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 Superviso: WorkSite::WorkSite -- Finished loading parameters r::: 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 eate: 2: 3 598447.000000E 4067412.250000N 91.400002 m 10.000000 ms channel:5 Tas: 3: 4 600848.125000E 4069389.500000N 80.199997 m 10.000000 ms channel:6 k(: 4: 5 602732.187500E 4067093.000000N 57.299999 m 10.000000 ms channel:7 ) -: WorkSite server: 0x22f58 layeredControlServer Sup: New Navigation component constructor e: Navigation - Using only the Dvl to compute altitude. rvisor::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... rdSe: SerialDevice: done... rver Supervisor::createTask() - : SerialDevice: done... bluefinBattDrive: SerialDevice: done... r Supervisor::createTask() - dvlS: Gps: initializing e: SerialDevice: done... rver: SerialDevice: done... : SerialDevice: done... Sup: SerialDevice: done... erv: SerialDevice: done... : Gps: done initializing... is: Crossbow.cc: Setting polled mode o: **** EventTriggers::add() - attaching proxy r: BluefinBatt driver - running with 1 batteries ::create: Crossbow.cc: Setting polled mode Task() : Crossbow.cc: In getSerialNumber() -: SerialDevice: done... fanServe: BluefineBatt::init() - 1 batteries on 10 second interval r : seabirdDriver RUNNING... S: AshtechGps::processRecord() - GpsUtils::parseFix() - incomplete GGA sentence? SHR,ACK*3D uperv: **** EventTriggers::add() - attaching proxy iso: SerialDevice: done... r::cre: BluefinBatt.cc - Looking for Parosci server ateTa: SerialDevice: done... sk() : BluefinBatt::init() - querying for batt ids - drop: Seabird/ctdDriver -- Loading CTD constants from /home/dorado1/auv/altex/onboard/config/docking/ctdDriver.cfg Weigh: AshtechGps::processRecord() - GpsUtils::parseFix() - incomplete GGA sentence? $PASHR,ACK*3D tServer Super: ahrs if is Ahrs visor::createTask(): SerialDevice: done... - sonardyneServer Superv: SerialDevice: done... isor::createTask() - dockS: 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 er: Seabird/ctdDriver::Seabird() - create interface to depth sensor... ver : 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... : SerialDevice: done... : DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize() : 3 Modules found : DynamicControlServer - Got event 1 from TailCone : PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200 : DropWeight::initialize - Resetting counters. : **** EventTriggers::add() - attaching proxy : PeriodicTask::run() (dockDriver) - sampleInterval=400, maxInterval=400 : SerialDeviceDriver::initialize() : Starting DVL Initialization. : PeriodicTask::run() (vehicleDriver) - sampleInterval=200, maxInterval=200 : SerialDevice: done... : Sonardyne -- configuration: PollPeriod = 500 ms PresetGain = 0 PowerLevel = 0 LblWait = 3 s ESV = 1485.000000 m/s Beacon = V4,1 : PeriodicTask::run() (sonardyneDriver) - sampleInterval=500, maxInterval=500 : SerialDevice: done... : 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 : SerialDeviceExt::Ping response = 0. : PeriodicTask::run() (fanDriver) - sampleInterval=1000, maxInterval=1000 : Parosci.cc -- Initial pressure = 0.068948 : DockDriver:: _pingCtr = 1. : Parosci.cc -- Parosci initial pressure period = 30.138070 : Parosci.cc -- Parosci initial temp period = 5.840367 : Parosci.cc -- Paroscientific configured. : **** EventTriggers::add() - attaching proxy : SerialDeviceExt::Ping response = 0. : CR1 [Parameters set to FACTORY defaults] > : PD5 > : BK1 > : 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. : EC1490 > : > : Dvl::initialize() - The DVL is initialized. : **** EventTriggers::add() - attaching proxy : DockDriver:: _pingCtr = 2. : PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200 : SerialDeviceExt::Ping response = 0. : DockDriver:: _pingCtr = 3. : DockDriver:: Opened the TCP port. : SerialDevice::confirm() - Timed Out : Seabird/ctdDriver::initialize() - confirm() timed out; sleep a bit : SerialDeviceExt::Ping response = 0. : BluefinBatt::init() - battery ids are b6 : BluefinBatt::init() - found battery b6 : BluefinBatt::init() - battery echo is $b6wf 1 : DockDriver:: _pingCtr = 3. : SerialDeviceExt::Ping response = 0. : DockDriver:: _pingCtr = 3. : Seabird/ctdDriver: sending configure commands...(24955) : Seabird/ctdDriver: setting scans... : SerialDeviceExt::Ping response = 0. : BluefinBatt::init() - battery watchdog state is : PeriodicTask::run() (BluefinBatt) - sampleInterval=10000, maxInterval=10000 : DockDriver:: _pingCtr = 3. : SerialDeviceExt::Ping response = 0. : Lbl NavSensor - could not create LBL task interface : Navigation: Server for aux sensor "Lbl" not found : DockDriver:: _pingCtr = 3. : SerialDevice::confirm() - Timed Out : SerialDeviceExt::Ping response = 0. : DockDriver:: _pingCtr = 3. : SerialDeviceExt::Ping response = 0. : 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...(24955) : DockDriver:: _pingCtr = 3. : 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... : Seabird/ctdDriver::initialize() - confirming voltage... : Seabird/ctdDriver::initialize() - disabling switch... : Seabird/ctdDriver: sending DS command... : SerialDeviceExt::Ping response = 0. : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DockDriver:: _pingCtr = 3. : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 33.28 0.00 21.28 4.13 4.15 0 -22949.50 09:19:09 m : SerialDeviceExt::Ping response = 0. : DockDriver:: _pingCtr = 3. : batts online 1, min cell voltage 4.130000, mean min cell voltage 4.130000 : 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) = 4073683.5 , 608113.5 (wplog) The next waypoint = 4073482.3 , 608136.8 (wplog) The bearing to the next w.p. is 173.4 Degrees. : WaypointHoming:: Network present. : LayeredControl::execute() -- (t = 0.000000) Behavior waypoint_homing has changed to state Active : LayeredControl::execute() -- (t = 0.000000) Behavior missionTimer has changed to state Active : **** EventTriggers::add() - attaching proxy : *** Mission started *** : Seabird/ctdDriver::initialize() - starting logging... : Ctd/ctdDriver:initialize() - Logging Started... : Ctd/ctdDriver:initialize() - ready! : **** EventTriggers::add() - attaching proxy : SerialDeviceExt::Ping response = 0. : DockDriver:: _pingCtr = 3. : SerialDeviceExt::Ping response = 0. : DockDriver:: _pingCtr = 3. : SerialDeviceExt::Ping response = 0. : DockDriver:: _pingCtr = 3. : BluefinBatt Reply: $b6q0 d- 33.28 0.03 21.38 4.13 4.15 0 -22949.70 09:19:19 m : SerialDeviceExt::Ping response = 0. : DockDriver:: _pingCtr = 3. : batts online 1, min cell voltage 4.130000, mean min cell voltage 4.130000 : SerialDeviceExt::Ping response = 0. : DockDriver:: _pingCtr = 3. : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b6q0 d- 32.89 8.66 21.28 4.13 4.15 0 -22950.04 09:19:29 m : batts online 1, min cell voltage 4.130000, mean min cell voltage 4.130000 : 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- 33.20 1.73 21.28 4.13 4.15 0 -22950.07 09:19:39 m : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 1, min cell voltage 4.130000, mean min cell voltage 4.130000 : 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- 33.01 5.39 21.38 4.12 4.14 0 -22950.75 09:19:49 m : batts online 1, min cell voltage 4.120000, mean min cell voltage 4.120000 : BluefinBatt Reply: $b6q0 d- 32.86 8.11 21.28 4.12 4.14 0 -22951.63 09:19:59 m : batts online 1, min cell voltage 4.120000, mean min cell voltage 4.120000 : BluefinBatt Reply: $b6q0 d- 33.09 2.82 21.38 4.07 4.10 0 -22952.97 09:20:09 m : batts online 1, min cell voltage 4.070000, mean min cell voltage 4.070000 : SerialDeviceExt::Ping response = 0. : DockDriver:: _pingCtr = 3. : SerialDeviceExt::Ping response = 0. : WaypointHoming: Raising the Probe: : DockDriver:: _pingCtr = 3. : BluefinBatt Reply: $b6q0 d- 32.82 11.05 21.38 4.07 4.10 0 -22953.24 09:20:19 m : batts online 1, min cell voltage 4.070000, mean min cell voltage 4.070000 : Set State: docked-nocharge : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : SerialDeviceExt/tcp:172.20.64.210:10001::Buffer full! : Probe Command: up : SerialDeviceExt::Ping response = 0. : DockDriver:: _pingCtr = 3. : SerialDeviceExt::Ping response = 0. : DockDriver:: _pingCtr = 3. : SerialDeviceExt::Ping response = 0. : WaypointHoming: The vehicle has docked successfully! : WaypointHoming has set the state to finished. : WaypointHoming (4073482.3, 608136.8), reached at t = 77.79 (wplog) : Vehicle Position error is (-206.1, 26.8) : The distance to the waypoint is 207.8. : The probe state is up. : The resolver state is good . : LayeredControl::execute() -- (t = 77.814669) Behavior waypoint_homing has changed to state Finished : Stack empty after processing. Aborting. : *** LayeredControl - initiating mission abort... *** : Initiating Mission Abort! : **** EventTriggers::add() - attaching proxy : DockDriver:: _pingCtr = 3. : LayeredControl::execute() -- (t = 78.194643) Behavior setpoint has changed to state Active : LayeredControl::execute() -- (t = 78.194643) Behavior missionTimer has changed to state Active : BluefinBatt Reply: $b6q0 d- 32.74 13.01 21.38 4.08 4.10 0 -22954.01 09:20:29 m : batts online 1, min cell voltage 4.080000, mean min cell voltage 4.080000 : SerialDeviceExt::Ping response = 0. : DockDriver:: _pingCtr = 3. : SerialDeviceExt::Ping response = 0. : DockDriver:: _pingCtr = 3. : SerialDeviceExt::Ping response = 0. : DockDriver:: _pingCtr = 3. : SerialDeviceExt::Ping response = 0. : DockDriver:: _pingCtr = 3. : BluefinBatt Reply: $b6q0 d- 33.17 0.00 21.38 4.08 4.10 0 -22954.35 09:20:39 m : **** SharedData destructor for object ParosciOutput_ShmemName **** : TaskServer::signalHandler() for task WorkSiteIFServer - exit() : TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit() : TaskServer::signalHandler() for task AhrsIFServer - exit() : TaskServer::signalHandler() for task GpsIFServer - exit() : TaskServer::signalHandler() for task DepthSensorIFServer - exit() : TaskServer::signalHandler() for task DvlIFServer - exit() : TaskServer::signalHandler() for task UsblIFServer - exit() : NavigationOutput::~NavigationOutput() //10/home/dorado1/auv/altex/onboard/bin/layeredControl terminated (SIGSEGV) at 0007:000399B8. : TaskServer::signalHandler() for task NavigationIFServer - exit() : TaskServer::signalHandler() for task DynamicControlIFServer - exit() : TaskServer::signalHandler() for task TailConeIFServer - exit() : TaskServer::signalHandler() for task DockIFServer - exit() : TaskServer::signalHandler() for task LayeredControlIFServer - exit() : DropWeight Destructor Executing. : **** SharedData destructor for object DockOutput_ShmemName **** : **** SharedData destructor for object VehicleOutput_ShmemName **** : Supervisor::signalHandler(); caught signal 2 : TaskServer::signalHandler() for task EventLogIFServer - exit() : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() : TaskServer::signalHandler() for task ctdDriver - exit() : **** SharedData destructor for object BluefinBattOutput **** : TaskServer::signalHandler() for task FanIFServer - exit() : TaskServer::signalHandler() for task DropWeightIFServer - exit() : Fan Destructor Executing. : **** 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 SonardyneOutput_ShmemName **** : **** SharedData destructor for object DvlOutput_ShmemName **** : **** SharedData destructor for object crossbowOutput **** : **** 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 navigationOutput **** : NavigationOutput::~NavigationOutput() : **** SharedData destructor for object TailConeInput_ShmemName **** : **** SharedData destructor for object DockOutput_ShmemName **** : **** SharedData destructor for object LayeredControlInput_ShmemName **** : **** SharedData destructor for object dropWeightOutput **** : 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. : SerialDeviceExt::closeSD() - closed : TaskServer::signalHandler() for task NavigationIFServer - exit() : TaskServer::signalHandler() for task DockIFServer - exit() : **** SharedData destructor for object fanOutput **** : **** SharedData destructor for object ctdDriverSeabirdOutput_ShmemName **** : **** SharedData destructor for object fanOutput **** : **** SharedData destructor for object dropWeightOutput **** : **** SharedData destructor for object ParosciOutput_ShmemName **** : TaskServer::signalHandler() for task GpsIFServer - exit() : **** SharedData destructor for object crossbowOutput **** : **** SharedData destructor for object crossbowCommand **** : TaskServer::signalHandler() for task ctdDriver - exit() : TaskServer::signalHandler() for task UsblIFServer - exit() : StepGetStat (3) failed to read chars, rcvd=2, want=8 : **** SharedData destructor for object TailConeOutput_ShmemName **** : **** SharedData destructor for object LayeredControlOutput_ShmemName **** : Supervisor::cleanup() - delete _theSupervisor closeSD() tcsetattr error. : Inappropriate I/O control operation : TaskServer::signalHandler() for task DropWeightIFServer - exit() : TaskServer::signalHandler() for task FanIFServer - exit() : StepGetStat (3) 5d 5d 00 00 01 00 00 : Supervisor::shutdown() : Supervisor::shutdown() - done() : SerialDevice: done... : StepGetStat (3) failed to read chars, rcvd=2, want=8 : StepGetStat (3) 18 18 00 00 01 00 00 : **** SharedData destructor for object TailConeInput_ShmemName **** : **** SharedData destructor for object TailConeOutput_ShmemName **** : Dvl::~Dvl: Destructor Finished. //10/home/dorado1/auv/altex/onboard/bin/dvl terminated (SIGSEGV) at 0007:000242FF.