Supervisor::createCoreTasks() Supervisor::createTask() - eventLogServer Supervisor::createTask() - workSite Supervisor::createTask() - vehicleConfigurationServer S: Initializing worksiteServer upervisor: WorkSite::WorkSite -- Adding attributes ::c: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv/altex/onboard/config/dorado538/workSite.cfg reateTask() - dropWeight Supervisor::createTask() - externalCommsServe: Using default vehicle config file "/home/dorado1/auv/altex/onboard/config/dorado538/vehicle.cfg" r Supervisor::createTask() - navigationServer Supervisor::createTask: WorkSite::WorkSite -- Finished loading parameters () : 0: 1 600674.187500E 4067388.750000N 73.699997 m 10.000000 ms channel:2 - la: 1: 2 600531.687500E 4065156.000000N 73.199997 m 10.000000 ms channel:4 yered: 2: 3 598447.000000E 4067412.250000N 91.400002 m 10.000000 ms channel:5 Con: 3: 4 600848.125000E 4069389.500000N 80.199997 m 10.000000 ms channel:6 trol: 4: 5 602732.187500E 4067093.000000N 57.299999 m 10.000000 ms channel:7 Serv: WorkSite server: 0x21ed0 er Supervisor::createTask() - dynamicC: ahrs if is Ahrs ontrolServer Supervisor::createTask() - newTailConeServer Supervisor::createTask() - crossbowServer Supervisor::createTask() - octansServer Supervisor::cr: DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize() e: DynamicControlServer - Got event 1 from TailCone : PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200 ateTask() - kearfottServer Superviso: Preparing to fork r::: I'm the child...forking createTask() - : SerialDevice: done... k: TailConeServer -- Maximum Elevator Actuator Excursion is 0 Counts ear: TailConeServer:: -- Minimum Elevator Actuator Excursion is 0 Counts f: Preparing to fork ott: TailConeServer -- Maximum Rudder Actuator Excursion is 0 Counts DvlSe: I'm the child...forking rv: TailConeServer -- Minimum Rudder Actuator Excursion is 0 Counts er Sup: SerialDevice: done... ervis: SerialDevice: done... or::createTask() - gp: creating if InsIFServer sServer S: SerialDevice: done... upervi: Preparing to fork s: SerialDevice: done... or:: I'm the child...forking :createTask() - p: SerialDevice: done... arosciServ: SerialDevice: done... er Supervisor::createT: SerialDevice: done... a: 3 Modules found : SerialDevice: done... sk() - psa916S: SerialDevice: done... e: SerialDevice: done... : SerialDevice: done... rver : SerialDeviceDriver::initialize() : Crossbow.cc: Setting polled mode Su: SerialDevice: done... pervisor: Crossbow.cc: Setting polled mode ::cre: Crossbow.cc: In getSerialNumber() at: **** EventTriggers::add() - attaching proxy eT: Crossbow.cc: _device->read failed with error ask() -: PeriodicTask::run() (crossbow) - sampleInterval=100, maxInterval=100 seabirdServer Supervisor::createTask() : SerialDevice: done... - seabirdServer Supervisor::createT: Gps: initializing ask(: SerialDevice: done... ) - : Gps: done initializing... me: **** EventTriggers::add() - attaching proxy trabyteServer : GarminGps::processRecord() - GpsUtils::parseFix() - incomplete GGA sentence? $PGRMO,GPGGA,1 : **** EventTriggers::add() - attaching proxy : PSA916: constructing... : SerialDevice: done... Supe: PSA916: initializing... rviso: SerialDevice: done... : PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200 r::: PSA916: trying to write data... createTa: Parosci::init() - mode set okay sk(): PSA916: debug mode on... - ips: PSA916: confirming data stream... 4Se: PSA916: data is streaming... rver: **** EventTriggers::add() - attaching proxy S: PSA916::processRecord() - this should not have happened: record=99.99E uper: **** EventTriggers::add() - attaching proxy vis: KearfottDriver: unable to open ctd interface or: seabirdDriver RUNNING... ::createTask() - isus : gpsDriver::readRecord() - serial device timed out : Parosci.cc -- Initial pressure = 0.965266 : seabirdDriver RUNNING... : KearfottDriver: updating with external sensors : Parosci.cc -- Parosci initial pressure period = 30.462960 : Parosci.cc -- Parosci initial temp period = 5.881681 : Parosci.cc -- Paroscientific configured. : PeriodicTask::run() (Parosci) - sampleInterval=200, maxInterval=200 : SerialDevice: done... : Seabird/ctdDriver -- Loading CTD constants from /home/dorado1/auv/altex/onboard/config/dorado538/ctdDriver.cfg : 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/ctdDriver::Seabird() - create interface to depth sensor... : Seabird/ctdDriver -- constructing Log... : SerialDevice: done... : Seabird/seabird -- Loading CTD constants from /home/dorado1/auv/altex/onboard/config/dorado538/seabird.cfg : CTDLog.cc -- beginning constructor... : PeriodicTask::run() (MetraByte) - sampleInterval=1000, maxInterval=1000 : CTDLog.cc -- constructor succeeded : gpsDriver::readRecord() - serial device timed out : 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 : Seabird/ctdDriver -- constructor succeeded : KearfottDriver: updating with external sensors : Seabird/seabird::Seabird() - create interface to depth sensor... : seabirdDriver -- constructor succeeded : Seabird/seabird -- constructing Log... : Seabird/ctdDriver:initializing Seabird... : IsusLog.cc -- beginning constructor... : isusLog.cc -- constructor succeeded : CTDLog.cc -- beginning constructor... : SerialDeviceDriver::initialize() : CTDLog.cc -- constructor succeeded : Isus:initializing Isus with lamp on... : Seabird/seabird -- constructor succeeded : seabirdDriver -- constructor succeeded : Seabird/seabird:initializing Seabird... : Ips4Log.cc -- beginning constructor... : ips4Log.cc -- constructor succeeded : SerialDeviceDriver::initialize() : Ips4:initializing Ips4... : Ips4:create interface to ctd... : Ips4:Cycle up to top menu using ... : Ips4:Telling unit to begin processing : Ips4:Attempting to read record from Ips : gpsDriver::readRecord() - serial device timed out : KearfottDriver: updating with external sensors : Ips4:initialized : Ips4::Starting CTD profile : **** EventTriggers::add() - attaching proxy : SeabirdServer::get_ctd_data() - device NOT ready : KearfottDriver: updating with external sensors : gpsDriver::readRecord() - serial device timed out : SerialDevice::confirm() - Timed Out : Seabird/ctdDriver::initialize() - confirm() timed out; sleep a bit : SeabirdServer::get_ctd_data() - device NOT ready : SerialDevice::confirm() - Timed Out : Seabird/seabird::initialize() - confirm() timed out; sleep a bit : SeabirdServer::get_ctd_data() - device NOT ready : KearfottDriver: updating with external sensors : Isus:time set with val 1003319877 -> Wed Oct 17 11:58:00 2001 : Isus:initialized : Isus:starting Isus... : gpsDriver::readRecord() - serial device timed out : SeabirdServer::get_ctd_data() - device NOT ready : Isus:started : SeabirdServer::get_ctd_data() - device NOT ready : 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 : KearfottDriver: updating with external sensors : **** EventTriggers::add() - attaching proxy : LayeredControl::execute() -- (t = 0.000000) Behavior setpoint has changed to state Active : Behavior::shouldBehaviorStart -- Checking to see if acousticAbort should run : -- it should : Received Acoustic Abort, Aborting! : Abort request issued by behavior "acousticAbort" : LayeredControl::execute() -- (t = 0.109993) Behavior acousticAbort has changed to state Active : *** LayeredControl - initiating mission abort... *** : Initiating Mission Abort! : **** EventTriggers::add() - attaching proxy : SeabirdServer::get_ctd_data() - device NOT ready : LayeredControl::execute() -- (t = 0.000000) Behavior missionTimer has changed to state Active : Stack empty after processing. Aborting. : gpsDriver::readRecord() - serial device timed out : *** 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() - layeredControlServe: Seabird/ctdDriver: sending configure commands...(18992) r : Supervisor::Supervisor() - task(s) died; exiting : Supervisor::shutdown() : **** SharedData destructor for object ParosciOutput_ShmemName **** : **** SharedData destructor for object kearfottOutput **** : TaskServer::signalHandler() for task RangeFinderIFServer - exit() : **** SharedData destructor for object PSA916Input_ShmemName **** : TaskServer::signalHandler() for task WorkSiteIFServer - exit() : TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit() : TaskServer::signalHandler() for task TailConeIFServer - 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() : TaskServer::signalHandler() for task NavigationIFServer - exit() : TaskServer::signalHandler() for task DynamicControlIFServer - exit() : **** SharedData destructor for object TailConeInput_ShmemName **** : NavigationOutput::~NavigationOutput() : Supervisor::signalHandler(); caught signal 2 : Supervisor::signalHandler(); caught signal 2 : TaskServer::signalHandler() for task ctdDriver - exit() : TaskServer::signalHandler() for task seabird - exit() : TaskServer::signalHandler() for task MetraByteIFServer - exit() : TaskServer::signalHandler() for task Ips4IFServer - exit() : **** SharedData destructor for object MetraByteOutput **** : Isus:stopping Isus... : TaskServer::signalHandler() for task EventLogIFServer - exit() : TaskServer::signalHandler() for task DropWeightIFServer - exit() : TaskServer::signalHandler() for task ExternalCommsIFServer - 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 seabirdSeabirdOutput_ShmemName **** : TaskServer::signalHandler() for task DepthSensorIFServer - exit() : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() : **** SharedData destructor for object DvlOutput_ShmemName **** : TaskServer::signalHandler() for task AhrsIFServer - exit() : **** SharedData destructor for object crossbowCommand **** : **** SharedData destructor for object PSA916Output_ShmemName **** : **** SharedData destructor for object navigationOutput **** : **** SharedData destructor for object kearfottOutput **** : TaskServer::signalHandler() for task MetraByteIFServer - exit() : **** SharedData destructor for object PSA916Input_ShmemName **** : **** SharedData destructor for object TailConeInput_ShmemName **** : **** SharedData destructor for object DvlOutput_ShmemName **** : **** SharedData destructor for object GpsOutput_ShmemName **** : **** SharedData destructor for object TailConeOutput_ShmemName **** : NavigationOutput::~NavigationOutput() : Supervisor::cleanup() - delete _theSupervisor : Supervisor::cleanup() - delete _theSupervisor : **** SharedData destructor for object ctdDriverSeabirdOutput_ShmemName **** : **** SharedData destructor for object crossbowOutput **** : Ips4:stopped : TaskServer::signalHandler() for task NavigationIFServer - exit() : **** SharedData destructor for object seabirdSeabirdOutput_ShmemName **** : **** SharedData destructor for object ParosciOutput_ShmemName **** : TaskServer::signalHandler() for task GpsIFServer - exit() : TaskServer::signalHandler() for task InsIFServer - exit() : **** SharedData destructor for object octansOutput **** : TaskServer::signalHandler() for task ctdDriver - exit() : TaskServer::signalHandler() for task seabird - exit() : TaskServer::signalHandler() for task RangeFinderIFServer - exit() : **** SharedData destructor for object crossbowOutput **** : **** SharedData destructor for object MetraByteOutput **** : **** SharedData destructor for object TailConeOutput_ShmemName **** : TaskServer::signalHandler() for task TailConeIFServer - exit() : Supervisor::shutdown() : Supervisor::shutdown() : **** SharedData destructor for object Ips4Output_ShmemName **** : **** SharedData destructor for object crossbowCommand **** : TaskServer::signalHandler() for task CrossbowIFServer - exit() : Supervisor::shutdown() - done() : TaskServer::signalHandler() for task CrossbowIFServer - exit() : TaskServer::signalHandler() - _theTaskServer doesn't exist : Supervisor::shutdown() - done() : **** SharedData destructor for object Ips4Input_ShmemName **** : TaskServer::signalHandler() - _theTaskServer doesn't exist //1/home/dorado1/auv/altex/onboard/bin/ips4 terminated (SIGSEGV) at 0007:0002045B. : Isus:stopped - response 10/17/2001 11:08:20,9.81,5.13,0.000969 : **** SharedData destructor for object IsusOutput_ShmemName ****