Supervisor::createCoreTasks() Supervisor::createTask() - eventLogServer Supervisor::createTask() - workSite Supervisor::createTask() - vehicleConf: Initializing worksiteServer iguratio: WorkSite::WorkSite -- Adding attributes nSe: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv/altex/onboard/config/docking/workSite.cfg rver Supervisor::createTask() - external: Using default vehicle config file "/home/dorado1/auv/altex/onboard/config/docking/vehicle.cfg" CommsServer Supervisor::createTask() - navigationS: WorkSite::WorkSite -- Finished loading parameters er: WorkSite::WorkSite -- Starting Depth is 0.000000 meters ver: 0: 1 600674.187500E 4067388.750000N 73.699997 m 10.000000 ms channel:2 S: 1: 2 600531.687500E 4065156.000000N 73.199997 m 10.000000 ms channel:4 uper: 2: 3 598447.000000E 4067412.250000N 91.400002 m 10.000000 ms channel:5 vis: 3: 4 600848.125000E 4069389.500000N 80.199997 m 10.000000 ms channel:6 or:: 4: 5 602732.187500E 4067093.000000N 57.299999 m 10.000000 ms channel:7 :cre: WorkSite server: 0x22f8c ateTask() - layeredCon: New Navigation component constructor trol: Navigation - Using only the Dvl to compute altitude. Server 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 S: SerialDevice: done... upervisor::createTask() - bluefinBattDrive: SerialDevice: done... r Supervis: SerialDevice: done... or::createTask() - dvlServe: BluefinBatt driver - running with 1 batteries r Sup: Gps: initializing e: SerialDevice: done... rv: SerialDevice: done... i: SerialDevice: done... sor::c: BluefineBatt::init() - 1 batteries on 10 second interval r: SerialDevice: done... ea: SerialDevice: done... : Gps: done initializing... teTask() : **** EventTriggers::add() - attaching proxy -: Crossbow.cc: Setting polled mode fan: BluefinBatt.cc - Looking for Parosci server Serve: SerialDevice: done... r: Crossbow.cc: Setting polled mode S: SerialDevice: done... uperv: Crossbow.cc: In getSerialNumber() isor:: BluefinBatt::init() - querying for batt ids :createTas: AshtechGps::processRecord() - GpsUtils::parseFix() - incomplete GGA sentence? $PASHR,ACK*3D k(): **** EventTriggers::add() - attaching proxy - dropWeightServer Superv: AshtechGps::processRecord() - GpsUtils::parseFix() - incomplete GGA sentence? $PASHR,ACK*3D isor::createTa: SerialDevice: done... sk() - sonardyneServer Supervisor::createTask() - dockS: SerialDevice: done... erver Supervisor::: SerialDevice: done... createTask() - mtiDriver : ahrs if is Ahrs : DropWeight::initialize - Resetting counters. : **** EventTriggers::add() - attaching proxy : SerialDeviceDriver::initialize() : SerialDevice: done... : Starting DVL Initialization. : SerialDevice: done... : mtiDriver STARTING... : MtiLog.cc -- beginning constructor... : MtiLog.cc -- constructor succeeded : PeriodicTask::run() (dockDriver) - sampleInterval=400, maxInterval=400 : PeriodicTask::run() (vehicleDriver) - sampleInterval=200, maxInterval=200 : Sonardyne -- configuration: PollPeriod = 1000 ms PresetGain = 0 PowerLevel = 0 LblWait = 2 s ESV = 1485.000000 m/s Beacon = V7,7 MRPL = 0.000000ms : SerialDevice: done... : 3 Modules found : DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize() : DynamicControlServer - Got event 1 from TailCone : PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200 : MtiDriver -- constructor succeeded : PeriodicTask::run() (sonardyneDriver) - sampleInterval=1000, maxInterval=1000 : SerialDevice: done... : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : PeriodicTask::run() (fanDriver) - sampleInterval=1000, maxInterval=1000 : Crossbow.cc: device->read succeeded : Crossbow.cc: I think the serial number is 17266 (4372) : Crossbow.cc: Setting polled mode : PeriodicTask::run() (crossbow) - sampleInterval=100, maxInterval=100 : PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200 : Parosci.cc -- Initial pressure = 0.068948 : Parosci.cc -- Parosci initial pressure period = 30.138020 : CR1 [Parameters set to FACTORY defaults] > : PD5 > : BK1 > : TP00:00.00 > : TE00:00:00.60 > : BL,10,010,100 > : Parosci.cc -- Parosci initial temp period = 5.839231 : BP001 > : Parosci.cc -- Paroscientific configured. : CF11010 > : CB611 > : SerialDevice: done... : Dvl::initialize - Baud rate set to 38400. : EX10011 > : EA+04500 > : WP0001 > : WN25 > : Dvl::initialize - The number of cells is 25. : **** EventTriggers::add() - attaching proxy : WV210 > : Dvl::initialize - 14 valid commands read in from dvl.cfg. : EC1490 > : > : Dvl::initialize() - The DVL is initialized. : **** 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: , : BluefinBatt::init() - battery ids are c0 : BluefinBatt::init() - found battery c0 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt::init() - battery echo is $c0wf 1 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver - caught exception during DIAG cycle: Timed Out 15 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt::init() - battery watchdog state is : PeriodicTask::run() (BluefinBatt) - sampleInterval=10000, maxInterval=10000 : 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: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver - caught exception during DIAG cycle: Timed Out 15 : 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: $c0q0 d- 32.91 2.83 26.56 4.09 4.10 0 -26.17 23:25:20 m : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 1, min cell voltage 4.090000, mean min cell voltage 4.090000 : 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, 36.737845, -121.880423 : Navigation: The lat/long in workSite.cfg, cvt'ed to UTM is 4066375.51, 599958.36 : PeriodicTask::run() (navigation) - sampleInterval=200, maxInterval=200 : **** EventTriggers::add() - attaching proxy : LayeredControl::execute() -- (t = 0.000000) Behavior getgps has changed to state Active : LayeredControl::execute() -- (t = 0.000000) Behavior depthEnvelope has changed to state Active : LayeredControl::execute() -- (t = 0.000000) 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: , : SonardyneDriver - caught exception during DIAG cycle: Timed Out 15 : 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: , : Supervisor::signalHandler(); caught signal 15 : Supervisor::signalHandler(); Received a SIGTERM or SIGQUIT. DropWeightServer NOT started. : Supervisor::cleanup() - delete _theSupervisor : Supervisor::shutdown() : **** SharedData destructor for object ParosciOutput_ShmemName **** : TaskServer::signalHandler() for task WorkSiteIFServer - exit() : TaskServer::signalHandler() for task AhrsIFServer - exit() : TaskServer::signalHandler() for task DepthSensorIFServer - exit() : TaskServer::signalHandler() for task DvlIFServer - exit() : TaskServer::signalHandler() for task UsblIFServer - exit() : NavigationOutput::~NavigationOutput() : TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit() : TaskServer::signalHandler() for task NavigationIFServer - exit() : TaskServer::signalHandler() for task LayeredControlIFServer - exit() : TaskServer::signalHandler() for task DynamicControlIFServer - exit() : TaskServer::signalHandler() for task TailConeIFServer - exit() : TaskServer::signalHandler() for task GpsIFServer - exit() : Supervisor::shutdown() - done() : TaskServer::signalHandler() for task EventLogIFServer - exit() : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() : **** SharedData destructor for object BluefinBattOutput **** : TaskServer::signalHandler() for task FanIFServer - exit() : TaskServer::signalHandler() for task DropWeightIFServer - exit() : Fan Destructor Executing. : TaskServer::signalHandler() for task DockIFServer - exit() : **** SharedData destructor for object DockOutput_ShmemName **** : **** SharedData destructor for object VehicleOutput_ShmemName **** : DropWeight Destructor Executing. : **** SharedData destructor for object GpsOutput_ShmemName **** : **** SharedData destructor for object MtiOutput **** : **** SharedData destructor for object DvlOutput_ShmemName **** : **** SharedData destructor for object SonardyneOutput_ShmemName **** : **** SharedData destructor for object crossbowCommand **** : **** SharedData destructor for object crossbowOutput **** : **** SharedData destructor for object ParosciOutput_ShmemName **** : **** SharedData destructor for object DvlOutput_ShmemName **** : **** SharedData destructor for object SonardyneOutput_ShmemName **** : **** SharedData destructor for object navigationOutput **** : NavigationOutput::~NavigationOutput() : **** SharedData destructor for object LayeredControlInput_ShmemName **** : **** SharedData destructor for object TailConeInput_ShmemName **** : **** SharedData destructor for object GpsOutput_ShmemName **** //10/home/dorado1/auv/altex/onboard/bin/layeredControl terminated (SIGSEGV) at 0007:0003A938. : TaskServer::signalHandler() for task DepthSensorIFServer - exit() : TaskServer::signalHandler() for task LayeredControlIFServer - exit() : **** SharedData destructor for object fanOutput **** : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() : SerialDeviceExt::closeSD() - closed : **** SharedData destructor for object dropWeightOutput **** : **** SharedData destructor for object fanOutput **** : **** SharedData destructor for object dropWeightOutput **** : TaskServer::signalHandler() for task DockIFServer - exit() : **** SharedData destructor for object crossbowOutput **** : TaskServer::signalHandler() for task NavigationIFServer - exit() : **** SharedData destructor for object crossbowCommand **** : StepGetStat (3) failed to read chars, rcvd=2, want=8 //10/home/dorado1/auv/altex/onboard/bin/sonardyneDriver terminated (SIGSEGV) at 0007:00021FD8. : TaskServer::signalHandler() for task UsblIFServer - exit() : TaskServer::signalHandler() for task GpsIFServer - exit() : **** SharedData destructor for object TailConeOutput_ShmemName **** : TaskServer::signalHandler() for task FanIFServer - exit() : **** SharedData destructor for object DockOutput_ShmemName **** : TaskServer::signalHandler() - _theTaskServer doesn't exist : StepGetStat (3) 1c 1c 00 00 01 00 00 : **** SharedData destructor for object VehicleOutput_ShmemName **** : 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 0007:0002436F.