorIFServer - exit() : TaskServer::signalHandler() for task MetraByteIFServer - exit() : Supervisor::shutdown() - done() : **** SharedData destructor for object TailConeInput_ShmemName **** : **** SharedData destructor for object TailConeOutput_ShmemName **** : Isus:stopped - response +59 +58 +57 +56 +55 +54 +53 +52 +51 +50 +49 +48 +47 +46 +45 +44 +43 : **** SharedData destructor for object IsusOutput_ShmemName ****