Supervisor::createCoreTasks() Supervisor::createTask() - eventLogServer Supervisor::createTask() - workSite Supervisor::createTask() - vehicleConfigurationServer : Initializing worksiteServer Superviso: WorkSite::WorkSite -- Adding attributes r::: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv/altex/onboard/config/docking/workSite.cfg createTask() - externalCommsServer Supe: Using default vehicle config file "/home/dorado1/auv/altex/onboard/config/docking/vehicle.cfg" rvisor::createTask() - navigationServer Supervis: WorkSite::WorkSite -- Finished loading parameters or: 0: 1 600674.187500E 4067388.750000N 73.699997 m 10.000000 ms channel:2 ::cr: 1: 2 600531.687500E 4065156.000000N 73.199997 m 10.000000 ms channel:4 ea: 2: 3 598447.000000E 4067412.250000N 91.400002 m 10.000000 ms channel:5 teTa: 3: 4 600848.125000E 4069389.500000N 80.199997 m 10.000000 ms channel:6 sk(): 4: 5 602732.187500E 4067093.000000N 57.299999 m 10.000000 ms channel:7 -: WorkSite server: 0x22f58 layeredControlServer : New Navigation component constructor : Navigation - Using only the Dvl to compute altitude. Supervisor::createTask() - dynamicControlServer Supervisor::createTask() - newTailConeServer Supervisor::createTask() - crossbowServer Supervisor::createTask() - gpsServer Supervisor::createTask() - parosciServer Supervisor::: Preparing to fork cre: I'm the child...forking at: SerialDevice: done... eTa: TailConeServer -- Maximum Elevator Actuator Excursion is 0 Counts sk(: TailConeServer:: -- Minimum Elevator Actuator Excursion is 0 Counts ) -: TailConeServer -- Maximum Rudder Actuator Excursion is 0 Counts sea: TailConeServer -- Minimum Rudder Actuator Excursion is 0 Counts bi: SerialDevice: done... rdSer: SerialDevice: done... ver Supervisor::createTask() - : SerialDevice: done... bluefinBattDrive: SerialDevice: done... r Supervisor::createTask() - dvlSe: Gps: initializing r: SerialDevice: done... ve: SerialDevice: done... r Supe: SerialDevice: done... : SerialDevice: done... rv: Gps: done initializing... i: SerialDevice: done... so: **** EventTriggers::add() - attaching proxy r::cre: BluefinBatt driver - running with 1 batteries at: Crossbow.cc: Setting polled mode eTask() : SerialDevice: done... - : Crossbow.cc: Setting polled mode fanS: BluefineBatt::init() - 1 batteries on 10 second interval er: Crossbow.cc: In getSerialNumber() ve: AshtechGps::processRecord() - GpsUtils::parseFix() - incomplete GGA sentence? R,ACK*3D r : seabirdDriver RUNNING... Sup: **** EventTriggers::add() - attaching proxy ervisor:: BluefinBatt.cc - Looking for Parosci server : SerialDevice: done... :cre: SerialDevice: done... ateTask: BluefinBatt::init() - querying for batt ids () - dropWeig: Seabird/ctdDriver -- Loading CTD constants from /home/dorado1/auv/altex/onboard/config/docking/ctdDriver.cfg h: AshtechGps::processRecord() - GpsUtils::parseFix() - incomplete GGA sentence? $PASHR,ACK*3D tServer Supervisor::createTask() - s: SerialDevice: done... onardyneServer S: ahrs if is Ahrs up: SerialDevice: done... ervisor::createTask() - dockServer : 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 : Seabird/ctdDriver::Seabird() - create interface to depth sensor... : Seabird/ctdDriver -- constructing Log... : CTDLog.cc -- beginning constructor... : CTDLog.cc -- constructor succeeded : Seabird/ctdDriver -- constructor succeeded : seabirdDriver -- constructor succeeded : Seabird/ctdDriver:initializing Seabird... : SerialDevice: done... : SerialDevice: done... : DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize() : DynamicControlServer - Got event 1 from TailCone : SerialDevice: done... : 3 Modules found : Seabird/ctdDriver: sending configure commands...(3693) : DropWeight::initialize - Resetting counters. : **** EventTriggers::add() - attaching proxy : SerialDeviceDriver::initialize() : Starting DVL Initialization. : SerialDevice: done... : Sonardyne: initializing : Sonardyne: done initializing... : **** EventTriggers::add() - attaching proxy : PeriodicTask::run() (dockDriver) - sampleInterval=400, maxInterval=400 : PeriodicTask::run() (vehicleDriver) - sampleInterval=200, maxInterval=200 : Seabird/ctdDriver: setting scans... : SerialDevice: done... : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Crossbow.cc: device->read succeeded : Crossbow.cc: I think the serial number is 107382 (1a376) : Crossbow.cc: Setting polled mode : PeriodicTask::run() (crossbow) - sampleInterval=100, maxInterval=100 : PeriodicTask::run() (fanDriver) - sampleInterval=1000, maxInterval=1000 : Parosci.cc -- Initial pressure = 0.068948 : PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200 : SerialDeviceExt::Ping response = -2. : Parosci.cc -- Parosci initial pressure period = 30.137950 : Parosci.cc -- Parosci initial temp period = 5.840378 : Parosci.cc -- Paroscientific configured. : CR1 [Parameters set to FACTORY defaults] > : PD5 > : BK1 > : **** EventTriggers::add() - attaching proxy : TP00:00.00 > : TE00:00:00.60 > : BL,10,010,100 > : BP001 > : CF11010 > : CB611 > : SerialDevice: done... : Dvl::initialize - Baud rate set to 38400. : EX10011 > : EA+04500 > : WP0001 > : WN25 > : Dvl::initialize - The number of cells is 25. : WV210 > : Dvl::initialize - 14 valid commands read in from dvl.cfg. : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : EC1490 > : > : Dvl::initialize() - The DVL is initialized. : **** EventTriggers::add() - attaching proxy : DockDriver:: _pingCtr = 39687. : PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200 : DockDriver:: Opened the TCP port. : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SerialDevice::confirm() - Timed Out : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt::init() - battery ids are b6 : BluefinBatt::init() - found battery b6 : BluefinBatt::init() - battery echo is $b6wf 1 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SerialDevice::confirm() - Timed Out : Seabird/ctdDriver: setting pump freq... : Seabird/ctdDriver: setting upcast... : Seabird/ctdDriver: setting battery type... : Seabird/ctdDriver: setting external voltages to 6...(3693) : Seabird/ctdDriver::initialize() - confirming voltage... : Seabird/ctdDriver::initialize() - confirming voltage... : Seabird/ctdDriver::initialize() - confirming voltage... : Seabird/ctdDriver::initialize() - confirming voltage... : Seabird/ctdDriver::initialize() - confirming voltage... : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Seabird/ctdDriver::initialize() - confirming voltage... : BluefinBatt::init() - battery watchdog state is : PeriodicTask::run() (BluefinBatt) - sampleInterval=10000, maxInterval=10000 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Seabird/ctdDriver::initialize() - disabling switch... : Seabird/ctdDriver: sending DS command... : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Lbl NavSensor - could not create LBL task interface : Navigation: Server for aux sensor "Lbl" not found : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Seabird/ctdDriver::initialize() - starting logging... : Ctd/ctdDriver:initialize() - Logging Started... : Ctd/ctdDriver:initialize() - ready! : **** EventTriggers::add() - attaching proxy : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 33.40 0.03 21.38 4.14 4.16 0 -22904.41 02:57:44 m : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 1, min cell voltage 4.140000, mean min cell voltage 4.140000 : Navigation: Server for aux sensor "Altimeter" not found : Navigation: Server for aux sensor "Velocimeter" not found : Navigation: The utm zone is 10 : Navigation: The lat/long in workSite.cfg, 36.802442, -121.787831 : Navigation: The lat/long in workSite.cfg, cvt'ed to UTM is 4073642.29, 608134.77 : PeriodicTask::run() (navigation) - sampleInterval=200, maxInterval=200 : **** EventTriggers::add() - attaching proxy : WaypointHoming Initialization: Begin waypoint control at t= 0.00 (wplog) The current location (N,E) = 4073642.3 , 608134.8 (wplog) The next waypoint = 4073482.3 , 608136.8 (wplog) The bearing to the next w.p. is 179.3 Degrees. : WaypointHoming:: Network present. : LayeredControl::execute() -- (t = 0.009999) Behavior waypoint_homing has changed to state Active : LayeredControl::execute() -- (t = 0.009999) Behavior missionTimer has changed to state Active : **** EventTriggers::add() - attaching proxy : *** Mission started *** : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 33.44 0.03 21.38 4.14 4.16 0 -22904.41 02:57:54 m : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 1, min cell voltage 4.140000, mean min cell voltage 4.140000 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 33.40 0.00 21.38 4.14 4.16 0 -22904.41 02:58:04 m : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 1, min cell voltage 4.140000, mean min cell voltage 4.140000 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 33.44 0.03 21.38 4.14 4.16 0 -22904.41 02:58:14 m : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 1, min cell voltage 4.140000, mean min cell voltage 4.140000 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 33.40 0.00 21.48 4.14 4.16 0 -22904.41 02:58:24 m : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 1, min cell voltage 4.140000, mean min cell voltage 4.140000 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 33.44 0.00 21.38 4.14 4.16 0 -22904.41 02:58:34 m : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 1, min cell voltage 4.140000, mean min cell voltage 4.140000 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : **** SharedData destructor for object ParosciOutput_ShmemName **** : TaskServer::signalHandler() for task AhrsIFServer - exit() : TaskServer::signalHandler() for task GpsIFServer - exit() : TaskServer::signalHandler() for task DvlIFServer - exit() : TaskServer::signalHandler() for task UsblIFServer - exit() : TaskServer::signalHandler() for task WorkSiteIFServer - exit() : TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit() : NavigationOutput::~NavigationOutput() //10/home/dorado1/auv/altex/onboard/bin/layeredControl terminated (SIGSEGV) at 0007:00039948. : TaskServer::signalHandler() for task DynamicControlIFServer - exit() : TaskServer::signalHandler() for task TailConeIFServer - exit() : TaskServer::signalHandler() for task DockIFServer - exit() : TaskServer::signalHandler() for task NavigationIFServer - exit() : TaskServer::signalHandler() for task LayeredControlIFServer - exit() : TaskServer::signalHandler() for task DepthSensorIFServer - exit() : TaskServer::signalHandler() for task ctdDriver - exit() : TaskServer::signalHandler() for task FanIFServer - exit() : TaskServer::signalHandler() for task DropWeightIFServer - exit() : Fan Destructor Executing. : **** SharedData destructor for object VehicleOutput_ShmemName **** : Supervisor::signalHandler(); caught signal 2 : TaskServer::signalHandler() for task EventLogIFServer - exit() : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() : **** SharedData destructor for object BluefinBattOutput **** : DropWeight Destructor Executing. : **** SharedData destructor for object SonardyneOutputName **** : **** SharedData destructor for object navigationOutput **** : **** SharedData destructor for object DockOutput_ShmemName **** : **** SharedData destructor for object GpsOutput_ShmemName **** : **** SharedData destructor for object ctdDriverSeabirdOutput_ShmemName **** : TaskServer::signalHandler() for task DepthSensorIFServer - exit() : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() : **** SharedData destructor for object crossbowOutput **** : **** SharedData destructor for object DvlOutput_ShmemName **** : **** SharedData destructor for object crossbowCommand **** : **** SharedData destructor for object GpsOutput_ShmemName **** : **** SharedData destructor for object DvlOutput_ShmemName **** : **** SharedData destructor for object SonardyneOutput_ShmemName **** : **** SharedData destructor for object TailConeInput_ShmemName **** : **** SharedData destructor for object DockOutput_ShmemName **** : **** SharedData destructor for object TailConeInput_ShmemName **** : NavigationOutput::~NavigationOutput() : **** SharedData destructor for object LayeredControlInput_ShmemName **** : TaskServer::signalHandler() for task NavigationIFServer - exit() : 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 **** : TaskServer::signalHandler() for task DockIFServer - exit() : **** SharedData destructor for object dropWeightOutput **** : **** SharedData destructor for object ctdDriverSeabirdOutput_ShmemName **** : **** SharedData destructor for object fanOutput **** : **** SharedData destructor for object dropWeightOutput **** : TaskServer::signalHandler() for task UsblIFServer - exit() : **** SharedData destructor for object crossbowOutput **** : SerialDeviceExt::closeSD() - closed : **** SharedData destructor for object ParosciOutput_ShmemName **** : **** SharedData destructor for object crossbowCommand **** : TaskServer::signalHandler() for task GpsIFServer - exit() : **** SharedData destructor for object TailConeOutput_ShmemName **** : TaskServer::signalHandler() for task ctdDriver - exit() : **** SharedData destructor for object TailConeOutput_ShmemName **** : **** SharedData destructor for object LayeredControlOutput_ShmemName **** : Supervisor::cleanup() - delete _theSupervisor : TaskServer::signalHandler() for task TailConeIFServer - exit() : TaskServer::signalHandler() for task FanIFServer - exit() : TaskServer::signalHandler() for task DropWeightIFServer - exit() : TaskServer::signalHandler() for task AhrsIFServer - exit() closeSD() tcsetattr error. : Inappropriate I/O control operation : Supervisor::shutdown() : Supervisor::shutdown() - done() : SerialDevice: done... : Dvl::~Dvl: Destructor Finished. //10/home/dorado1/auv/altex/onboard/bin/dvl terminated (SIGSEGV) at 0007:000242FF.