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 S: Using default vehicle config file "/home/dorado1/auv/altex/onboard/config/docking/vehicle.cfg" upervisor::createTask() - navigationServer Supervisor::crea: WorkSite::WorkSite -- Finished loading parameters te: WorkSite::WorkSite -- Starting Depth is 0.000000 meters Task: 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 - la: 2: 3 598447.000000E 4067412.250000N 91.400002 m 10.000000 ms channel:5 yer: 3: 4 600848.125000E 4069389.500000N 80.199997 m 10.000000 ms channel:6 edCo: 4: 5 602732.187500E 4067093.000000N 57.299999 m 10.000000 ms channel:7 ntr: WorkSite server: 0x22f8c olServer Supervisor::createTask() - dynamicControlS: New Navigation component constructor erver : Navigation - Using only the Dvl to compute altitude. Supervisor::createTask() - newTailConeServer Supervisor::createTask() - crossbowServer Supervisor::createTask() - gpsServer Supervisor::createTask() - : SerialDevice: done... p: TailConeServer -- Maximum Elevator Actuator Excursion is 0 Counts aro: TailConeServer:: -- Minimum Elevator Actuator Excursion is 0 Counts sci: TailConeServer -- Maximum Rudder Actuator Excursion is 0 Counts S: Preparing to fork er: TailConeServer -- Minimum Rudder Actuator Excursion is 0 Counts ver : SerialDevice: done... : SerialDevice: done... : I'm the child...forking Supervisor::createTask() - seabirdServer Super: SerialDevice: done... visor::createTask() : SerialDevice: done... - : DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize() b: DynamicControlServer - Got event 1 from TailCone l: PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200 uefinBattDriver Supervisor::cre: SerialDevice: done... a: Gps: initializing teT: SerialDevice: done... : Crossbow.cc: Setting polled mode as: SerialDevice: done... k: SerialDevice: done... () -: SerialDevice: done... dvl: Crossbow.cc: Setting polled mode Server: Gps: done initializing... : Crossbow.cc: In getSerialNumber() : **** EventTriggers::add() - attaching proxy : AshtechGps::processRecord() - GpsUtils::parseFix() - incomplete GGA sentence? $PASHR,ACK*3D : **** EventTriggers::add() - attaching proxy : AshtechGps::processRecord() - GpsUtils::parseFix() - incomplete GGA sentence? $PASHR,ACK*3D : BluefinBatt driver - running with 1 batteries Superviso: SerialDevice: done... r::cre: BluefineBatt::init() - 1 batteries on 10 second interval ateTask(: seabirdDriver RUNNING... ) - fanS: BluefinBatt.cc - Looking for Parosci server : SerialDevice: done... erver: SerialDevice: done... : BluefinBatt::init() - querying for batt ids : Seabird/ctdDriver -- Loading CTD constants from /home/dorado1/auv/altex/onboard/config/docking/ctdDriver.cfg : SerialDevice: done... Supervisor::createTask() - dropWeig: ahrs if is Ahrs htServer Supervisor::createTask() - sonardyneServer Super: 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 v: SerialDevice: done... i: Seabird/ctdDriver::Seabird() - create interface to depth sensor... so: SerialDevice: done... r: 3 Modules found ::cre: Seabird/ctdDriver -- constructing Log... ateTask() - dockServer : CTDLog.cc -- beginning constructor... : CTDLog.cc -- constructor succeeded : Seabird/ctdDriver -- constructor succeeded : seabirdDriver -- constructor succeeded : Seabird/ctdDriver:initializing Seabird... : 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 : SerialDevice: done... : SerialDevice: done... : SerialDeviceDriver::initialize() : Starting DVL Initialization. : SerialDevice: done... : DropWeight::initialize - Resetting counters. : **** EventTriggers::add() - attaching proxy : PeriodicTask::run() (dockDriver) - sampleInterval=400, maxInterval=400 : PeriodicTask::run() (vehicleDriver) - sampleInterval=200, maxInterval=200 : Sonardyne -- configuration: PollPeriod = 500 ms PresetGain = 1 PowerLevel = 1 LblWait = 3 s ESV = 1485.000000 m/s Beacon = V7,7 : SerialDevice: done... : PeriodicTask::run() (sonardyneDriver) - sampleInterval=500, maxInterval=500 : Parosci.cc -- Initial pressure = 0.068948 SharedData::initSemaphore() - sem_init() of _notifySem: Resource temporarily unavailable : Fan Destructor Executing. : TaskServer::signalHandler() for task FanIFServer - exit() : **** SharedData destructor for object fanOutput **** : Parosci.cc -- Parosci initial pressure period = 30.138790 : Parosci.cc -- Parosci initial temp period = 5.841988 : Parosci.cc -- Paroscientific configured. : **** EventTriggers::add() - attaching proxy : 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 > : Task "fanServer" died? Superviso: WN25 > r::: Dvl::initialize - The number of cells is 25. createTask() - f: WV210 > anS: Dvl::initialize - 14 valid commands read in from dvl.cfg. erver : Supervisor::Supervisor() - task(s) died; exiting : Supervisor::shutdown() : **** SharedData destructor for object ParosciOutput_ShmemName **** : TaskServer::signalHandler() for task AhrsIFServer - exit() //10/home/dorado1/auv/altex/onboard/bin/layeredControl terminated (SIGSEGV) at 0007:00039AD8. : NavigationOutput::~NavigationOutput() : TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit() : TaskServer::signalHandler() for task NavigationIFServer - exit() : TaskServer::signalHandler() for task DynamicControlIFServer - exit() : TaskServer::signalHandler() for task TailConeIFServer - exit() : TaskServer::signalHandler() for task LayeredControlIFServer - exit() : Supervisor::signalHandler(); caught signal 2 : TaskServer::signalHandler() for task DvlIFServer - exit() : TaskServer::signalHandler() for task DropWeightIFServer - exit() : TaskServer::signalHandler() for task UsblIFServer - exit() : TaskServer::signalHandler() for task DockIFServer - exit() : **** SharedData destructor for object DockOutput_ShmemName **** : **** SharedData destructor for object VehicleOutput_ShmemName **** : 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() : DropWeight Destructor Executing. : **** SharedData destructor for object BluefinBattOutput **** : Supervisor::signalHandler(); caught signal 2 : **** SharedData destructor for object ctdDriverSeabirdOutput_ShmemName **** : **** SharedData destructor for object GpsOutput_ShmemName **** : TaskServer::signalHandler() for task DepthSensorIFServer - exit() : **** SharedData destructor for object DvlOutput_ShmemName **** : **** SharedData destructor for object crossbowOutput **** : **** SharedData destructor for object SonardyneOutput_ShmemName **** : **** SharedData destructor for object crossbowCommand **** : **** SharedData destructor for object navigationOutput **** : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() : NavigationOutput::~NavigationOutput() : **** SharedData destructor for object TailConeInput_ShmemName **** : **** SharedData destructor for object LayeredControlInput_ShmemName **** : 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 **** : SerialDeviceExt::closeSD() - closed : 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 dropWeightOutput **** : **** SharedData destructor for object DvlOutput_ShmemName **** : TaskServer::signalHandler() for task DockIFServer - exit() : **** SharedData destructor for object dropWeightOutput **** : **** SharedData destructor for object SonardyneOutput_ShmemName **** : **** SharedData destructor for object GpsOutput_ShmemName **** : **** SharedData destructor for object ctdDriverSeabirdOutput_ShmemName **** : **** SharedData destructor for object ParosciOutput_ShmemName **** : **** SharedData destructor for object crossbowCommand **** : TaskServer::signalHandler() for task ctdDriver - exit() : TaskServer::signalHandler() for task NavigationIFServer - exit() : TaskServer::signalHandler() for task GpsIFServer - exit() //10/home/dorado1/auv/altex/onboard/bin/sonardyneDriver terminated (SIGSEGV) at 0007:00021DE8. : TaskServer::signalHandler() for task UsblIFServer - exit() : **** SharedData destructor for object TailConeOutput_ShmemName **** : **** SharedData destructor for object crossbowOutput **** : **** SharedData destructor for object LayeredControlOutput_ShmemName **** : Supervisor::cleanup() - delete _theSupervisor : **** SharedData destructor for object TailConeOutput_ShmemName **** : Supervisor::cleanup() - delete _theSupervisor : **** SharedData destructor for object DockOutput_ShmemName **** : TaskServer::signalHandler() for task DropWeightIFServer - exit() : Supervisor::shutdown() : Supervisor::shutdown() : Supervisor::shutdown() - done() : TaskServer::signalHandler() for task DropWeightIFServer - exit() : TaskServer::signalHandler() for task DockIFServer - exit() : Supervisor::shutdown() - done() : TaskServer::signalHandler() for task DockIFServer - exit() : SerialDevice: done... : Dvl::~Dvl: Destructor Finished.