Supervisor::createCoreTasks() Supervisor::createTask() - eventLogServer Supervisor::createTask() - workSite Supervisor::createTask() - vehicleCo: Initializing worksiteServer nfigurat: WorkSite::WorkSite -- Adding attributes ion: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv-qnx-dev/auv/altex/onboard/config/i2map_dmo1/workSite.cfg Server Supervisor::createTask() - external: Using default vehicle config file "/home/dorado1/auv-qnx-dev/auv/altex/onboard/config/i2map_dmo1/vehicle.cfg" CommsServer Supervisor::createTask() - navigationServer : starting LC: layeredControlServer -plan Transect14_SingleDay.cfg.pp -abort abortMplan.cfg Supervisor::createTask() - layeredControlServer -plan Transect14_SingleDay.cfg.pp -abort abortMplan.cfg Supervisor::createTask() - dynamicControlServer : Creating NavigationServer... : *** NavigationServer::NavigationServer()... : layeredControlServer - creating non dynamic version : WorkSite::WorkSite -- Finished loading parameters : WorkSite::WorkSite -- Starting Depth is 0.000000 meters : 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: 0x23168 : *** NavigationServer::NavigationServer() - DONE : Done creating NavigationServer... : Navigation::Navigation - Setting start depth to 0.0 meters. : Navigation::Navigation _logOnly = 0 : Navigation - Using only the Dvl to compute altitude. : Navigation/EchoSounder:: epoch = (1556903920,350608792) : Navigation: Opening Acoustic Modem Interface: : Supervisor::createTasks() - spawning newTailConeServer -dev /dev/ser3 Supervisor::createTask() - newTailConeServer -dev /dev/ser3 : Supervisor::createTasks() - spawning m3dmgx1Server -dev /dev/ser5 -useForNav Supervisor::createTask() - m3dmgx1Server -dev /dev/ser5 -useForNav : Supervisor::createTasks() - spawning gpsServer -r ashtech -dev udp:127.0.0.1:5052 Supervisor::createTask() -: SerialDevice: done... : TailConeServer -- Maximum Elevator Actuator Excursion is 0 Counts gp: TailConeServer:: -- Minimum Elevator Actuator Excursion is 0 Counts sS: TailConeServer -- Maximum Rudder Actuator Excursion is 0 Counts er: TailConeServer -- Minimum Rudder Actuator Excursion is 0 Counts v: Preparing to fork e: SerialDevice: done... r : I'm the child...forking -r as: SerialDevice: done... hte: SerialDevice: done... ch -dev udp:: SerialDevice: done... 1: Crossbow.cc: In getSerialNumber() 27.0.0.1:5052 : Supervisor::createTasks() - spawning parosciServer -dev /dev/ser9 Supervisor::createTask() - parosciServer -dev /dev/ser9 : Supervisor::createTasks() - spawning dvlServer -dev /dev/ser6 Supervisor::createTask() - dvlS: SerialDevice: done... e: Parosci::reson host is NULL rve: Parosci.cc -- parsed PR (100) and TempInterval (100) r: Gps: initializing -dev: Gps: done initializing... /d: **** EventTriggers::add() - attaching proxy ev/ser6 : Supervisor::createTasks() - spawning newBattServer -n newBatt1 -dev tcp:134.89.32.121:10003 Supervisor::createTask() - newB: SerialDevice: done... attServer -n newBatt1 -dev tcp:134.89.32.121:10003 : Supervisor::createTasks() - spawning carlServer Supervisor::createTask() - carlServe: NewBattServer: servicename=NewBattIFServer r : Supervisor::createTasks() - spawning seabird25pServer -n seabird25p -dev udp:134.89.32.55:54125 Superv: NewBattServer::spawnAuxTasks - execlp(newBattDriver newBattDriver -n newBatt1 -dev tcp:134.89.32.121:10003 isor::createTask() - sea: SerialDevice: done... b: carlServer - initializing... ird25: AshtechGps::processRecord() - $GPZDA,171840.00,03,05,2019,00,00*61 pServer -n se: Battery newBatt1 initializing. abird25p -dev udp:134.89.32.55:54125 : Supervisor::createTasks() - spawning nmeaNavServer Supervisor::createTask() - nmeaNavServer : SerialDevice: done... : Supervisor::createTasks() - spawning dropWeightServer -dev /dev/ser13 Supervisor::createTask(): seabird25pDriver RUNNING... : Seabird/seabird25p -- Loading CTD constants from /home/dorado1/auv-qnx-dev/auv/altex/onboard/config/i2map_dmo1/seabird25p.cfg - dro: nmeaNavServer - initializing! p: nmeaNavServer - running! We: carlServer - running... i: PeriodicTask::run() (nmeaNavServer) - sampleInterval=1000, maxInterval=1000 gh: CARLServer::initialize() - spawning aux tasks... tServ: CARLServer::spawnAuxTasks() - modtronix -o -h 134.89.32.55 -p 54123 28.00 er: modtronix ... -: PeriodicTask::run() (newBatt1) - sampleInterval=10000, maxInterval=10000 : Modtronix - Host ip is now 134.89.32.55... dev: Modtronix - Host port is now 54123... /dev: Modtronix - Period is 2000... /s: Modtronix - Using 28.00 for voltage limit... er1: Modtronix - Powering-up components... 3 : modtronix host ip is 134.89.32.55... : modtronix host port is 54123... : modtronix host period is 2000... : Modtronix - Opening Interface to servers... : SerialDevice: done... : Modtronix - Interface opened to CARLServer OK : SerialDeviceDriver::initialize() : Modtronix - Interface opened to LayeredControlServer OK : Starting DVL Initialization. : CTD/seabird25p -- Calibration constants: Temp Sensor T_coefs= G T_a = 3.681213e-003 T_b = 6.042327e-004 T_c = 1.655279e-005 T_d = 2.244365e-006 T_f0 = 3304.265000 T_g = 4.370614e-003 T_h = 6.440439e-004 T_i = 2.277248e-005 T_j = 2.064405e-006 T_gf0 = 1000.000000 Conductivity Sensor T_coefs= G C_a = 1.220927e-006 C_b = 4.572136e-001 C_c = -4.124703 C_d = -7.815561e-005 C_m = 5.200 EPS = -9.570000e-008 C_g = -3.926335e+000 C_h = 4.211061e-001 C_i = 0.000006 C_j = 1.887958e-005 C_pcor = 0.000 C_tcor = 0.000 Oxygen Sensor SOc = 4.466000e-001 BOc = 0.000000e+000 Voff = -5.070000e-001 TCor = 0.000000e+000 PCor = 1.350000e-004 Pressure Sensor P_A0 = 3.858592e+000 P_A1 = 5.549117e-004 P_A2 = -6.304879e-013 PT_A0 = -6.313844e+001 PT_A1 = 5.355101e+001 PT_A2 = -5.212054e-001 PTC_A0 = 8.409078e+006 PTC_A1 = 5.389669e+002 PTC_A2 = -9.456861e+000 PTC_B0 = 2.525163e+001 PTC_B1 = 2.125000e-003 PTC_B2 = 0.000000e+000 : Modtronix - Interface opened to NewBattServer OK : SerialDevice: done... : Seabird/seabird25p::Seabird() - create interface to depth sensor... : Seabird/seabird25p -- DepthSensor server is not running. Using default pres of 10.100000 : SerialDevice: done... : modtronix We are ready to receive mod datagrams from 134.89.32.55 on port 54123 sockfd 8... : Seabird/seabird25p::Seabird() - create interface to worksite... : modtronix We are ready to send/receive ez datagrams from 134.89.32.55 on port 54126 sockfd 9... : Seabird25p.cc -- Worksite server is not running. Using default lat of 45.000000 : EZ17::EZ17() - comms on 9 : Seabird/seabird25p -- constructing Log... : DropWeight::initialize - Resetting counters. : **** EventTriggers::add() - attaching proxy : Seabird25Log.cc -- beginning constructor... : Seabird25Log.cc -- constructor succeeded : Seabird/seabird25p -- constructor succeeded : seabird25pDriver -- constructor succeeded : Seabird/seabird25p:initializing Seabird... : Seabird/seabird25p: sending CRLF... : Creating transect log: /home/dorado1/auv-qnx-dev/auv/altex/onboard/logs/latest/transects.csv : Setting power to 1... : Modtronix::set_pin() - b0=1 : modtronix running... : PeriodicTask::run() (modtronix) - sampleInterval=2000, maxInterval=2000 : SerialDevice: done... : DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize() : AshtechGps::processRecord() - $GPGGA,171841.00,3641.68919,N,12202.93139,W,2,12,0.66,-4.8,M,-31.1,M,,0000*46 : MissionPlan::load() error: Line 694: syntax error offending text: "pitch" : *** LayeredControl::initialize() - couldn't load NORMAL plan "/home/dorado1/auv-qnx-dev/auv/altex/onboard/missions/Transect14_SingleDay.cfg.pp" : ****LayeredControl::initiateShutdown - enter : ****LayeredControl::initiateShutdown - exit to system : **** 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 : TaskServer::signalHandler() for task LayeredControlIFServer - exit() on signal 18 : **** SharedData destructor for object LayeredControlInput_ShmemName **** : destroying segment LayeredControlInput_ShmemName : destroying prot sem LayeredControlInput_ShmemName_prot : destroying notify sem LayeredControlInput_ShmemName_notify : **** SharedData destructor for object LayeredControlOutput_ShmemName **** : destroying segment LayeredControlOutput_ShmemName : destroying prot sem LayeredControlOutput_ShmemName_prot : destroying notify sem LayeredControlOutput_ShmemName_notify : Crossbow.cc: device->read succeeded : m3dmgx1: Serial Number is 6548 : PeriodicTask::run() (crossbow) - sampleInterval=100, maxInterval=100 : AshtechGps::processRecord() - $GPZDA,171841.00,03,05,2019,00,00*60 139,W,2,12,0.66,-4.8,M,-31.1,M,,0000*46 : CR1 [Parameters set to FACTORY defaults] > : PD0 > : BK1 > : BK1 > : CL0 > : TP00:00.50 > : TE00:00:0.00 > : BL010,0010,0020 > : BM5 > : BR0 > : BV00010,250,0 > : BW00001 > : BP001 > : CF11010 > : CB611 > : SerialDevice: done... : Dvl::initialize - Baud rate set to 38400. : EX10011 > : EZ0111101 > : Dvl::initialize - Error. EC speed of sound is set in worksite.cfg. : EA+04500 > : WP0001 > : WB1 > : WS400 > : WN25 > : Dvl::initialize - The number of cells is 25. : WV210 > : Dvl::initialize - 23 valid commands read in from dvl.cfg. : EC1500 > : > : PD0Header = 7F7FDB02 : Dvl::initialize() - The DVL is initialized. : **** EventTriggers::add() - attaching proxy : AshtechGps::processRecord() - $GPGGA,171842.00,3641.68908,N,12202.93136,W,2,12,0.66,-4.7,M,-31.1,M,,0000*45 : AshtechGps::processRecord() - $GPZDA,171842.00,03,05,2019,00,00*63 136,W,2,12,0.66,-4.7,M,-31.1,M,,0000*45 : Parosci.cc - mode set to standard resolution : Parosci.cc -- Serial # is 123917 : Parosci::init() - mode set okay : Parosci.cc -- PI reply = 100 : Task "layeredControlServer" died? Supervisor::createTask() - layeredControlServer -plan Transect14_SingleDay.cfg.pp -abort abortMplan.cfg : Supervisor::run - task(s) died - exiting run loop : Supervisor::run - calling shutdown/exit : Supervisor::shutdown - signaling processes //1/home/dorado1/auv-qnx-dev/auv/altex/onboard/bin/newTailConeDriver terminated (SIGSEGV) at 0007:0000A64F. : **** SharedData destructor for object ParosciOutput_ShmemName **** : TaskServer::signalHandler() for task WorkSiteIFServer - exit() on signal 2 : TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit() on signal 2 : TaskServer::signalHandler() for task seabird25p - exit() on signal 2 : **** SharedData destructor for object ModtronixOutput_ShmemName **** : TaskServer::signalHandler() for task DropWeightIFServer - exit() on signal 2 : TaskServer::signalHandler() for task NavigationIFServer - exit() on signal 2 : TaskServer::signalHandler() for task DynamicControlIFServer - exit() on signal 2 : TaskServer::signalHandler() for task TailConeIFServer - exit() on signal 2 : TaskServer::signalHandler() for task AhrsIFServer - 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 CARL_IFServer - exit() on signal 2 : DropWeight Destructor Executing. : **** SharedData destructor for object GpsOutput_ShmemName **** : **** SharedData destructor for object seabird25pSeabirdOutput_ShmemName **** : Supervisor::signalHandler - caught signal 2 : Supervisor::signalHandler - caught signal 2 : TaskServer::signalHandler() for task EventLogIFServer - exit() on signal 2 : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() on signal 2 : TaskServer::signalHandler() for task GpsIFServer - exit() on signal 2 : TaskServer::signalHandler() for task NewBattIFServer - exit() on signal 2 : **** SharedData destructor for object newBatt1 **** : destroying segment ParosciOutput_ShmemName : destroying segment ModtronixOutput_ShmemName : NavigationOutput::~NavigationOutput() : DynamicControlServer::Destructor. Difference between clock time and accumulated sample periods is 0.00, at t=0.00. : **** SharedData destructor for object m3dmgx1 **** //1/home/dorado1/auv-qnx-dev/auv/altex/onboard/bin/dvl terminated (SIGSEGV) at 0007:00024CBF. : TaskServer::signalHandler() for task TailConeIFServer - exit() on signal 18 : destroying segment GpsOutput_ShmemName : destroying prot sem ModtronixOutput_ShmemName_prot : NavigationOutput::~NavigationOutput() : **** SharedData destructor for object seabird25pSeabirdOutput_ShmemName **** : **** SharedData destructor for object dropWeightOutput **** : **** SharedData destructor for object dropWeightOutput **** : **** SharedData destructor for object ParosciOutput_ShmemName **** : **** SharedData destructor for object DvlOutput_ShmemName **** : destroying segment seabird25pSeabirdOutput_ShmemName : Supervisor::signalHandler - setting exit flag [1] : Supervisor::signalHandler - setting exit flag [1] : destroying segment newBatt1 : **** SharedData destructor for object m3dmgx1Cmd **** : **** SharedData destructor for object GpsOutput_ShmemName **** : destroying prot sem ParosciOutput_ShmemName_prot //1/home/dorado1/auv-qnx-dev/auv/altex/onboard/bin/newBattServer terminated (SIGSEGV) at 0007:00020617. : TaskServer::signalHandler() for task DvlIFServer - exit() on signal 18 : **** SharedData destructor for object navigationOutput **** : destroying segment m3dmgx1 : **** SharedData destructor for object TailConeInput_ShmemName **** : destroying prot sem GpsOutput_ShmemName_prot : destroying notify sem ModtronixOutput_ShmemName_notify : **** SharedData destructor for object navigationOutput **** : destroying segment seabird25pSeabirdOutput_ShmemName : destroying segment dropWeightOutput : destroying segment dropWeightOutput : destroying segment ParosciOutput_ShmemName : destroying prot sem seabird25pSeabirdOutput_ShmemName_prot : Supervisor::shutdown - cleaning up : destroying segment m3dmgx1Cmd : destroying prot sem newBatt1_prot : destroying notify sem ParosciOutput_ShmemName_notify : destroying segment GpsOutput_ShmemName : destroying segment navigationOutput : destroying prot sem m3dmgx1_prot : destroying segment TailConeInput_ShmemName : destroying notify sem GpsOutput_ShmemName_notify : layeredControlServer - creating non dynamic version : destroying segment navigationOutput : destroying prot sem seabird25pSeabirdOutput_ShmemName_prot : destroying prot sem dropWeightOutput_prot : destroying prot sem dropWeightOutput_prot : destroying prot sem ParosciOutput_ShmemName_prot : destroying notify sem seabird25pSeabirdOutput_ShmemName_notify : Supervisor::shutdown - deleting output : destroying prot sem m3dmgx1Cmd_prot : destroying notify sem newBatt1_notify : destroying prot sem GpsOutput_ShmemName_prot : destroying prot sem navigationOutput_prot : destroying notify sem m3dmgx1_notify : destroying prot sem TailConeInput_ShmemName_prot : in binary file destructor, buffered bytes 144 : destroying notify sem m3dmgx1Cmd_notify : Illegal option: -restart : destroying prot sem navigationOutput_prot : destroying notify sem seabird25pSeabirdOutput_ShmemName_notify : destroying notify sem dropWeightOutput_notify : destroying notify sem dropWeightOutput_notify : destroying notify sem ParosciOutput_ShmemName_notify : **** SharedData destructor for object SupervisorOutout **** : destroying notify sem GpsOutput_ShmemName_notify : destroying notify sem navigationOutput_notify : **** SharedData destructor for object m3dmgx1Cmd **** : destroying notify sem TailConeInput_ShmemName_notify : writing buffered data to file : **** SharedData destructor for object m3dmgx1 **** : usage: layeredControl [-plan file][-abort file] : destroying notify sem navigationOutput_notify : destroying segment SupervisorOutout : failed to unlink queue NavigationInput : destroying segment m3dmgx1Cmd : **** SharedData destructor for object TailConeOutput_ShmemName **** : destroying segment m3dmgx1 : destroying prot sem SupervisorOutout_prot : destroying prot sem m3dmgx1Cmd_prot : destroying segment TailConeOutput_ShmemName : destroying prot sem m3dmgx1_prot : destroying notify sem SupervisorOutout_notify : destroying notify sem m3dmgx1Cmd_notify : destroying prot sem TailConeOutput_ShmemName_prot : destroying notify sem m3dmgx1_notify : Supervisor::shutdown - done : destroying notify sem TailConeOutput_ShmemName_notify : Supervisor::~Supervisor - dtor : TaskServer::signalHandler() for task LayeredControlIFServer - exit() on signal 18 : **** SharedData destructor for object LayeredControlInput_ShmemName **** : destroying segment LayeredControlInput_ShmemName : destroying prot sem LayeredControlInput_ShmemName_prot : destroying notify sem LayeredControlInput_ShmemName_notify : **** SharedData destructor for object LayeredControlOutput_ShmemName **** : destroying segment LayeredControlOutput_ShmemName : destroying prot sem LayeredControlOutput_ShmemName_prot : destroying notify sem LayeredControlOutput_ShmemName_notify