Supervisor::createCoreTasks() Supervisor::createTask() - eventLogServer Supervisor::createTask() - workSite Supervisor::createTask() - vehicleCon: Initializing worksiteServer figurati: WorkSite::WorkSite -- Adding attributes onS: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv/altex/onboard/config/docking/workSite.cfg erver Supervisor::createTask() - external: Using default vehicle config file "/home/dorado1/auv/altex/onboard/config/docking/vehicle.cfg" CommsServer Supervisor::createTask() - naviga: WorkSite::WorkSite -- Finished loading parameters tio: 0: 1 600674.187500E 4067388.750000N 73.699997 m 10.000000 ms channel:2 nSe: 1: 2 600531.687500E 4065156.000000N 73.199997 m 10.000000 ms channel:4 rver: 2: 3 598447.000000E 4067412.250000N 91.400002 m 10.000000 ms channel:5 Su: 3: 4 600848.125000E 4069389.500000N 80.199997 m 10.000000 ms channel:6 perv: 4: 5 602732.187500E 4067093.000000N 57.299999 m 10.000000 ms channel:7 isor: WorkSite server: 0x22eec ::createTask() - layeredContr: New Navigation component constructor olSe: Navigation - Using only the Dvl to compute altitude. rver Supervisor::createTask() - dynamicControlServer Supervisor::createTask() - newTailConeServer Supervisor::createTask() - crossbowServer Supervisor::createTask() - gpsServer Supervisor::createTask: SerialDevice: done... (: TailConeServer -- Maximum Elevator Actuator Excursion is 0 Counts ) -: TailConeServer:: -- Minimum Elevator Actuator Excursion is 0 Counts pa: TailConeServer -- Maximum Rudder Actuator Excursion is 0 Counts ros: TailConeServer -- Minimum Rudder Actuator Excursion is 0 Counts c: Preparing to fork iS: SerialDevice: done... erver: I'm the child...forking : SerialDevice: done... Supervisor::createTask() - seabirdServer : SerialDevice: done... Supervisor:: SerialDevice: done... :createTask() - bluefinBattDrive: Gps: initializing r S: SerialDevice: done... : SerialDevice: done... uperv: SerialDevice: done... isor: SerialDevice: done... ::: Gps: done initializing... cr: **** EventTriggers::add() - attaching proxy e: Crossbow.cc: Setting polled mode ateTask() -: Crossbow.cc: Setting polled mode dvl: Crossbow.cc: In getSerialNumber() Serve: Crossbow.cc: _device->read failed with error r : SerialDevice: done... : PeriodicTask::run() (crossbow) - sampleInterval=100, maxInterval=100 Sup: SerialDevice: done... erv: seabirdDriver RUNNING... isor::c: BluefineBatt::init() - 1 batteries on 10 second interval reate: SerialDevice: done... Ta: AshtechGps::processRecord() - $PASHR,ACK*3D sk() : GpsUtils::parseFix() - $PASHR,ACK*3D - f: AshtechGps::processRecord() - GpsUtils::parseFix() - incomplete GGA sentence? $PASHR,ACK*3D an: BluefinBatt.cc - Looking for Parosci server S: **** EventTriggers::add() - attaching proxy erver: SerialDevice: done... : Seabird/ctdDriver -- Loading CTD constants from /home/dorado1/auv/altex/onboard/config/docking/ctdDriver.cfg Sup: BluefinBatt::init() - querying for batt ids ervisor::createTask: AshtechGps::processRecord() - $PASHR,ACK*3D (): GpsUtils::parseFix() - $PASHR,ACK*3D - d: AshtechGps::processRecord() - GpsUtils::parseFix() - incomplete GGA sentence? $PASHR,ACK*3D ropWeightServer Supervisor::crea: SerialDevice: done... teTas: SerialDevice: done... k() - sonardyneServer Task::spawnServer() - execlp() of "fan" failed: Operation not permitted : AshtechGps::processRecord() - $GPGGA,214703.00,3636.90468,N,12152.66610,W,1,11,0.8,-3.29,M,-33.22,M,,*7C : GpsUtils::parseFix() - $GPGGA,214703.00,3636.90468,N,12152.66610,W,1,11,0.8,-3.29,M,-33.22,M,,*7C : ahrs if is Ahrs : SerialDevice: done... : DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize() : successfully parse sentence at 21:47:3 : 3 Modules found : SerialDevice: done... : DynamicControlServer - Got event 1 from TailCone : MissionPlan::load() error: Line 1: syntax error offending text: "" : CTD/ctdDriver -- Calibration constants: T_a = 3.681217e-003 T_b = 6.006525e-004 T_c = 1.574158e-005 T_d = 1.973049e-006 T_f0 = 3081.132000 C_a = 8.440420e-007 C_b = 1.341363e+000 C_c = -10.325094 C_d = -8.517875e-005 C_m = 5.900 EPS = -9.570000e-008 SOc = 3.985000e-001 BOc = 0.000000e+000 Voff = -5.038000e-001 TCor = 4.000000e-004 PCor = 1.350000e-004 : AshtechGPS::processRecord -sample time is 1143755222 : *** LayeredControl::initialize() - couldn't load NORMAL plan "/home/dorado1/auv/altex/onboard/missions/OffshoreBox.cfg.pp" : Seabird/ctdDriver::Seabird() - create interface to depth sensor... : Seabird/ctdDriver -- constructing Log... : DropWeight::initialize - Resetting counters. : **** EventTriggers::add() - attaching proxy //10/home/dorado1/auv/altex/onboard/bin/layeredControl terminated (SIGSEGV) at 0007:00036D38. : TaskServer::signalHandler() for task LayeredControlIFServer - exit() : **** SharedData destructor for object LayeredControlInput_ShmemName **** : CTDLog.cc -- beginning constructor... : **** SharedData destructor for object LayeredControlOutput_ShmemName **** : Resetting counters to default : CTDLog.cc -- constructor succeeded : SerialDevice: done... : Seabird/ctdDriver -- constructor succeeded : seabirdDriver -- constructor succeeded : Seabird/ctdDriver:initializing Seabird... : SerialDevice: done... : SerialDeviceDriver::initialize() : Seabird/ctdDriver: sending configure commands...(14197) : Starting DVL Initialization. : SerialDevice: done... : Sonardyne -- configuration: PollPeriod = 500 ms PresetGain = 0 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: PG0 PAN TDR GAIN: VLOW : Sonardyne - PL response: PL0 PAN POWER: LOW : Sonardyne - LW response: LW3 : PeriodicTask::run() (sonardyneDriver) - sampleInterval=500, maxInterval=500 : Seabird/ctdDriver: setting scans... : AshtechGps::processRecord() - $GPGGA,214704.00,3636.90476,N,12152.66604,W,1,11,0.8,-3.55,M,-33.22,M,,*7A : GpsUtils::parseFix() - $GPGGA,214704.00,3636.90476,N,12152.66604,W,1,11,0.8,-3.55,M,-33.22,M,,*7A : successfully parse sentence at 21:47:4 : AshtechGPS::processRecord -sample time is 1143755223 : SerialDevice: done... : Parosci.cc -- Initial pressure = 0.068948 : Parosci.cc -- Parosci initial pressure period = 30.138880 : wdt = 00899, bwt = 00000, WDC = 0, ACommsDN = 0, DW_out = 0, GulperSolenoidOut = 0, GulperProxIn = 1, GulperHighSideStat = 1, GulperSolenoidFB = 0 : Parosci.cc -- Parosci initial temp period = 5.842254 : Parosci.cc -- Paroscientific configured. : **** EventTriggers::add() - attaching proxy : CR1 [Parameters set to FACTORY defaults] > : PD5 > : BK1 > : TP00:00.00 > : AshtechGps::processRecord() - $GPGGA,214705.00,3636.90489,N,12152.66599,W,1,11,0.8,-3.72,M,-33.22,M,,*79 : GpsUtils::parseFix() - $GPGGA,214705.00,3636.90489,N,12152.66599,W,1,11,0.8,-3.72,M,-33.22,M,,*79 : successfully parse sentence at 21:47:5 : AshtechGPS::processRecord -sample time is 1143755224 : TE00:00:00.60 > : BL,10,010,100 > : BP001 > : CF11010 > : Task "layeredControlServer" died? Supervisor::createTask: CB611 > () - : SerialDevice: done... lay: Dvl::initialize - Baud rate set to 38400. eredControlServer : EX10011 > : Supervisor::Supervisor() - task(s) died; exiting : Supervisor::shutdown() : **** SharedData destructor for object ParosciOutput_ShmemName **** : TaskServer::signalHandler() for task AhrsIFServer - exit() : TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit() : TaskServer::signalHandler() for task NavigationIFServer - exit() : TaskServer::signalHandler() for task DynamicControlIFServer - exit() : TaskServer::signalHandler() for task TailConeIFServer - exit() : NavigationOutput::~NavigationOutput() : Supervisor::signalHandler(); caught signal 2 : Supervisor::signalHandler(); caught signal 2 : TaskServer::signalHandler() for task EventLogIFServer - exit() : TaskServer::signalHandler() for task WorkSiteIFServer - exit() : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() : TaskServer::signalHandler() for task GpsIFServer - exit() : TaskServer::signalHandler() for task DepthSensorIFServer - exit() : TaskServer::signalHandler() for task ctdDriver - exit() : TaskServer::signalHandler() for task DvlIFServer - exit() : TaskServer::signalHandler() for task FanIFServer - exit() : TaskServer::signalHandler() for task DropWeightIFServer - exit() : TaskServer::signalHandler() for task FanIFServer - exit() : TaskServer::signalHandler() for task UsblIFServer - exit() : **** SharedData destructor for object BluefinBattOutput **** : DropWeight Destructor Executing. : **** SharedData destructor for object GpsOutput_ShmemName **** : **** SharedData destructor for object ctdDriverSeabirdOutput_ShmemName **** : **** SharedData destructor for object DvlOutput_ShmemName **** : **** SharedData destructor for object SonardyneOutput_ShmemName **** : **** SharedData destructor for object crossbowOutput **** : TaskServer::signalHandler() for task DepthSensorIFServer - exit() : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() : **** SharedData destructor for object crossbowCommand **** : NavigationOutput::~NavigationOutput() : **** SharedData destructor for object TailConeInput_ShmemName **** : **** 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 TailConeInput_ShmemName **** : **** SharedData destructor for object GpsOutput_ShmemName **** : **** SharedData destructor for object dropWeightOutput **** : **** SharedData destructor for object ctdDriverSeabirdOutput_ShmemName **** : **** SharedData destructor for object DvlOutput_ShmemName **** : **** SharedData destructor for object fanOutput **** : **** SharedData destructor for object dropWeightOutput **** : **** SharedData destructor for object fanOutput **** : **** SharedData destructor for object SonardyneOutput_ShmemName **** : **** SharedData destructor for object crossbowCommand **** //10/home/dorado1/auv/altex/onboard/bin/sonardyneDriver terminated (SIGSEGV) at 0007:000218F4. : **** SharedData destructor for object ParosciOutput_ShmemName **** : TaskServer::signalHandler() for task UsblIFServer - exit() : TaskServer::signalHandler() for task ctdDriver - exit() : TaskServer::signalHandler() for task GpsIFServer - exit() : **** SharedData destructor for object navigationOutput **** : **** SharedData destructor for object TailConeOutput_ShmemName **** : TaskServer::signalHandler() for task NavigationIFServer - exit() : **** SharedData destructor for object crossbowOutput **** : Supervisor::cleanup() - delete _theSupervisor : Supervisor::cleanup() - delete _theSupervisor : **** SharedData destructor for object TailConeOutput_ShmemName **** : TaskServer::signalHandler() for task DropWeightIFServer - exit() : Supervisor::shutdown() : Supervisor::shutdown() : Supervisor::shutdown() - done() : TaskServer::signalHandler() for task DropWeightIFServer - exit() : Supervisor::shutdown() - done() : SerialDevice: done... : Dvl::~Dvl: Destructor Finished.