Supervisor::createCoreTasks() Supervisor::createTask() - eventLogServer Supervisor::createTask() - workSite Supervisor::createTask() - vehicleConfigurationServer Supervisor::createTask() - externalCommsServer S: Initializing worksiteServer upervisor: WorkSite::WorkSite -- Adding attributes ::: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv/altex/onboard/config/multibeam/workSite.cfg cr: Using default vehicle config file "/home/dorado1/auv/altex/onboard/config/multibeam/vehicle.cfg" eateTask() - navigationServer Supervisor::createTask() - layeredControlServer Supervisor::createTask() - dynamicControlServer : WorkSite::WorkSite -- Finished loading parameters : 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 : 2: 3 598447.000000E 4067412.250000N 91.400002 m 10.000000 ms channel:5 : 3: 4 600848.125000E 4069389.500000N 80.199997 m 10.000000 ms channel:6 : 4: 5 602732.187500E 4067093.000000N 57.299999 m 10.000000 ms channel:7 : WorkSite server: 0x22f70 : New Navigation component constructor : Navigation - Using only the Dvl to compute altitude. Supervisor::createTask() - dropWeightServer Supervisor::createTask() - simulator Supervisor::createTask() - simTailCone Supervisor::createTask() - kearfottServer S: Create simulator... upervisor::createTask() - kearfottDvlServer : Create VehicleConfigurationIF... : Okay... : Create attributes... : Simulator:: initPsi = 0.000000 : Done creating attributes. Parse 'em... Supervisor::createTask() - parosciServer Superv: SerialDevice: done... isor::createTask() - fanServer Supervis: creating if InsIFServer or::createTask(): Preparing to fork - reson: I'm the child...forking 6046Server Super: DropWeight::initialize - Resetting counters. vis: **** EventTriggers::add() - attaching proxy or::createTask() - gpsServer : Simulator:: initPsi = 225.000000 : Simulator:: zMax = 210.000000 : The utm zone is 10 : Simulator: The lat/long in workSite.cfg is 0.641196, -2.12721 : Simulator: The lat/long in workSite.cfg, cvt'ed to UTM is 4.06638e+006, 599958 : Invoke simulator->run()... : Resetting counters to default : SerialDevice: done... : SerialDevice: done... : Launching Reson6046Server... : Setting name... : Creating server... : Command constructor... : Run server... : SerialDevice: done... : Launching Reson6046Driver... : Setting name to 'reson6046'... : SerialDevice: done... : Creating Reson6046Driver instance... : --> Starting Reson 6046 Driver.... : Command constructor... : SerialDevice: done... : Gps: initializing : SerialDevice: done... : Gps: done initializing... : **** EventTriggers::add() - attaching proxy : AshtechGps::processRecord() - $PASHR,ACK*3D : GpsUtils::parseFix() - $PASHR,ACK*3D : AshtechGps::processRecord() - GpsUtils::parseFix() - incomplete GGA sentence? $PASHR,ACK*3D : **** EventTriggers::add() - attaching proxy : AshtechGps::processRecord() - $PASHR,ACK*3D : GpsUtils::parseFix() - $PASHR,ACK*3D : AshtechGps::processRecord() - GpsUtils::parseFix() - incomplete GGA sentence? $PASHR,ACK*3D : PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200 : PeriodicTask::run() (fanDriver) - sampleInterval=1000, maxInterval=1000 : KearfottDriver: unable to open gps interface : AshtechGps::processRecord() - $GPGGA,171656.00,,,,,0,00,,,M,,M,,*4A : GpsUtils::parseFix() - $GPGGA,171656.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Parosci.cc -- Initial pressure = 8.361248 : Parosci.cc -- Parosci initial pressure period = 29.867840 : Parosci.cc -- Parosci initial temp period = 5.878714 : Parosci.cc -- Paroscientific configured. : AshtechGps::processRecord() - $GPGGA,171657.00,,,,,0,00,,,M,,M,,*4B : GpsUtils::parseFix() - $GPGGA,171657.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : **** EventTriggers::add() - attaching proxy : AshtechGps::processRecord() - $GPGGA,171658.00,,,,,0,00,,,M,,M,,*44 : GpsUtils::parseFix() - $GPGGA,171658.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,171659.00,,,,,0,00,,,M,,M,,*45 : GpsUtils::parseFix() - $GPGGA,171659.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,171700.00,,,,,0,00,,,M,,M,,*48 : GpsUtils::parseFix() - $GPGGA,171700.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,171701.00,,,,,0,00,,,M,,M,,*49 : GpsUtils::parseFix() - $GPGGA,171701.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,171702.00,,,,,0,00,,,M,,M,,*4A : GpsUtils::parseFix() - $GPGGA,171702.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,171703.00,,,,,0,00,,,M,,M,,*4B : GpsUtils::parseFix() - $GPGGA,171703.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,171704.00,,,,,0,00,,,M,,M,,*4C : GpsUtils::parseFix() - $GPGGA,171704.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,171705.00,,,,,0,00,,,M,,M,,*4D : GpsUtils::parseFix() - $GPGGA,171705.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : reson6046: Caught exception while opening interfaces: Server "FastCat" not found : reson6046: navIF is 0x40ae4 : reson6046: insIF is 0x40c44 : Running Reson6046Driver... : PeriodicTask::run() (reson6046) - sampleInterval=200, maxInterval=200 : KearfottDriver: unable to open ctd interface : AshtechGps::processRecord() - $GPGGA,171706.00,,,,,0,00,,,M,,M,,*4E : GpsUtils::parseFix() - $GPGGA,171706.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Kearfott::parseGPS_GGA() GPGGA,171654.00,,,,,0,00,,,M,,M,, : GpsUtils::parseFix() - GPGGA,171654.00,,,,,0,00,,,M,,M,, : AshtechGps::processRecord() - $GPGGA,171707.00,,,,,0,00,,,M,,M,,*4F : GpsUtils::parseFix() - $GPGGA,171707.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Kearfott::parseGPS_GGA() GPGGA,171707.00,,,,,0,00,,,M,,M,, : GpsUtils::parseFix() - GPGGA,171707.00,,,,,0,00,,,M,,M,, : KearfottDriver: updating with external sensors : updating depth with -0.063215(-6) : updating salinity with 3500 : Lbl NavSensor - could not create LBL task interface : Navigation: Server for aux sensor "Lbl" not found : AshtechGps::processRecord() - $GPGGA,171708.00,,,,,0,00,,,M,,M,,*40 : GpsUtils::parseFix() - $GPGGA,171708.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Kearfott::parseGPS_GGA() GPGGA,171708.00,,,,,0,00,,,M,,M,, : GpsUtils::parseFix() - GPGGA,171708.00,,,,,0,00,,,M,,M,, : AshtechGps::processRecord() - $GPGGA,171709.00,,,,,0,00,,,M,,M,,*41 : GpsUtils::parseFix() - $GPGGA,171709.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Kearfott::parseGPS_GGA() GPGGA,171709.00,,,,,0,00,,,M,,M,, : GpsUtils::parseFix() - GPGGA,171709.00,,,,,0,00,,,M,,M,, : KearfottDriver: updating with external sensors : updating depth with 0.000000(0) : updating salinity with 3500 : AshtechGps::processRecord() - $GPGGA,171710.00,,,,,0,00,,,M,,M,,*49 : GpsUtils::parseFix() - $GPGGA,171710.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Kearfott::parseGPS_GGA() GPGGA,171710.00,,,,,0,00,,,M,,M,, : GpsUtils::parseFix() - GPGGA,171710.00,,,,,0,00,,,M,,M,, : AshtechGps::processRecord() - $GPGGA,171711.00,,,,,0,00,,,M,,M,,*48 : GpsUtils::parseFix() - $GPGGA,171711.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Kearfott::parseGPS_GGA() GPGGA,171711.00,,,,,0,00,,,M,,M,, : GpsUtils::parseFix() - GPGGA,171711.00,,,,,0,00,,,M,,M,, : KearfottDriver: updating with external sensors : updating depth with 0.054800(5) : updating salinity with 3500 : AshtechGps::processRecord() - $GPGGA,171712.00,,,,,0,00,,,M,,M,,*4B : GpsUtils::parseFix() - $GPGGA,171712.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Kearfott::parseGPS_GGA() GPGGA,171712.00,,,,,0,00,,,M,,M,, : GpsUtils::parseFix() - GPGGA,171712.00,,,,,0,00,,,M,,M,, : AshtechGps::processRecord() - $GPGGA,171713.00,,,,,0,00,,,M,,M,,*4A : GpsUtils::parseFix() - $GPGGA,171713.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Kearfott::parseGPS_GGA() GPGGA,171713.00,,,,,0,00,,,M,,M,, : GpsUtils::parseFix() - GPGGA,171713.00,,,,,0,00,,,M,,M,, : KearfottDriver: updating with external sensors : updating depth with -0.063215(-6) : updating salinity with 3500 : AshtechGps::processRecord() - $GPGGA,171714.00,,,,,0,00,,,M,,M,,*4D : GpsUtils::parseFix() - $GPGGA,171714.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Kearfott::parseGPS_GGA() GPGGA,171714.00,,,,,0,00,,,M,,M,, : GpsUtils::parseFix() - GPGGA,171714.00,,,,,0,00,,,M,,M,, : AshtechGps::processRecord() - $GPGGA,171715.00,,,,,0,00,,,M,,M,,*4C : GpsUtils::parseFix() - $GPGGA,171715.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Kearfott::parseGPS_GGA() GPGGA,171715.00,,,,,0,00,,,M,,M,, : GpsUtils::parseFix() - GPGGA,171715.00,,,,,0,00,,,M,,M,, : KearfottDriver: updating with external sensors : updating depth with -0.148505(-14) : updating salinity with 3500 : AshtechGps::processRecord() - $GPGGA,171716.00,,,,,0,00,,,M,,M,,*4F : GpsUtils::parseFix() - $GPGGA,171716.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Kearfott::parseGPS_GGA() GPGGA,171716.00,,,,,0,00,,,M,,M,, : GpsUtils::parseFix() - GPGGA,171716.00,,,,,0,00,,,M,,M,, : AshtechGps::processRecord() - $GPGGA,171717.00,,,,,0,00,,,M,,M,,*4E : GpsUtils::parseFix() - $GPGGA,171717.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Kearfott::parseGPS_GGA() GPGGA,171717.00,,,,,0,00,,,M,,M,, : GpsUtils::parseFix() - GPGGA,171717.00,,,,,0,00,,,M,,M,, : KearfottDriver: updating with external sensors : updating depth with -0.110421(-11) : updating salinity with 3500 : 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 4066375.513033, 599958.355332 : PeriodicTask::run() (navigation) - sampleInterval=200, maxInterval=200 : AshtechGps::processRecord() - $GPGGA,171718.00,,,,,0,00,,,M,,M,,*41 : GpsUtils::parseFix() - $GPGGA,171718.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : **** EventTriggers::add() - attaching proxy : Kearfott::parseGPS_GGA() GPGGA,171718.00,,,,,0,00,,,M,,M,, : GpsUtils::parseFix() - GPGGA,171718.00,,,,,0,00,,,M,,M,, : LayeredControl::execute() -- (t = 0.000000) Behavior setpoint has changed to state Active : LayeredControl::execute() -- (t = 0.000000) Behavior missionTimer has changed to state Active : **** EventTriggers::add() - attaching proxy : *** Mission started *** : !!!! Simulator::missionStatusCallback() - Got event 0 from "layeredControl" : Event received at _simTime=0.02 : Simulator::missionStatusCallback() - mission started : simTime = 0.00, (simTime - realTime) = 0.00 : AshtechGps::processRecord() - $GPGGA,171719.00,,,,,0,00,,,M,,M,,*40 : GpsUtils::parseFix() - $GPGGA,171719.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Kearfott::parseGPS_GGA() GPGGA,171719.00,,,,,0,00,,,M,,M,, : GpsUtils::parseFix() - GPGGA,171719.00,,,,,0,00,,,M,,M,, : KearfottDriver: updating with external sensors : updating depth with -0.063215(-6) : updating salinity with 3500 : simTime = 1.00, (simTime - realTime) = 0.08 : AshtechGps::processRecord() - $GPGGA,171720.00,,,,,0,00,,,M,,M,,*4A : GpsUtils::parseFix() - $GPGGA,171720.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Kearfott::parseGPS_GGA() GPGGA,171720.00,,,,,0,00,,,M,,M,, : GpsUtils::parseFix() - GPGGA,171720.00,,,,,0,00,,,M,,M,, : simTime = 2.00, (simTime - realTime) = 0.08 : AshtechGps::processRecord() - $GPGGA,171721.00,,,,,0,00,,,M,,M,,*4B : GpsUtils::parseFix() - $GPGGA,171721.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Kearfott::parseGPS_GGA() GPGGA,171721.00,,,,,0,00,,,M,,M,, : GpsUtils::parseFix() - GPGGA,171721.00,,,,,0,00,,,M,,M,, : KearfottDriver: updating with external sensors : updating depth with -0.101299(-10) : updating salinity with 3500 : simTime = 3.00, (simTime - realTime) = 0.08 : AshtechGps::processRecord() - $GPGGA,171722.00,,,,,0,00,,,M,,M,,*48 : GpsUtils::parseFix() - $GPGGA,171722.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Kearfott::parseGPS_GGA() GPGGA,171722.00,,,,,0,00,,,M,,M,, : GpsUtils::parseFix() - GPGGA,171722.00,,,,,0,00,,,M,,M,, : simTime = 4.00, (simTime - realTime) = 0.08 : AshtechGps::processRecord() - $GPGGA,171723.00,,,,,0,00,,,M,,M,,*49 : GpsUtils::parseFix() - $GPGGA,171723.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Kearfott::parseGPS_GGA() GPGGA,171723.00,,,,,0,00,,,M,,M,, : GpsUtils::parseFix() - GPGGA,171723.00,,,,,0,00,,,M,,M,, : KearfottDriver: updating with external sensors : updating depth with 0.016716(1) : updating salinity with 3500 : simTime = 5.00, (simTime - realTime) = 0.08 : AshtechGps::processRecord() - $GPGGA,171724.00,,,,,0,00,,,M,,M,,*4E : GpsUtils::parseFix() - $GPGGA,171724.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Kearfott::parseGPS_GGA() GPGGA,171724.00,,,,,0,00,,,M,,M,, : GpsUtils::parseFix() - GPGGA,171724.00,,,,,0,00,,,M,,M,, : simTime = 6.00, (simTime - realTime) = 0.08 : AshtechGps::processRecord() - $GPGGA,171725.00,,,,,0,00,,,M,,M,,*4F : GpsUtils::parseFix() - $GPGGA,171725.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Kearfott::parseGPS_GGA() GPGGA,171725.00,,,,,0,00,,,M,,M,, : GpsUtils::parseFix() - GPGGA,171725.00,,,,,0,00,,,M,,M,, : KearfottDriver: updating with external sensors : updating depth with 0.016716(1) : updating salinity with 3500 : simTime = 7.00, (simTime - realTime) = 0.08 : AshtechGps::processRecord() - $GPGGA,171726.00,,,,,0,00,,,M,,M,,*4C : GpsUtils::parseFix() - $GPGGA,171726.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Kearfott::parseGPS_GGA() GPGGA,171726.00,,,,,0,00,,,M,,M,, : GpsUtils::parseFix() - GPGGA,171726.00,,,,,0,00,,,M,,M,, : simTime = 8.00, (simTime - realTime) = 0.08 : AshtechGps::processRecord() - $GPGGA,171727.00,,,,,0,00,,,M,,M,,*4D : GpsUtils::parseFix() - $GPGGA,171727.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Kearfott::parseGPS_GGA() GPGGA,171727.00,,,,,0,00,,,M,,M,, : GpsUtils::parseFix() - GPGGA,171727.00,,,,,0,00,,,M,,M,, : KearfottDriver: updating with external sensors : updating depth with 0.016716(1) : updating salinity with 3500 : simTime = 9.00, (simTime - realTime) = 0.08 : **** SharedData destructor for object ParosciOutput_ShmemName **** : **** SharedData destructor for object kearfottOutput **** : TaskServer::signalHandler() for task WorkSiteIFServer - exit() : TaskServer::signalHandler() for task InsIFServer - exit() : TaskServer::signalHandler() for task DvlIFServer - exit() : TaskServer::signalHandler() for task DepthSensorIFServer - exit() : TaskServer::signalHandler() for task GpsIFServer - exit() : NavigationOutput::~NavigationOutput() : TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit() : TaskServer::signalHandler() for task NavigationIFServer - exit() : TaskServer::signalHandler() for task DynamicControlIFServer - exit() : **** SharedData destructor for object LayeredControlInput_ShmemName **** : TaskServer::signalHandler() for task SimulatorIFServer - exit() : TaskServer::signalHandler() for task TailConeIFServer - exit() : TaskServer::signalHandler() for task DepthSensorIFServer - exit() : **** SharedData destructor for object LayeredControlOutput_ShmemName **** : Fan Destructor Executing. : Supervisor::signalHandler(); caught signal 2 : TaskServer::signalHandler() for task EventLogIFServer - exit() : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() : TaskServer::signalHandler() for task LayeredControlIFServer - exit() : TaskServer::signalHandler() for task DropWeightIFServer - exit() : TaskServer::signalHandler() for task FanIFServer - exit() : TaskServer::signalHandler() for task Reson6046IFServer - exit() : DropWeight Destructor Executing. : **** SharedData destructor for object GpsOutput_ShmemName **** : **** SharedData destructor for object navigationOutput **** : **** SharedData destructor for object DvlOutput_ShmemName **** : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() : Command destructor... : **** SharedData destructor for object kearfottOutput **** : **** SharedData destructor for object DvlOutput_ShmemName **** : **** SharedData destructor for object GpsOutput_ShmemName **** : NavigationOutput::~NavigationOutput() : **** SharedData destructor for object ParosciOutput_ShmemName **** : TaskServer::signalHandler() for task LayeredControlIFServer - 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 **** : Reson6046Server - killing driver : **** SharedData destructor for object dropWeightOutput **** : **** SharedData destructor for object dropWeightOutput **** : **** SharedData destructor for object fanOutput **** : TaskServer::signalHandler() for task NavigationIFServer - exit() : TaskServer::signalHandler() for task InsIFServer - exit() : TaskServer::signalHandler() for task GpsIFServer - exit() : TaskServer::signalHandler() for task Reson6046IFServer - exit() : **** SharedData destructor for object LayeredControlInput_ShmemName **** : Supervisor::cleanup() - delete _theSupervisor : TaskServer::signalHandler() for task FanIFServer - exit() : TaskServer::signalHandler() for task DropWeightIFServer - exit() : Supervisor::shutdown() : **** SharedData destructor for object LayeredControlOutput_ShmemName **** : Supervisor::shutdown() - done() : TaskServer::signalHandler() for task LayeredControlIFServer - exit()