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/multibeam/workSite.cfg
createTask() - externalCommsServer
: Using default vehicle config file "/home/dorado1/auv/altex/onboard/config/multibeam/vehicle.cfg"
Supervisor::createTask() - 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: 0x22eec
: New Navigation component constructor
: Navigation - Using only the Dvl to compute altitude.
Supervisor::createTask() - dropWeightServer
Supervisor::createTask() - newTailConeServer
Supervisor::createTask() - kearfottServer
Supervisor::createTask() - kearfottDvlServer
Superv: SerialDevice: done...

isor::createTask() - parosciServer
:  DropWeight::initialize - Resetting counters.
: **** EventTriggers::add() - attaching proxy
:  Resetting counters to default

Supervis: creating if InsIFServer

or::createTask() : Preparing to fork

- psa916Server
: SerialDevice: done...

: TailConeServer -- Maximum Elevator Actuator Excursion is 0 Counts
: TailConeServer:: -- Minimum Elevator Actuator Excursion is 0 Counts
: TailConeServer -- Maximum Rudder Actuator Excursion is 0 Counts
: TailConeServer -- Minimum Rudder Actuator Excursion is 0 Counts
: SerialDevice: done...

: SerialDevice: done...

: I'm the child...forking

Supervisor::createTask() - fanServer
: DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize()
: DynamicControlServer - Got event 1 from TailCone

Supervisor::createTask() - fastcatServer
Supervisor::createTask() - bluefinBattDriver
: SerialDevice: done...

: SerialDevice: done...

Supervi: SerialDevice: done...

sor::createTask() - gpsServer
: SerialDevice: done...

: SerialDevice: done...

: Parosci::init() - mode set okay
: SerialDevice: done...

: SerialDevice: done...

: BluefineBatt::init() - 3 batteries on 10 second interval
: BluefinBatt.cc - Looking for Parosci server
: SerialDevice: done...

: BluefinBatt::init() - querying for batt ids
: BluefinBatt::init() - battery echo is !?


: PSA916: constructing...

: MissionPlan::load() error:
Line 70: syntax error
offending text: "pitch"

: *** LayeredControl::initialize() - couldn't load NORMAL plan "/home/dorado1/auv/altex/onboard/missions/missionfile.cfg.pp"

: **** SharedData destructor for object LayeredControlInput_ShmemName ****

: **** SharedData destructor for object LayeredControlOutput_ShmemName ****

: TaskServer::signalHandler() for task LayeredControlIFServer - exit()
: **** SharedData destructor for object LayeredControlInput_ShmemName ****

: fastcatDriver RUNNING...

: PSA916: initializing...

: **** SharedData destructor for object LayeredControlOutput_ShmemName ****

: PSA916: trying to write data...

: PSA916: debug mode on...

: PSA916: confirming data stream...

: SerialDevice: done...

: 3 Modules found
: PSA916: data is streaming...

: **** EventTriggers::add() - attaching proxy
: FastCat: constructing...

: PSA916::processRecord() - this should not have happened: record=99.99E

: **** EventTriggers::add() - attaching proxy
: FastCatLog.cc -- beginning constructor...

: FastCatLog.cc -- constructor succeeded

: fastcatDriver -- constructor succeeded

: FastCat: initializing...

: 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() (fanDriver) - sampleInterval=1000, maxInterval=1000
: FastCat: data is streaming (408)...

: **** EventTriggers::add() - attaching proxy
: KearfottDriver: unable to open gps interface

: AshtechGps::processRecord() - $GPGGA,210259.00,3646.96713,N,12150.27332,W,1,06,1.3,-12.71,M,-32.59,M,,*42

: PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200
: GpsUtils::parseFix() - $GPGGA,210259.00,3646.96713,N,12150.27332,W,1,06,1.3,-12.71,M,-32.59,M,,*42


: successfully parse sentence at 21:2:59

: AshtechGPS::processRecord -sample time is 1102366980
: Parosci.cc -- Initial pressure = 0.068948
: Task "layeredControlServer" died?

Supervisor::createTask() - layeredControlServer
: Supervisor::Supervisor() - task(s) died; exiting

: Supervisor::shutdown()

: TaskServer::signalHandler() for task TailConeIFServer - exit()
: **** SharedData destructor for object ParosciOutput_ShmemName ****

: **** SharedData destructor for object kearfottOutput ****

: TaskServer::signalHandler() for task WorkSiteIFServer - exit()
: TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit()
: TaskServer::signalHandler() for task NavigationIFServer - exit()
: TaskServer::signalHandler() for task DynamicControlIFServer - exit()
: Supervisor::signalHandler(); caught signal 2
: Supervisor::signalHandler(); caught signal 2
:  Fan Destructor Executing.
: TaskServer::signalHandler() for task GpsIFServer - exit()
: TaskServer::signalHandler() for task EventLogIFServer - exit()
: TaskServer::signalHandler() for task ExternalCommsIFServer - exit()
: TaskServer::signalHandler() for task DropWeightIFServer - exit()
: TaskServer::signalHandler() for task InsIFServer - exit()
: TaskServer::signalHandler() for task DvlIFServer - exit()
: TaskServer::signalHandler() for task DepthSensorIFServer - exit()
: TaskServer::signalHandler() for task RangeFinderIFServer - exit()
: TaskServer::signalHandler() for task FanIFServer - exit()
: TaskServer::signalHandler() for task FastCat - exit()
:  DropWeight Destructor Executing.
: **** SharedData destructor for object BluefinBattOutput ****

: **** SharedData destructor for object FastCat ****

: NavigationOutput::~NavigationOutput()

: **** SharedData destructor for object GpsOutput_ShmemName ****

: **** SharedData destructor for object PSA916Input_ShmemName ****

: **** SharedData destructor for object TailConeInput_ShmemName ****

: TaskServer::signalHandler() for task DepthSensorIFServer - exit()
: TaskServer::signalHandler() for task ExternalCommsIFServer - exit()
: **** SharedData destructor for object DvlOutput_ShmemName ****

: NavigationOutput::~NavigationOutput()

: **** 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.
: 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 ****

: **** SharedData destructor for object kearfottOutput ****

: **** SharedData destructor for object GpsOutput_ShmemName ****

: **** SharedData destructor for object dropWeightOutput ****

: **** SharedData destructor for object dropWeightOutput ****

: **** SharedData destructor for object TailConeInput_ShmemName ****

: **** SharedData destructor for object DvlOutput_ShmemName ****

: **** SharedData destructor for object PSA916Input_ShmemName ****

: TaskServer::signalHandler() for task FastCat - exit()
: **** SharedData destructor for object fanOutput ****

: **** SharedData destructor for object TailConeOutput_ShmemName ****

: **** SharedData destructor for object PSA916Output_ShmemName ****

: **** SharedData destructor for object ParosciOutput_ShmemName ****

: TaskServer::signalHandler() for task InsIFServer - exit()
: TaskServer::signalHandler() for task GpsIFServer - exit()
: **** SharedData destructor for object navigationOutput ****

: TaskServer::signalHandler() for task NavigationIFServer - exit()
: Supervisor::cleanup() - delete _theSupervisor

: Supervisor::cleanup() - delete _theSupervisor

: **** SharedData destructor for object TailConeOutput_ShmemName ****

: TaskServer::signalHandler() for task FanIFServer - exit()
: TaskServer::signalHandler() for task DropWeightIFServer - exit()
: **** SharedData destructor for object FastCat ****

: **** SharedData destructor for object PSA916Output_ShmemName ****

: Supervisor::shutdown()

: Supervisor::shutdown()

: TaskServer::signalHandler() for task RangeFinderIFServer - exit()
: Supervisor::shutdown() - done()

: TaskServer::signalHandler() for task FastCat - exit()
: TaskServer::signalHandler() for task RangeFinderIFServer - exit()
: Supervisor::shutdown() - done()

