Supervisor::createCoreTasks() Supervisor::createTask() - eventLogServer Supervisor::createTask() - workSite Supervisor::createTask() - vehicleCon: Initializing worksiteServer figurati: WorkSite::WorkSite -- Adding attributes onS: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv-qnx/auv/altex/onboard/config/docking/workSite.cfg erver Supervisor::createTask() - externalCommsServer S: Using default vehicle config file "/home/dorado1/auv-qnx/auv/altex/onboard/config/docking/vehicle.cfg" upervisor::createTask() - navigationSer: WorkSite::WorkSite -- Finished loading parameters ve: WorkSite::WorkSite -- Starting Depth is 0.000000 meters r : 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: 0x23014 Supervisor::createTask() - layeredControlServer : Creating NavigationServer... S: *** NavigationServer::NavigationServer()... upe: *** NavigationServer::NavigationServer() - DONE rvi: Done creating NavigationServer... sor::createTask() - dynamicControlServer : New Navigation component constructor : Navigation - Using only the Dvl to compute altitude. : Navigation: Opening Acoustic Modem Interface: Supervisor::createTask() - newTailConeServer Supervisor::createTask() - m3dmgx1Server Supervisor::createTask() - gpsServer Supervisor::createTask() - parosciS: Preparing to fork erver : SerialDevice: done... : I'm the child...forking : TailConeServer -- Maximum Elevator Actuator Excursion is 0 Counts Sup: TailConeServer:: -- Minimum Elevator Actuator Excursion is 0 Counts ervisor: TailConeServer -- Maximum Rudder Actuator Excursion is 0 Counts ::cr: TailConeServer -- Minimum Rudder Actuator Excursion is 0 Counts eate: SerialDevice: done... Task: SerialDevice: done... () - dvlServer Supervisor::createTask() - dropWeightServer : DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize() : SerialDevice: done... Sup: SerialDevice: done... e: Crossbow.cc: In getSerialNumber() rvisor::createTask() - sonardyneServer : SerialDevice: done... Superv: SerialDevice: done... isor::createTask() - cameraServer : SerialDevice: done... Supervisor::cre: Gps: initializing at: Parosci.cc -- parsed PR (30) and TempInterval (10) eT: SerialDevice: done... ask(: SerialDevice: done... : SerialDevice: done... ) -: Gps: done initializing... echo: **** EventTriggers::add() - attaching proxy SounderServer : Parosci.cc -- Serial # is 87760 : Parosci::init() - mode set okay : Parosci.cc -- PR reply = 30 : SonardyneServer.cc was last compiled on Jul 19 2010, 03:30:31 : Parosci.cc -- units = 1 Supervis: SerialDevice: done... or::createTask() - benthosServer : Crossbow.cc: device->read succeeded : m3dmgx1: Serial Number is 6380 : PeriodicTask::run() (crossbow) - sampleInterval=100, maxInterval=100 Superv: SerialDevice: done... isor::createTask() - terrainAidServe: DropWeight::initialize - Resetting counters. r : **** EventTriggers::add() - attaching proxy : AshtechGps::processRecord() - $GPGGA,165703.00,3648.76100,N,12158.33736,W,1,09,0.9,-1.19,M,-33.02,M,,*77 : SerialDevice: done... : SonardyneDriver.cc was last compiled on Jul 19 2010, 13:48:20 : SerialDeviceDriver::initialize() : Starting DVL Initialization. : SerialDevice: done... : CameraDriver:: Before navigation IF. : CameraDriver enabling 12V camera power supply : DepthEnvelope - Error. maxLowerPitch must be a postive number. Flipping the sign now. : maxLowerPitch = 1745.31 : PeriodicTask::run() (cameraDriver) - sampleInterval=200, maxInterval=200 : MissionPlan::load() error: Line 59: syntax error offending text: "finalDepth" : *** LayeredControl::initialize() - couldn't load NORMAL plan "/home/dorado1/auv-qnx/auv/altex/onboard/missions/SqlCynRte4_071910_depth.cfg.pp" : **** SharedData destructor for object LayeredControlOutput_ShmemName **** : destroying segment LayeredControlOutput_ShmemName : destroying prot sem LayeredControlOutput_ShmemName_prot : destroying notify sem LayeredControlOutput_ShmemName_notify : **** SharedData destructor for object LayeredControlInput_ShmemName **** : destroying segment LayeredControlInput_ShmemName : destroying prot sem LayeredControlInput_ShmemName_prot : destroying notify sem LayeredControlInput_ShmemName_notify //10/home/dorado1/auv-qnx/auv/altex/onboard/bin/layeredControl terminated (SIGSEGV) at 0007:00044594. : TaskServer::signalHandler() for task LayeredControlIFServer - exit() on signal 18 : SerialDevice: done... : **** SharedData destructor for object LayeredControlInput_ShmemName **** : SerialDevice: done... : destroying segment LayeredControlInput_ShmemName : SonardyneDriver -- configuration: PingDelay = 400 ms PresetGain = 1 PowerLevel = 0 LblWait = 3 s ESV = 1490.000000 m/s Beacon = V4,5 MRPL = 2 ms : destroying prot sem LayeredControlInput_ShmemName_prot : BenthosModem::commandMode() - confirming... : destroying notify sem LayeredControlInput_ShmemName_notify : **** SharedData destructor for object LayeredControlOutput_ShmemName **** : destroying segment LayeredControlOutput_ShmemName : AshtechGps::processRecord() - $GPGGA,165704.00,3648.76090,N,12158.33705,W,1,09,0.9,-1.11,M,-33.02,M,,*70 : destroying prot sem LayeredControlOutput_ShmemName_prot : destroying notify sem LayeredControlOutput_ShmemName_notify : EchoSounder -- configuration: Maximum Range = 100 m StartGain = 20 dB Absorption = 0.20 dB/m Pulse Length = 270 microseconds Minimum Range = 0.00 m Trigger Control= 0 Profile = 1 Delay = 0 milliseconds xz mounting an.= 90.00 degrees Head angle = -30.00 degrees Sector angle = 0.00 degrees Step size = 2.40 degrees Acoustic Freq = 675 kHz Ping period = 1.00 seconds : Scaled and shifted frequency = 100 : Set verbose level : Parosci.cc -- Initial pressure = 1.091441 : Configuration file = /home/dorado1/auv-qnx/auv/altex/onboard/config/docking/terrainAid.cfg : TerrainAid -- configuration: : mapFileName = SoquelCanyonMAUVUTMTopo_NoNan.grd : vehicleCfgName = mappingAUV_specs.cfg : dvlFileName = rdiDVL_specs.cfg : resonCfgName = resonSeabat8101_specs.cfg : samplePeriod = 3000 : maxNorthingCov = 30.00 : Navigation: acommsIF = 0x6ec78 : ahrs if is Ahrs : maxEastingCov = 30.00 : maxNorthingError = 300.00 : maxEastingError = 300.00 : Parosci.cc -- Parosci initial pressure period = 30.138470 : Vehicle configuration file = /home/dorado1/auv-qnx/auv/altex/onboard/config/docking/mappingAUV_specs.cfg : SerialDevice: done... : 3 Modules found : Parosci.cc -- Parosci initial temp period = 5.841389 : Parosci.cc -- Paroscientific configured. : Set write delay : Dvl configuration file = /home/dorado1/auv-qnx/auv/altex/onboard/config/docking/rdiDVL_specs.cfg : Reson configuration file = /home/dorado1/auv-qnx/auv/altex/onboard/config/docking/resonSeabat8101_specs.cfg : Map file = /home/dorado1/auv-qnx/auv/altex/onboard/config/docking/SoquelCanyonMAUVUTMTopo_NoNan.grd : TerrainAidDriver:: RollOffset is 0.00 : Set remote response waiting time : CR1 [Parameters set to FACTORY defaults] > : PD5 > : BK1 > : TP00:00.20 > : TE00:00:00.00 > : NMEA Update: $GPGGA,165704.30,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5e : BL,10,010,100 > : BP001 > : AshtechGps::processRecord() - $GPGGA,165705.00,3648.76090,N,12158.33676,W,1,09,0.9,-1.19,M,-33.02,M,,*7C : CF11010 > : CB611 > : SerialDevice: done... : Dvl::initialize - Baud rate set to 38400. : EX10011 > : EA+04238 > : 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 : Task "layeredControlServer" died? Supervisor::createTask() - layeredControl: Turn on doppler correction Server : Supervisor::Supervisor() - task(s) died; exiting : Supervisor::shutdown() : **** SharedData destructor for object ParosciOutput_ShmemName **** : **** SharedData destructor for object m3dmgx1Cmd **** : TaskServer::signalHandler() for task AhrsIFServer - exit() on signal 2 : NavigationOutput::~NavigationOutput() : TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit() on signal 2 : TaskServer::signalHandler() for task DynamicControlIFServer - exit() on signal 2 : Supervisor::signalHandler(); caught signal 2 : StepGetStat(2): checksum error : TaskServer::signalHandler() for task TerrainAidIFServer - exit() on signal 2 : TaskServer::signalHandler() for task EventLogIFServer - exit() on signal 2 : TaskServer::signalHandler() for task WorkSiteIFServer - exit() on signal 2 : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() on signal 2 : TaskServer::signalHandler() for task NavigationIFServer - exit() on signal 2 : TaskServer::signalHandler() for task TailConeIFServer - exit() on signal 2 : TaskServer::signalHandler() for task GpsIFServer - exit() on signal 2 : TaskServer::signalHandler() for task DepthSensorIFServer - exit() on signal 2 : TaskServer::signalHandler() for task DvlIFServer - exit() on signal 2 : TaskServer::signalHandler() for task DropWeightIFServer - exit() on signal 2 : TaskServer::signalHandler() for task UsblIFServer - exit() on signal 2 : TaskServer::signalHandler() for task CameraIFServer - exit() on signal 2 : TaskServer::signalHandler() for task EchoSounderIFServer - exit() on signal 2 : TaskServer::signalHandler() for task BenthosModemServer - exit() on signal 2 : CameraDestructor Executing. : **** SharedData destructor for object GpsOutput_ShmemName **** : DropWeight Destructor Executing. : Supervisor::signalHandler(); caught signal 2 : destroying segment ParosciOutput_ShmemName : **** SharedData destructor for object EchoSounderOutput_ShmemName **** : **** SharedData destructor for object DvlOutput_ShmemName **** : **** SharedData destructor for object SonardyneOutput_ShmemName **** : destroying segment m3dmgx1Cmd : TaskServer::signalHandler() for task BenthosModemServer - exit() on signal 18 : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() on signal 18 : **** SharedData destructor for object m3dmgx1 **** : **** SharedData destructor for object navigationOutput **** : 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. : destroying prot sem ParosciOutput_ShmemName_prot : NavigationOutput::~NavigationOutput() : **** SharedData destructor for object SonardyneOutput_ShmemName **** : SerialDeviceExt::closeSD() - closed : destroying segment GpsOutput_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 TerrainAidOutput **** : **** SharedData destructor for object dropWeightOutput **** : destroying prot sem m3dmgx1Cmd_prot : **** SharedData destructor for object TailConeInput_ShmemName **** : **** SharedData destructor for object GpsOutput_ShmemName **** : **** SharedData destructor for object ParosciOutput_ShmemName **** : **** SharedData destructor for object DvlOutput_ShmemName **** : **** SharedData destructor for object dropWeightOutput **** : **** SharedData destructor for object CameraOutput **** : **** SharedData destructor for object EchoSounderOutput_ShmemName **** : destroying segment EchoSounderOutput_ShmemName : destroying segment DvlOutput_ShmemName : destroying segment SonardyneOutput_ShmemName : **** SharedData destructor for object BenthosModemOutout **** : destroying segment m3dmgx1 : destroying segment navigationOutput : Supervisor::cleanup() - delete _theSupervisor : destroying notify sem ParosciOutput_ShmemName_notify : **** SharedData destructor for object navigationOutput **** : destroying segment SonardyneOutput_ShmemName : destroying prot sem GpsOutput_ShmemName_prot : **** SharedData destructor for object CameraOutput **** : Supervisor::cleanup() - delete _theSupervisor : destroying notify sem m3dmgx1Cmd_notify : destroying segment TerrainAidOutput : destroying segment dropWeightOutput : destroying segment TailConeInput_ShmemName : destroying segment GpsOutput_ShmemName : destroying segment ParosciOutput_ShmemName : destroying segment DvlOutput_ShmemName : destroying segment dropWeightOutput : destroying segment CameraOutput : destroying prot sem EchoSounderOutput_ShmemName_prot : destroying segment EchoSounderOutput_ShmemName : destroying prot sem DvlOutput_ShmemName_prot : destroying prot sem SonardyneOutput_ShmemName_prot : destroying prot sem m3dmgx1_prot : destroying prot sem navigationOutput_prot : destroying segment BenthosModemOutout : **** SharedData destructor for object SupervisorOutout **** : TaskServer::signalHandler() for task DepthSensorIFServer - exit() on signal 18 : **** SharedData destructor for object m3dmgx1 **** : destroying prot sem SonardyneOutput_ShmemName_prot : destroying segment navigationOutput : destroying notify sem GpsOutput_ShmemName_notify : destroying segment CameraOutput : **** SharedData destructor for object SupervisorOutout **** : destroying prot sem TerrainAidOutput_prot : destroying prot sem dropWeightOutput_prot : destroying prot sem TailConeInput_ShmemName_prot : destroying prot sem GpsOutput_ShmemName_prot : destroying prot sem DvlOutput_ShmemName_prot : destroying prot sem dropWeightOutput_prot : destroying prot sem CameraOutput_prot : destroying notify sem EchoSounderOutput_ShmemName_notify : destroying prot sem EchoSounderOutput_ShmemName_prot : destroying notify sem DvlOutput_ShmemName_notify : destroying notify sem SonardyneOutput_ShmemName_notify : destroying notify sem m3dmgx1_notify : destroying notify sem navigationOutput_notify : destroying prot sem BenthosModemOutout_prot : destroying segment m3dmgx1 : destroying segment SupervisorOutout : destroying notify sem SonardyneOutput_ShmemName_notify : destroying prot sem navigationOutput_prot : destroying prot sem CameraOutput_prot : destroying notify sem TerrainAidOutput_notify : destroying segment SupervisorOutout : TaskServer::signalHandler() for task GpsIFServer - exit() on signal 18 : destroying notify sem dropWeightOutput_notify : destroying notify sem TailConeInput_ShmemName_notify : destroying notify sem DvlOutput_ShmemName_notify : destroying notify sem dropWeightOutput_notify : destroying notify sem CameraOutput_notify : destroying notify sem EchoSounderOutput_ShmemName_notify : SerialDeviceExt::closeSD() - closed : **** SharedData destructor for object m3dmgx1Cmd **** : TaskServer::signalHandler() for task UsblIFServer - exit() on signal 18 : TaskServer::signalHandler() for task NavigationIFServer - exit() on signal 18 : destroying notify sem BenthosModemOutout_notify : destroying prot sem m3dmgx1_prot : destroying prot sem SupervisorOutout_prot : destroying notify sem CameraOutput_notify : destroying prot sem SupervisorOutout_prot : destroying notify sem m3dmgx1_notify : **** SharedData destructor for object TailConeOutput_ShmemName **** : TaskServer::signalHandler() for task DropWeightIFServer - exit() on signal 18 : failed to unlink queue EchoSounderCommand : destroying segment m3dmgx1Cmd : TaskServer::signalHandler() for task EchoSounderIFServer - exit() on signal 18 : destroying notify sem SupervisorOutout_notify : destroying notify sem SupervisorOutout_notify : TaskServer::signalHandler() for task AhrsIFServer - exit() on signal 18 : destroying segment TailConeOutput_ShmemName : Supervisor::shutdown() : Supervisor::shutdown() : destroying prot sem TailConeOutput_ShmemName_prot : Supervisor::shutdown() - done() : Supervisor::shutdown() - done() : destroying notify sem TailConeOutput_ShmemName_notify : TerrainAidDestructor Executing. : **** SharedData destructor for object TerrainAidOutput **** : destroying segment TerrainAidOutput : destroying prot sem TerrainAidOutput_prot : destroying notify sem TerrainAidOutput_notify : SerialDevice: done... : Dvl::~Dvl: Destructor Finished. //10/home/dorado1/auv-qnx/auv/altex/onboard/bin/dvl terminated (SIGSEGV) at 0007:0002468F. : StepGetStat (3) failed to read chars, rcvd=2, want=8 : StepGetStat (3) 18 18 00 00 05 00 00 : **** SharedData destructor for object TailConeInput_ShmemName **** : destroying segment TailConeInput_ShmemName : destroying prot sem TailConeInput_ShmemName_prot : destroying notify sem TailConeInput_ShmemName_notify : **** SharedData destructor for object TailConeOutput_ShmemName **** : destroying segment TailConeOutput_ShmemName : destroying prot sem TailConeOutput_ShmemName_prot : destroying notify sem TailConeOutput_ShmemName_notify