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/docking/workSite.cfg createTask() - externalCommsServer : Using default vehicle config file "/home/dorado1/auv/altex/onboard/config/docking/vehicle.cfg" Supervisor::createTask() - navigationServer Supervisor::createTask() - layeredControlServer Supervisor::createTask() - dynamicControlServer : WorkSite::WorkSite -- Finished loading parameters : 0: 1 600674.187500E 4067388.750000N 73.699997 m 10.000000 ms channel:2 : 1: 2 600531.687500E 4065156.000000N 73.199997 m 10.000000 ms channel:4 : 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 : 4: 5 602732.187500E 4067093.000000N 57.299999 m 10.000000 ms channel:7 : WorkSite server: 0x22eec : New Navigation component constructor : Navigation - Using only the Dvl to compute altitude. Supervisor::createTask() - newTailConeServer Supervisor::createTask() - crossbowServer Supervisor::createTask() - gpsServer Supervisor::createTask() - parosciS: Preparing to fork erver : SerialDevice: done... : I'm the child...forking : TailConeServer -- Maximum Elevator Actuator Excursion is 0 Counts Supe: TailConeServer:: -- Minimum Elevator Actuator Excursion is 0 Counts rvisor::cr: TailConeServer -- Maximum Rudder Actuator Excursion is 0 Counts eate: TailConeServer -- Minimum Rudder Actuator Excursion is 0 Counts Task(: SerialDevice: done... ) - b: SerialDevice: done... luefinBattDriver Supervisor::createTask() - dvlServer : ahrs if is Ahrs Super: SerialDevice: done... visor::createTask() - fanServer : DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize() : DynamicControlServer - Got event 1 from TailCone : PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200 : SerialDevice: done... : SerialDevice: done... Super: SerialDevice: done... visor::: BluefineBatt::init() - 1 batteries on 10 second interval create: Gps: initializing Task(: SerialDevice: done... ) - d: BluefinBatt.cc - Looking for Parosci server : Gps: done initializing... ropWe: SerialDevice: done... igh: **** EventTriggers::add() - attaching proxy tServe: SerialDevice: done... : BluefinBatt::init() - querying for batt ids r : SerialDevice: done... Sup: Crossbow.cc: Setting polled mode ervisor::crea: Crossbow.cc: Setting polled mode teTa: Crossbow.cc: In getSerialNumber() sk() : Crossbow.cc: _device->read failed with error - sonard: PeriodicTask::run() (crossbow) - sampleInterval=100, maxInterval=100 yneServer : SerialDevice: done... : AshtechGps::processRecord() - $GPGGA,194847.00,3654.78466,N,12153.29989,W,1,10,0.9,-9.55,M,-32.59,M,,*7D : GpsUtils::parseFix() - $GPGGA,194847.00,3654.78466,N,12153.29989,W,1,10,0.9,-9.55,M,-32.59,M,,*7D : successfully parse sentence at 19:48:47 : AshtechGPS::processRecord -sample time is 1134416927 : SerialDevice: done... : Parosci.cc -- Failed to read serial number : Paroscientific - Exception caught: Failed to read serial numbre : **** SharedData destructor for object ParosciOutput_ShmemName **** : TaskServer::signalHandler() for task DepthSensorIFServer - exit() : **** SharedData destructor for object ParosciOutput_ShmemName **** : SerialDevice: done... : 3 Modules found : SerialDevice: done... : SerialDevice: done... : SerialDevice: done... : AshtechGps::processRecord() - $GPGGA,194848.00,3654.78465,N,12153.29993,W,1,10,0.9,-9.86,M,-32.59,M,,*74 : GpsUtils::parseFix() - $GPGGA,194848.00,3654.78465,N,12153.29993,W,1,10,0.9,-9.86,M,-32.59,M,,*74 : successfully parse sentence at 19:48:48 : AshtechGPS::processRecord -sample time is 1134416928 : DropWeight::initialize - Resetting counters. : **** EventTriggers::add() - attaching proxy : SerialDeviceDriver::initialize() : Starting DVL Initialization. : SerialDevice: done... : g counters to default : Sonardyne -- configuration: PollPeriod = 500 ms PresetGain = 1 PowerLevel = 0 LblWait = 3 s ESV = 1485.000000 m/s Beacon = V4,1 : SonardyneDriver - interrogation string is POS V4,1 , timeout is 4000 ms : Sonardyne - PG response: PG1 PAN TDR GAIN: LOW : Sonardyne - PL response: PL0 PAN POWER: LOW : Sonardyne - LW response: LW3 : PeriodicTask::run() () - sampleInterval=500, maxInterval=500 : SerialDevice: done... : wdt = 00899, bwt = 00000, WDC = 0, ACommsDN = 0, DW_out = 0, GulperSolenoidOut = 0, GulperProxIn = 1, GulperHighSideStat = 1, GulperSolenoidFB = 0 : PeriodicTask::run() (fanDriver) - sampleInterval=1000, maxInterval=1000 : AshtechGps::processRecord() - $GPGGA,194849.00,3654.78454,N,12153.30002,W,1,10,0.9,-10.03,M,-32.59,M,,*4B : GpsUtils::parseFix() - $GPGGA,194849.00,3654.78454,N,12153.30002,W,1,10,0.9,-10.03,M,-32.59,M,,*4B : successfully parse sentence at 19:48:49 : AshtechGPS::processRecord -sample time is 1134416929 : Task "parosciServer" died? Supervisor::createTask() - parosciServer : Supervisor::Supervisor() - task(s) died; exiting : Supervisor::shutdown() : TaskServer::signalHandler() for task AhrsIFServer - exit() : **** SharedData destructor for object LayeredControlInput_ShmemName **** : TaskServer::signalHandler() for task TailConeIFServer - exit() : TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit() : TaskServer::signalHandler() for task Navigaüj - exit() : TaskServer::signalHandler() for task LayeredControlIFServer - exit() : TaskServer::signalHandler() for task DynamicControlFServer - exit() : Supervisor::signalHandler(); caught signal 2 : Supervisor::signalHandler(); caught signal 2 : TaskServer::signalHandler() for task GpsIFServer - exit() : TaskServer::signalHandler() for task DvlIFServer - exit() : TaskServer::signalHandler() for task FanIFServer - exit() : TaskServer::signalHandler() for task DropWeightIFServer - exit() : TaskServer::signalHandler() for task UsblIFServer - exit() : Fan Destructor Executing. : TaskServer::signalHandler() for task EventLogIFServer - exit() : TaskServer::signalHandler() for task WorkSiteIFServer - exit() : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() : **** SharedData destructor for object BluefinBattOutput **** : DropWeight Destructor Executing. : NavigationOutput::~NavigationOutput() : **** SharedData destructor for object GpsOutput_ShmemName **** : **** SharedData destructor for object crossbowOutput **** : **** SharedData destructor for object DvlOutput_ShmemName **** : StepGetStat(2): checksum error : **** SharedData destructor for object SonardyneOutput_ShmemName **** : **** SharedData destructor for object LayeredControlOutput_ShmemName **** : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() : **** SharedData destructor for object crossbowCommand **** //10/home/dorado1/auv/altex/onboard/bin/dynamicControlServer terminated (SIGSEGV) at 0007:0001C914. //10/home/dorado1/auv/altex/onboard/bin/layeredControl terminated (SIGSEGV) at 0007:00016116. : TaskServer::signalHandler() for task LayeredControlIFServer - exit() : **** SharedData destructor for object TailConeInput_ShmemName **** : NavigationOutput::~NavigationOutput() : **** SharedData destructor for object navigationOutput **** : Supervisor::signalHandler(); Never received a SIGTERM from slay, or a SIGQUIT. I WILL START BURNING THE DROP WEIGHT WIRE IN 15 MINUTES! To prevent a weight-drop, you must manually start dropWeightServer before the countdown timer expires. See devices.cfg for the syntax and serial port number. : Supervisor::signalHandler(); Never received a SIGTERM from slay, or a SIGQUIT. I WILL START BURNING THE DROP WEIGHT WIRE IN 15 MINUTES! To prevent a weight-drop, you must manually start dropWeightServer before the countdown timer expires. See devices.cfg for the syntax and serial port number. : **** SharedData destructor for object fanOutput **** : **** SharedData destructor for object GpsOutput_ShmemName **** : **** SharedData destructor for object DvlOutput_ShmemName **** : **** SharedData destructor for object dropWeightOutput **** : **** SharedData destructor for object fanOutput **** : **** SharedData destructor for object dropWeightOutput **** : **** SharedData destructor for object SonardyneOutput_ShmemName **** : **** SharedData destructor for object crossbowCommand **** : **** SharedData destructor for object crossbowOutput **** : TaskServer::signalHandler() for task GpsIFServer - exit() //10/home/dorado1/auv/altex/onboard/bin/sonardyneDriver terminated (SIGSEGV) at 0007:000218F4. : TaskServer::signalHandler() for task UsblIFServer - exit() : **** SharedData destructor for object LayeredControlInput_ShmemName **** : **** SharedData destructor for object TailConeOutput_ShmemName **** : **** SharedData destructor for object navigationOutput **** : TaskServer::signalHandler() for task Navigaüj - exit() : Supervisor::cleanup() - delete _theSupervisor : Supervisor::cleanup() - delete _theSupervisor : TaskServer::signalHandler() for task FanIFServer - exit() : TaskServer::signalHandler() for task DropWeightIFServer - exit() : **** SharedData destructor for object LayeredControlOutput_ShmemName **** : Supervisor::shutdown() : Supervisor::shutdown() : Supervisor::shutdown() - done() : Supervisor::shutdown() - done() : **** SharedData destructor for object TailConeInput_ShmemName **** : **** SharedData destructor for object TailConeOutput_ShmemName **** : SerialDevice: done... : Dvl::~Dvl: Destructor Finished.