Supervisor::createCoreTasks()
Supervisor::createTask() - eventLogServer
Supervisor::createTask() - workSite
Supervisor::createTask() - vehicleConfi: Initializing worksiteServer
gurationSe: WorkSite::WorkSite -- Adding attributes
rv: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv/altex/onboard/config/multibeam/workSite.cfg
er
Supervisor::createTask() - externalComms: Using default vehicle config file "/home/dorado1/auv/altex/onboard/config/multibeam/vehicle.cfg"
Server
Supervisor::createTask() - navigationServer
: starting LC: layeredControlServer  -plan 20101115_OaTest4v1.cfg.pp -abort abortMplan.cfg
Supervisor::cr: WorkSite::WorkSite -- Finished loading parameters
eat: WorkSite::WorkSite -- Starting Depth is 0.000000 meters
eTa: 0:	1	600674.187500E	4067388.750000N	73.699997 m	10.000000 ms	channel:2
sk(: 1:	2	600531.687500E	4065156.000000N	73.199997 m	10.000000 ms	channel:4
) - l: 2:	3	598447.000000E	4067412.250000N	91.400002 m	10.000000 ms	channel:5
ayere: 3:	4	600848.125000E	4069389.500000N	80.199997 m	10.000000 ms	channel:6
dCont: 4:	5	602732.187500E	4067093.000000N	57.299999 m	10.000000 ms	channel:7
rolSe: WorkSite server: 0x22fec
rver
: Creating NavigationServer...

S: *** NavigationServer::NavigationServer()...

uper: *** NavigationServer::NavigationServer() - DONE

viso: Done creating NavigationServer...

r::createTask() - dynamicControlServer
: Navigation::Navigation _logOnly = 1
: Navigation - Using only the Dvl to compute altitude.
: Navigation/EchoSounder:: epoch = (1319559266,774121027)
: Navigation: Opening Acoustic Modem Interface:
: layeredControlServer - creating non dynamic version
Supervisor::createTask() - dropWeightServer
Supervisor::createTask() - newTailConeServer
Supervisor::createTask() - kearfottServer
Supervisor::createTask() - kearfottDvlServer
Superv: SerialDevice: done...

isor::createTask() - parosciServer
: DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize()
:  DropWeight::initialize - Resetting counters.
: **** EventTriggers::add() - attaching proxy
Supervi: creating if InsIFServer

sor::createTask() -: Preparing to fork

 fanServer
: 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() - fastcatS: SerialDevice: done...

erver
Supervisor::createTask: SerialDevice: done...

(): SerialDevice: done...

 : SerialDevice: done...

- reson6046Server
Supervisor::createTask() - gpsServer
Supervisor::createTask() - benthosServer
: SerialDevice: done...

Supervisor:: Parosci.cc -- parsed PR (10) and TempInterval (10)
:createTask() - atsServer
: SerialDevice: done...

S: Launching Reson6046Server...
uperv: Setting name...
isor:: Creating server...
:createT: Parosci.cc -- Serial # is 87760
ask() - epiBattDriver
: Command constructor...
: Run server...
: Parosci::init() - mode set okay
: Parosci.cc -- PR reply = 10

: Parosci.cc -- units = 1
Supervisor::createTask() - m3dmgx1
: fastcatDriver RUNNING...

: FastCat: constructing...

: FastCatLog.cc -- beginning constructor...

: FastCatLog.cc -- constructor succeeded

: fastcatDriver -- constructor succeeded

: FastCat: initializing...

: PeriodicTask::run() (fanDriver) - sampleInterval=10000, maxInterval=10000
: Kearfott:: depthif is 0x74b14

: Kearfott:: ctdIF is 0x74c3c

: no response to address set
: SerialDevice: done...

: Kearfott::deltaTime is 1319559273.053691

: Navigation: acommsIF = 0x7f030

: 3 Modules found
: Kearfott::deltaTime is 0.299979

: Navigation::connectSensors core - connecting to DepthSensor at t = 6599.
: Navigation::connectSensors core - connecting to TailCone at t = 6609.
: Navigation::connectSensors core - connecting to KearfottServer at t = 6609.
: Navigation::connectSensors core - connecting to Dvl at t = 6619.
: Navigation::connectSensors aux - connecting to Gps at t = 6619.
: Navigation::connectSensors aux - connecting to EchoSounder at t = 6629.
: Kearfott::deltaTime is 0.519964

: FastCat: data is streaming (2743)...

: **** EventTriggers::add() - attaching proxy
: PeriodicTask::run() (epiBatt) - sampleInterval=5000, maxInterval=5000
: Parosci.cc -- Initial pressure = 1.137635
: Parosci.cc -- Parosci initial pressure period = 30.137840
: PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200
: Parosci.cc -- Parosci initial temp period = 5.841710
: Parosci.cc -- Paroscientific configured.
: Kearfott::deltaTime is 0.989932

: Launching Reson6046Driver...
: Setting name to 'reson6046'...
: Creating Reson6046Driver instance...
: --> Starting Reson 6046 Driver....
: Command constructor...
: Kearfott::deltaTime is 0.169988

: SerialDevice: done...

: Kearfott::deltaTime is 0.329977

: SerialDevice: done...

: Attributes::parse() - Couldn't open CrossbowConstants attributes file "/home/dorado1/auv/altex/onboard/config/multibeam/crossbow.cfg"


: VehicleConstants -- Caught exception while loading vehicle constants
: Gps: initializing

: SerialDevice: done...

: Gps: done initializing...

: **** EventTriggers::add() - attaching proxy
: SerialDevice: done...

: Crossbow.cc: In getSerialNumber()
: SerialDevice: done...

: BenthosModem::commandMode() - confirming...
: Kearfott::deltaTime is 0.369975

: Set verbose level
matherr(); DOMAIN error from sqrt(), process "//1/home/dorado1/auv/altex/onboard/bin/fastcatDriver"
matherr(); DOMAIN error from pow(), process "//1/home/dorado1/auv/altex/onboard/bin/fastcatDriver"
matherr(); DOMAIN error from pow(), process "//1/home/dorado1/auv/altex/onboard/bin/fastcatDriver"
matherr(); DOMAIN error from pow(), process "//1/home/dorado1/auv/altex/onboard/bin/fastcatDriver"
matherr(); DOMAIN error from pow(), process "//1/home/dorado1/auv/altex/onboard/bin/fastcatDriver"
: AshtechGps::processRecord() - $GPGGA,161437.00,3649.01318,N,12150.13995,W,1,09,0.8,2.74,M,-32.59,M,,*5B

: Set write delay
: Set remote response waiting time
: Crossbow.cc: device->read succeeded
: Kearfott::deltaTime is 0.639956

: Turn on doppler correction
: m3dmgx1: Serial Number is 6548

: PeriodicTask::run() (crossbow) - sampleInterval=200, maxInterval=200
: AtsDriver: Socket created on fd 6
: Kearfott::deltaTime is 0.319978

: BenthosModem::onlineMode() - confirming...
: AshtechGps::processRecord() - $GPGGA,161438.00,3649.01338,N,12150.13973,W,1,09,0.8,1.96,M,-32.59,M,,*51

: done initializing modem

: PeriodicTask::run() (BenthosModem) - sampleInterval=1000, maxInterval=1000
: AshtechGps::processRecord() - $GPGGA,161439.00,3649.01302,N,12150.14003,W,1,09,0.8,3.64,M,-32.59,M,,*5F

: AshtechGps::processRecord() - $GPGGA,161440.00,3649.01297,N,12150.13996,W,1,08,1.0,3.95,M,-32.59,M,,*58

: DynamicControl - Could not open TerrainAid IF.
: DepthEnvelope - Error. maxLowerPitch must be a postive number.
Flipping the sign now.
: maxLowerPitch = 1745.31
: DepthEnvelope - Error. Since maxLowerPitch is specified, 
you must also specify pitchLimitAlt.
: maxLowerPitch = -1745.31
: DepthEnvelope - Error. maxLowerPitch must be a postive number.
Flipping the sign now.
: maxLowerPitch = 1745.31
: DepthEnvelope - Error. Since maxLowerPitch is specified, 
you must also specify pitchLimitAlt.
: maxLowerPitch = -1745.31
: PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200
: AshtechGps::processRecord() - $GPGGA,161441.00,3649.01296,N,12150.13981,W,1,08,1.0,3.92,M,-32.59,M,,*59

: AshtechGps::processRecord() - $GPGGA,161442.00,3649.01289,N,12150.13981,W,1,08,1.0,3.50,M,-32.59,M,,*5A

: AshtechGps::processRecord() - $GPGGA,161443.00,3649.01331,N,12150.13955,W,1,09,0.8,0.98,M,-32.59,M,,*5F

: Kearfott::deltaTime is 0.339977

: Navigation: Server for aux sensor "EchoSounder" not found
: Navigation::connectSensors aux - connecting to Velocimeter at t = 16978.
: Navigation: Server for aux sensor "Velocimeter" not found
: Navigation::connectSensors aux - connecting to Usbl at t = 16988.
: AshtechGps::processRecord() - $GPGGA,161444.00,3649.01336,N,12150.13964,W,1,09,0.8,0.96,M,-32.59,M,,*53

: epiBatt:gas gauge:0.350000, current:1.690000

: epiBatt:V1:4.109 V2:4.107 V3:4.110 V4:4.107

: epiBatt:V5:4.111 V6:4.112 V7:4.112 V8:4.109

: epiBatt:T1:20 T2:18 T3:18 T4:18

: epiBatt:T5:19 T6:19 T7:19 T8:20 T9:23

: epiBatt:temp alert: 0x0, voltAlert: 0x0

: epiBatt:battery state flag: 0x8200

: epiBatt:Rh:21

: epiBatt:balance:0x 0
: batts online 1, min cell voltage 4.107000, stack voltage 32.876999

: AshtechGps::processRecord() - $GPGGA,161445.00,3649.01325,N,12150.13964,W,1,09,0.8,1.36,M,-32.59,M,,*5B

: AshtechGps::processRecord() - $GPGGA,161446.00,3649.01281,N,12150.13990,W,1,09,0.8,3.78,M,-32.59,M,,*54

: AshtechGps::processRecord() - $GPGGA,161447.00,3649.01287,N,12150.13956,W,1,09,0.8,3.42,M,-32.59,M,,*50

: AshtechGps::processRecord() - $GPGGA,161448.00,3649.01301,N,12150.13924,W,1,09,0.8,2.39,M,-32.59,M,,*58

: Supervisor::signalHandler(); caught signal 15
: Supervisor::signalHandler(); 
Received a SIGTERM or SIGQUIT. 
DropWeightServer NOT started.
: Supervisor::cleanup() - delete _theSupervisor

: **** SharedData destructor for object SupervisorOutout ****

: destroying segment SupervisorOutout
: destroying prot sem SupervisorOutout_prot
: destroying notify sem SupervisorOutout_notify
: Supervisor::shutdown()

: TaskServer::signalHandler() for task BenthosModemServer - exit() on signal 2

: TaskServer::signalHandler() for task DepthSensorIFServer - exit() on signal 2

: TaskServer::signalHandler() for task FastCat - exit() on signal 2

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

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

: **** SharedData destructor for object m3dmgx1Cmd ****

: TaskServer::signalHandler() for task WorkSiteIFServer - exit() on signal 2

: NavigationOutput::~NavigationOutput()

: TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit() on signal 2

: TaskServer::signalHandler() for task DynamicControlIFServer - exit() on signal 2

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

: Supervisor::shutdown() - done()

: TaskServer::signalHandler() for task AuvTimeSyncIFServer - exit() on signal 2

: TaskServer::signalHandler() for task EventLogIFServer - 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 LayeredControlIFServer - exit() on signal 2

: TaskServer::signalHandler() for task DropWeightIFServer - exit() on signal 2

: TaskServer::signalHandler() for task TailConeIFServer - exit() on signal 2

: TaskServer::signalHandler() for task InsIFServer - exit() on signal 2

: TaskServer::signalHandler() for task DvlIFServer - exit() on signal 2

: TaskServer::signalHandler() for task FanIFServer - exit() on signal 2

:  Fan Destructor Executing.
: TaskServer::signalHandler() for task Reson6046IFServer - exit() on signal 2

: TaskServer::signalHandler() for task GpsIFServer - exit() on signal 2

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

:  DropWeight Destructor Executing.
: **** SharedData destructor for object FastCat ****

: **** SharedData destructor for object AtsOutout ****

: Command destructor...
: destroying segment ParosciOutput_ShmemName
: failed to unlink queue benthosModemCommand
: **** SharedData destructor for object ParosciOutput_ShmemName ****

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

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

: destroying segment kearfottOutput
: destroying segment m3dmgx1Cmd
: TaskServer::signalHandler() for task BenthosModemServer - exit() on signal 18

: destroying segment TailConeInput_ShmemName
: TaskServer::signalHandler() for task ExternalCommsIFServer - exit() on signal 18

: **** SharedData destructor for object navigationOutput ****

: destroying segment LayeredControlOutput_ShmemName
: **** SharedData destructor for object AtsOutout ****

: NavigationOutput::~NavigationOutput()

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

: destroying prot sem m3dmgx1Cmd_prot
: **** SharedData destructor for object kearfottOutput ****

: Reson6046Server - killing driver
: **** SharedData destructor for object fanOutput ****

: destroying segment GpsOutput_ShmemName
: **** SharedData destructor for object dropWeightOutput ****

: destroying segment FastCat
: **** SharedData destructor for object dropWeightOutput ****

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

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

: **** SharedData destructor for object fanOutput ****

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

: destroying prot sem ParosciOutput_ShmemName_prot
: destroying segment AtsOutout
: destroying segment ParosciOutput_ShmemName
: destroying segment FastCat
: TaskServer::signalHandler() for task Reson6046IFServer - exit() on signal 18

: destroying prot sem kearfottOutput_prot
: destroying prot sem LayeredControlOutput_ShmemName_prot
: destroying prot sem TailConeInput_ShmemName_prot
: destroying segment navigationOutput
: **** SharedData destructor for object navigationOutput ****

: destroying segment AtsOutout
: destroying notify sem m3dmgx1Cmd_notify
: destroying segment LayeredControlInput_ShmemName
: destroying segment kearfottOutput
: destroying prot sem GpsOutput_ShmemName_prot
: destroying segment fanOutput
: destroying prot sem FastCat_prot
: destroying segment dropWeightOutput
: destroying segment dropWeightOutput
: destroying segment TailConeInput_ShmemName
: destroying segment DvlOutput_ShmemName
: destroying segment fanOutput
: destroying notify sem ParosciOutput_ShmemName_notify
: destroying segment GpsOutput_ShmemName
: destroying prot sem AtsOutout_prot
: destroying prot sem ParosciOutput_ShmemName_prot
: destroying prot sem FastCat_prot
: destroying notify sem kearfottOutput_notify
: destroying notify sem LayeredControlOutput_ShmemName_notify
: destroying notify sem TailConeInput_ShmemName_notify
: destroying prot sem navigationOutput_prot
: destroying prot sem AtsOutout_prot
: destroying segment navigationOutput
: **** SharedData destructor for object m3dmgx1 ****

: destroying prot sem LayeredControlInput_ShmemName_prot
: destroying prot sem kearfottOutput_prot
: **** SharedData destructor for object TailConeOutput_ShmemName ****

: destroying notify sem GpsOutput_ShmemName_notify
: destroying prot sem fanOutput_prot
: destroying notify sem FastCat_notify
: destroying prot sem dropWeightOutput_prot
: destroying prot sem dropWeightOutput_prot
: destroying prot sem TailConeInput_ShmemName_prot
: destroying prot sem DvlOutput_ShmemName_prot
: destroying prot sem fanOutput_prot
: TaskServer::signalHandler() for task DepthSensorIFServer - exit() on signal 18

: destroying prot sem GpsOutput_ShmemName_prot
: destroying notify sem AtsOutout_notify
: destroying notify sem FastCat_notify
: **** SharedData destructor for object DvlOutput_ShmemName ****

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

: destroying notify sem navigationOutput_notify
: destroying notify sem AtsOutout_notify
: destroying prot sem navigationOutput_prot
: destroying segment m3dmgx1
: destroying notify sem LayeredControlInput_ShmemName_notify
: destroying notify sem kearfottOutput_notify
: destroying segment TailConeOutput_ShmemName
: destroying notify sem fanOutput_notify
: TaskServer::signalHandler() for task GpsIFServer - exit() on signal 18

: destroying notify sem dropWeightOutput_notify
: TaskServer::signalHandler() for task FastCat - exit() on signal 18

: destroying notify sem dropWeightOutput_notify
: destroying notify sem TailConeInput_ShmemName_notify
: destroying notify sem DvlOutput_ShmemName_notify
: destroying notify sem fanOutput_notify
: destroying segment DvlOutput_ShmemName
: destroying segment LayeredControlInput_ShmemName
: TaskServer::signalHandler() for task AuvTimeSyncIFServer - exit() on signal 18

: destroying prot sem LayeredControlInput_ShmemName_prot
: TaskServer::signalHandler() for task NavigationIFServer - exit() on signal 18

: destroying prot sem m3dmgx1_prot
: **** SharedData destructor for object LayeredControlOutput_ShmemName ****

: destroying prot sem TailConeOutput_ShmemName_prot
: TaskServer::signalHandler() for task FanIFServer - exit() on signal 18

: TaskServer::signalHandler() for task DropWeightIFServer - exit() on signal 18

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

: destroying prot sem DvlOutput_ShmemName_prot
: destroying notify sem LayeredControlInput_ShmemName_notify
: destroying notify sem m3dmgx1_notify
: destroying notify sem TailConeOutput_ShmemName_notify
: destroying segment LayeredControlOutput_ShmemName
: destroying notify sem DvlOutput_ShmemName_notify
: destroying segment TailConeOutput_ShmemName
: TaskServer::signalHandler() for task TailConeIFServer - exit() on signal 18


//1/home/dorado1/auv/altex/onboard/bin/layeredControl terminated (SIGSEGV) at 0007:00044BB4.
: TaskServer::signalHandler() for task LayeredControlIFServer - exit() on signal 18

