Supervisor::createCoreTasks() Supervisor::createTask() - eventLogServer Supervisor::createTask() - workSite Supervisor::createTask() - vehicleConfigurationServer Supervisor::create: Initializing worksiteServer Task() - : WorkSite::WorkSite -- Adding attributes dro: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv/altex/onboard/config/dorado556/workSite.cfg pWeight Supervisor::createTask() - externalComm: Using default vehicle config file "/home/dorado1/auv/altex/onboard/config/dorado556/vehicle.cfg" sServer Supervisor::createTask() - navigationServer Supervisor::createTask() - layeredContr: WorkSite::WorkSite -- Finished loading parameters olS: 0: 1 600674.187500E 4067388.750000N 73.699997 m 10.000000 ms channel:2 er: 1: 2 600531.687500E 4065156.000000N 73.199997 m 10.000000 ms channel:4 ver: 2: 3 598447.000000E 4067412.250000N 91.400002 m 10.000000 ms channel:5 : 3: 4 600848.125000E 4069389.500000N 80.199997 m 10.000000 ms channel:6 S: 4: 5 602732.187500E 4067093.000000N 57.299999 m 10.000000 ms channel:7 up: WorkSite server: 0x21eec ervisor::createTask() - dyn: ahrs if is Ahrs amicControlServer Supervisor::createTask() - newTailConeServer Supervisor::createTask() - crossbowServer Supervisor::createTask() - octansServer Supervisor::createTask() - kearfottServer : DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize() : DynamicControlServer - Got event 1 from TailCone Supervisor::createTask() - kearfottDvl: Preparing to fork Ser: I'm the child...forking ve: Preparing to fork r S: I'm the child...forking upervisor::createTask() - gpsServe: SerialDevice: done... r Su: TailConeServer -- Maximum Elevator Actuator Excursion is 0 Counts pe: TailConeServer:: -- Minimum Elevator Actuator Excursion is 0 Counts rvis: TailConeServer -- Maximum Rudder Actuator Excursion is 0 Counts : creating if InsIFServer or:: TailConeServer -- Minimum Rudder Actuator Excursion is 0 Counts :creat: SerialDevice: done... eTask() - : Preparing to fork par: I'm the child...forking osciServer : SerialDevice: done... S: SerialDevice: done... uperv: SerialDevice: done... isor: SerialDevice: done... ::crea: Crossbow.cc: Setting polled mode teTask: Crossbow.cc: Setting polled mode () : Crossbow.cc: In getSerialNumber() - psa: Crossbow.cc: device->read succeeded 91: Crossbow.cc: I think the serial number is 17252 (4364) 6Se: Crossbow.cc: Setting polled mode rver : SerialDevice: done... : PeriodicTask::run() (crossbow) - sampleInterval=100, maxInterval=100 Su: SerialDevice: done... pervisor: SerialDeviceDriver::initialize() ::: SerialDevice: done... c: SerialDevice: done... reateTask(: **** EventTriggers::add() - attaching proxy ) - seabirdServer Supervis: SerialDevice: done... or::createTask() - seabird: SerialDevice: done... Serve: SerialDevice: done... r Supervisor::create: SerialDevice: done... Tas: 3 Modules found k() : Gps: initializing - met: SerialDevice: done... raby: Gps: done initializing... teS: **** EventTriggers::add() - attaching proxy erver : GarminGps::processRecord() - GpsUtils::parseFix() - incomplete GGA sentence? D : **** EventTriggers::add() - attaching proxy : GarminGps::processRecord() - GpsUtils::parseFix() - incomplete GGA sentence? $PGRMO,,2 : GarminGps::processRecord() - GpsUtils::parseFix() - incomplete GGA sentence? $PGRMO,GPGGA,1 Sup: PSA916: constructing... e: PSA916: initializing... r: SerialDevice: done... vi: PSA916: trying to write data... sor::: PSA916: debug mode on... cr: PSA916: confirming data stream... ea: PSA916: data is streaming... te: **** EventTriggers::add() - attaching proxy Ta: PSA916::processRecord() - this should not have happened: record=99.99E sk(: **** EventTriggers::add() - attaching proxy ) - ips4Server Super: SerialDevice: done... visor::createTask() -: Parosci::init() - mode set okay isus Supervisor::: KearfottDriver: unable to open ctd interface createTask() - lblServer S: seabirdDriver RUNNING... : gpsDriver::readRecord() - serial device timed out upervisor::cr: GarminGps::processRecord() - GpsUtils::parseFix() - incomplete GGA sentence? 5C eateTask: seabirdDriver RUNNING... () - scheduler Supervisor::c: SerialDevice: done... rea: KearfottDriver: updating with external sensors teTask() - buoy: Seabird/ctdDriver -- Loading CTD constants from /home/dorado1/auv/altex/onboard/config/dorado556/ctdDriver.cfg Lau: Navigation: Server for aux sensor "Velocimeter" not found n: PeriodicTask::run() (navigation) - sampleInterval=200, maxInterval=200 cherS: SerialDevice: done... erver : 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 : Seabird/seabird -- Loading CTD constants from /home/dorado1/auv/altex/onboard/config/dorado556/seabird.cfg : Lbl::readTaskIF - Got new ping time. Interval = 1002480655.452046 : Seabird/ctdDriver::Seabird() - create interface to depth sensor... : Lbl::readTaskIF - Got new return times. : PeriodicTask::run() (MetraByte) - sampleInterval=1000, maxInterval=1000 : gpsDriver::readRecord() - serial device timed out : Seabird/ctdDriver -- constructing Log... : in first loop : IsusLog.cc -- beginning constructor... : **** EventTriggers::add() - attaching proxy : Schedule Server : Subscribing to Layered Control. : 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 : isusLog.cc -- constructor succeeded : GarminGps::processRecord() - GpsUtils::parseFix() - incomplete GGA sentence? 5B : PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200 : PeriodicTask::run() (scheduleServer) - sampleInterval=200, maxInterval=200 : Seabird/seabird::Seabird() - create interface to depth sensor... : CTDLog.cc -- beginning constructor... : SerialDeviceDriver::initialize() : Seabird/seabird -- constructing Log... : CTDLog.cc -- constructor succeeded : SerialDevice: done... : Isus:initializing Isus with lamp off... : Seabird/ctdDriver -- constructor succeeded : SerialDevice: done... : KearfottDriver: updating with external sensors : The beacon Array is: : CTDLog.cc -- beginning constructor... : seabirdDriver -- constructor succeeded : Ips4Log.cc -- beginning constructor... : 2 : CTDLog.cc -- constructor succeeded : Seabird/ctdDriver:initializing Seabird... : 4 : ips4Log.cc -- constructor succeeded : Seabird/seabird -- constructor succeeded : 5 : seabirdDriver -- constructor succeeded : SerialDeviceDriver::initialize() : 6 : Seabird/seabird:initializing Seabird... : 7 : Ips4:initializing Ips4... : : BuoyLaunch::Cannot create IF to buoyLauncher - Server "BuoyLauncherIFServer" not found : 2 : PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200 : 4 : 5 : 6 : 7 : : 2 : 4 : 5 : 6 : 7 : : 2 : RotateBuoy::Initiating Buoy rotate. : 4 : RotateBuoy::Waiting for buoy in data position : 5 : LayeredControl::execute() -- (t = 0.059996) Behavior RotateBuoy has changed to state Active : 6 : LayeredControl::execute() -- (t = 0.089994) Behavior missionTimer has changed to state Active : 7 : buoyLauncherDriver::main():Creating driver with params tcp:arm4:12001,9600,8,n,1 : **** EventTriggers::add() - attaching proxy : : Seabird/ctdDriver: sending configure commands...(28215) : *** Mission started *** : Seabird/seabird: sending configure commands...(25674) : Schedule Server -> Start : 2 : 4 : 5 : 6 : RotateBuoy::Waiting for buoy in data position : 7 : : 2 : 4 : 5 : 6 : KearfottDriver: updating with external sensors : 7 : : RotateBuoy::Waiting for buoy in data position : 2 : 4 : 5 : 6 : 7 : : 2 : 4 : 5 : 6 : 7 : RotateBuoy::Waiting for buoy in data position : : 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 : BuoyLauncherLog.cc -- beginning constructor... : Lbl::readTaskIF - Got new ping time. Interval = 130.471062 : BuoyLauncherLog.cc -- constructor succeeded : BuoyLauncher::"*T~" sent to LC : BuoyLauncher::recvd #Tw as response from LC : KearfottDriver: updating with external sensors : Parosci.cc -- Initial pressure = 1.205894 : Seabird/ctdDriver: setting scans... : Seabird/seabird: setting scans... : Parosci.cc -- Parosci initial pressure period = 30.459160 : TaskServer::signalHandler() for task WorkSiteIFServer - exit() : **** SharedData destructor for object LblDriverOutput_ShmemName **** : TaskServer::signalHandler() for task RangeFinderIFServer - exit() : **** SharedData destructor for object PSA916Input_ShmemName **** : TaskServer::signalHandler() for task LblIFServer - exit() : TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit() : TaskServer::signalHandler() for task AhrsIFServer - exit() : TaskServer::signalHandler() for task InsIFServer - exit() : TaskServer::signalHandler() for task DvlIFServer - exit() : TaskServer::signalHandler() for task GpsIFServer - exit() : TaskServer::signalHandler() for task DepthSensorIFServer - exit() : NavigationOutput::~NavigationOutput() : TaskServer::signalHandler() for task - exit() : TaskServer::signalHandler() for task NavigationIFServer - exit() : TaskServer::signalHandler() for task DynamicControlIFServer - exit() : **** SharedData destructor for object LayeredControlInput_ShmemName **** : TaskServer::signalHandler() for task TailConeIFServer - exit() : **** SharedData destructor for object LayeredControlOutput_ShmemName **** : **** SharedData destructor for object ParosciOutput_ShmemName **** : 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 **** : **** SharedData destructor for object BuoyLauncherInput_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 LayeredControlIFServer - exit() : TaskServer::signalHandler() for task CrossbowIFServer - exit() : **** SharedData destructor for object GpsOutput_ShmemName **** : Ips4:stopping Ips4... : **** SharedData destructor for object ctdDriverSeabirdOutput_ShmemName **** : **** SharedData destructor for object kearfottOutput **** : **** SharedData destructor for object seabirdSeabirdOutput_ShmemName **** : TaskServer::signalHandler() for task LblIFServer - exit() : **** SharedData destructor for object PSA916Output_ShmemName **** : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() : TaskServer::signalHandler() for task AhrsIFServer - exit() : **** SharedData destructor for object navigationOutput **** : **** SharedData destructor for object crossbowCommand **** : **** SharedData destructor for object kearfottOutput **** : **** SharedData destructor for object PSA916Input_ShmemName **** : **** SharedData destructor for object DvlOutput_ShmemName **** : **** SharedData destructor for object GpsOutput_ShmemName **** : **** SharedData destructor for object ParosciOutput_ShmemName **** : TaskServer::signalHandler() for task LayeredControlIFServer - exit() : StepGetStat (3) failed to read chars, rcvd=2, want=8 : **** SharedData destructor for object BuoyLauncherInput_ShmemName **** : NavigationOutput::~NavigationOutput() : **** SharedData destructor for object TailConeInput_ShmemName **** : **** SharedData destructor for object crossbowOutput **** : Supervisor::cleanup() - delete _theSupervisor : **** SharedData destructor for object crossbowOutput **** : TaskServer::signalHandler() for task DepthSensorIFServer - exit() : TaskServer::signalHandler() for task NavigationIFServer - exit() : **** SharedData destructor for object BuoyLauncherOutput_ShmemName **** : Ips4:stopped : **** SharedData destructor for object ctdDriverSeabirdOutput_ShmemName **** : **** SharedData destructor for object seabirdSeabirdOutput_ShmemName **** : TaskServer::signalHandler() for task MetraByteIFServer - exit() : TaskServer::signalHandler() for task CrossbowIFServer - exit() : TaskServer::signalHandler() for task GpsIFServer - exit() : **** SharedData destructor for object LblDriverOutput_ShmemName **** : TaskServer::signalHandler() for task RangeFinderIFServer - exit() : **** SharedData destructor for object DvlOutput_ShmemName **** : **** SharedData destructor for object octansOutput **** : TaskServer::signalHandler() for task ctdDriver - exit() : TaskServer::signalHandler() for task seabird - exit() : **** SharedData destructor for object LayeredControlInput_ShmemName **** : StepGetStat (3) 5d 5d 00 00 01 00 00 : **** SharedData destructor for object BuoyLauncherOutput_ShmemName **** : **** SharedData destructor for object TailConeOutput_ShmemName **** : Supervisor::shutdown() : **** SharedData destructor for object Ips4Output_ShmemName **** : TaskServer::signalHandler() for task - exit() : **** SharedData destructor for object LayeredControlOutput_ShmemName **** : TaskServer::signalHandler() for task - exit() : Supervisor::shutdown() - done() : TaskServer::signalHandler() for task LayeredControlIFServer - exit() : **** SharedData destructor for object TailConeInput_ShmemName **** : **** SharedData destructor for object TailConeOutput_ShmemName **** : Isus:stopped - response S : **** SharedData destructor for object IsusOutput_ShmemName ****