Supervisor::createCoreTasks()
Supervisor::createTask() - eventLogServer
Supervisor::createTask() - workSite
Supervisor::createTask() - vehicleConfigurationServer
S: Initializing worksiteServer
uperviso: WorkSite::WorkSite -- Adding attributes
r::: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv/altex/onboard//config/dorado1/workSite.cfg
createTask() - dropWeight
S: Using default vehicle config file "/home/dorado1/auv/altex/onboard//config/dorado1/vehicle.cfg"
upervisor::createTask() - externalCommsServer
Supervisor::createTask() - navigationServer
Supervisor::createTask() - layeredControlServer
Sup: WorkSite::WorkSite -- Finished loading parameters
e: 0:	charlie	3.000000E	1.000000N	3981.000000 m	4.000000 ms
rvi: 1:	sylvia	-10.000000E	0.000000N	2001.000000 m	4.000000 ms
sor: WorkSite server: 0x21e74
::createTask() - dynamicControlServer
Supervisor::createTask() - tailConeServer
Supervisor::createTask() - crossbowServer
Supervisor::createTask() : DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize()
-: DynamicControlServer - Got event 1 from TailCone

: MissionPlan::load() - file = /home/dorado1/auv/altex/onboard//missions/abortMplan.cfg

 gpsSe: Successfully loaded /home/dorado1/auv/altex/onboard//missions/abortMplan.cfg

rve: MissionPlan::load() - file = /home/dorado1/auv/altex/onboard//missions/waypointtest2.cfg

r
: SerialDevice: done...

Superviso: TailConeServer -- Maximum Elevator Actuator Excursion is 1421 Counts
r: TailConeServer:: -- Minimum Elevator Actuator Excursion is -1272 Counts
::cr: TailConeServer -- Maximum Rudder Actuator Excursion is 1242 Counts
ea: TailConeServer -- Minimum Rudder Actuator Excursion is -1096 Counts
teT: SerialDevice: done...

as: Preparing to fork

k() : I'm the child...forking

- parosciServer
Superv: SerialDevice: done...

isor::createTask() - : SerialDevice: done...

: Successfully loaded /home/dorado1/auv/altex/onboard//missions/waypointtest2.cfg

p: PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200
sa916Server
Supervisor::create: TailConeServer::initElevator : Succeeded initializing elevator actuator, proceed
Task(: Gps: initializing

) -: SerialDevice: done...

 s: SerialDevice: done...

eabi: Gps: done initializing...

rd: Crossbow.cc: Setting polled mode
S: **** EventTriggers::add() - attaching proxy
er: SerialDevice: done...

: SerialDevice: done...

ver
: Crossbow.cc: Setting polled mode
: PSA916: constructing...

Sup: PSA916: initializing...

ervis: PSA916: trying to write data...

: Crossbow.cc: In getSerialNumber()
or: PSA916: debug mode on...

::cre: Crossbow.cc: _device->read failed with error
: SerialDevice: done...

at: PSA916: confirming data stream...

eTas: PSA916: data is streaming...

: PeriodicTask::run() (crossbow) - sampleInterval=100, maxInterval=100
k(: **** EventTriggers::add() - attaching proxy
) - metrab: SerialDevice: done...

yteServer
: Parosci::init() - mode set okay
: TailConeServer::initRudder : Succeeded initializing rudder actuator, proceed
: seabirdDriver RUNNING...

: SerialDevice: done...

: Seabird.cc -- Loading CTD constants from /home/dorado1/auv/altex/onboard//config/dorado1/seabird.cfg

: CTD.cc -- Calibration constants:
	T_a  = 3.679997e-003
	T_b  = 6.026245e-004
	T_c  = 1.592950e-005
	T_d  = 2.062384e-006
	T_f0 = 2798.583000
	C_a  = 2.805518e-004
	C_b  = 1.593498e+000
	C_c  = -10.937486
	C_d  = -8.484504e-005
	C_m  = 3.500
	EPS  = -9.570000e-008
: Seabird::Seabird() - create interface to depth sensor...
: Seabird.cc -- constructing Log...

: PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200
: CTDLog.cc -- beginning constructor...

: CTDLog.cc -- constructor succeeded

: SerialDevice: done...

: Seabird.cc -- constructor succeeded

: seabirdDriver -- constructor succeeded

: Seabird:initializing Seabird...

: SerialDevice: done...

: SerialDevice: done...

: PeriodicTask::run() (MetraByte) - sampleInterval=1000, maxInterval=1000
: Parosci.cc -- Initial pressure = 1.068688
: Parosci.cc -- Parosci initial pressure period = 30.460860
: Parosci.cc -- Parosci initial temp period = 5.880181
: Parosci.cc -- Paroscientific configured.
: PeriodicTask::run() (Parosci) - sampleInterval=200, maxInterval=200
: SerialDevice::confirm() - Timed Out
: Seabird::initialize() - confirm() timed out; sleep a bit
: Lbl NavSensor - could not create LBL task interface
: Navigation: Server for aux sensor "Lbl" not found
: Navigation: Server for aux sensor "Velocimeter" not found
: PeriodicTask::run() (navigation) - sampleInterval=200, maxInterval=200
: **** EventTriggers::add() - attaching proxy
: GetGPS::execute() -- Got a new GPS hit: 1 of 10 needed
: LayeredControl::execute() -- (t = 0.000000) Behavior getgps has changed to state Active

: Behavior::shouldBehaviorStart -- Checking to see if depthEnvelope should run
:  -- it should

: LayeredControl::execute() -- (t = 0.039997) Behavior depthEnvelope has changed to state Active

: LayeredControl::execute() -- (t = 0.049997) Behavior missionTimer has changed to state Active

: **** EventTriggers::add() - attaching proxy
: *** Mission started ***

: GetGPS::execute() -- Got a new GPS hit: 2 of 10 needed
: GetGPS::execute() -- Got a new GPS hit: 3 of 10 needed
: GetGPS::execute() -- Got a new GPS hit: 4 of 10 needed
: GetGPS::execute() -- Got a new GPS hit: 5 of 10 needed
: GetGPS::execute() -- Got a new GPS hit: 6 of 10 needed
: GetGPS::execute() -- Got a new GPS hit: 7 of 10 needed
: SerialDevice::confirm() - Timed Out
: Seabird::initialize() - confirm() timed out again, send multiple newlines
: Seabird: first Ctrl-Z  sent...

: Seabird: sending configure commands...

: Seabird: setting scans...

: GetGPS::execute() -- Got a new GPS hit: 8 of 10 needed
: Seabird: setting pump freq...

: Seabird: setting upcast...

: Seabird: setting battery type...

: Seabird: setting external voltages to 6...

: Seabird::initialize() - confirming voltage...

: Seabird::initialize() - confirming voltage...

: Seabird::initialize() - confirming voltage...

: Seabird::initialize() - confirming voltage...

: GetGPS::execute() -- Got a new GPS hit: 9 of 10 needed
: Seabird::initialize() - confirming voltage...

: Seabird::initialize() - confirming voltage...

: GetGPS::execute() -- Got a new GPS hit: 10 of 10 needed
: LayeredControl::execute() -- (t = 7.999452) Behavior getgps has changed to state Finished

: LayeredControl::execute() -- (t = 8.009451) Behavior setpoint has changed to state Active

: Seabird::initialize() - disabling switch...

: Seabird: sending DS command...

: Seabird::initialize() - starting logging...

: Ctd:initialize() - Logging Started...

: Ctd:initialize() - ready!
: **** EventTriggers::add() - attaching proxy
: LayeredControl::execute() -- (t = 28.198068) Behavior setpoint has changed to state Finished

: LayeredControl::execute() -- (t = 28.198068) Behavior descend has changed to state Active

: Descend::execute() - Descend terminating on depth 5.119390 > 5.000000 at time 48.996644

: LayeredControl::execute() -- (t = 48.996644) Behavior descend has changed to state Finished

: Waypoint Initialization: 
  Begin waypoint control at t= 49.01                             (wplog)
  The current location (N,E) = 4072911.2      , 600212.0         (wplog)
  The next waypoint          = 4072822.0      , 600566.0         (wplog)
  The bearing to the next w.p. is 104.2 Degrees.

: LayeredControl::execute() -- (t = 49.016642) Behavior waypoint has changed to state Active

:  Waypoint has set the state to finished.

: Waypoint (4072822.0, 600566.0), 
  reached at t = 288.00                                          (wplog)

: Vehicle Position is error is (-2.4, 9.5)

: LayeredControl::execute() -- (t = 288.040268) Behavior waypoint has changed to state Finished

: LayeredControl::execute() -- (t = 288.050267) Behavior ascend has changed to state Active

: LayeredControl::execute() -- (t = 315.598380) Behavior ascend has changed to state Finished

: LayeredControl::execute() -- (t = 315.598380) Behavior getgps has changed to state Active

: GetGPS::execute() -- Got a new GPS hit: 1 of 10 needed
: GetGPS::execute() -- Got a new GPS hit: 2 of 10 needed
: GetGPS::execute() -- Got a new GPS hit: 3 of 10 needed
: GetGPS::execute() -- Got a new GPS hit: 4 of 10 needed
: GetGPS::execute() -- Got a new GPS hit: 5 of 10 needed
: GetGPS::execute() -- Got a new GPS hit: 6 of 10 needed
: GetGPS::execute() -- Got a new GPS hit: 7 of 10 needed
: GetGPS::execute() -- Got a new GPS hit: 8 of 10 needed
: GetGPS::execute() -- Got a new GPS hit: 9 of 10 needed
: GetGPS::execute() -- Got a new GPS hit: 10 of 10 needed
: LayeredControl::execute() -- (t = 388.793366) Behavior getgps has changed to state Finished

: LayeredControl::execute() -- (t = 388.803365) Behavior setpoint has changed to state Active

: LayeredControl::execute() -- (t = 408.991982) Behavior setpoint has changed to state Finished

: LayeredControl::execute() -- (t = 408.991982) Behavior descend has changed to state Active

: Descend::execute() - Descend terminating on depth 5.005531 > 5.000000 at time 447.999310

: LayeredControl::execute() -- (t = 447.999310) Behavior descend has changed to state Finished

: Waypoint Initialization: 
  Begin waypoint control at t= 448.01                            (wplog)
  The current location (N,E) = 4072849.4      , 600671.9         (wplog)
  The next waypoint          = 4073217.0      , 600876.0         (wplog)
  The bearing to the next w.p. is 29.0 Degrees.

: LayeredControl::execute() -- (t = 448.019309) Behavior waypoint has changed to state Active

: MetraByte::getVoltage() - caught exception: Timed Out

: MetraByte::getVoltage() - caught exception: Timed Out

:  Waypoint has set the state to finished.

: Waypoint (4073217.0, 600876.0), 
  reached at t = 725.40                                          (wplog)

: Vehicle Position is error is (8.6, 4.8)

: LayeredControl::execute() -- (t = 725.430305) Behavior waypoint has changed to state Finished

: LayeredControl::execute() -- (t = 725.440304) Behavior ascend has changed to state Active

: LayeredControl::execute() -- (t = 750.998553) Behavior ascend has changed to state Finished

: LayeredControl::execute() -- (t = 750.998553) Behavior getgps has changed to state Active

: GetGPS::execute() -- Got a new GPS hit: 1 of 10 needed
: GetGPS::execute() -- Got a new GPS hit: 2 of 10 needed
: GetGPS::execute() -- Got a new GPS hit: 3 of 10 needed
: GetGPS::execute() -- Got a new GPS hit: 4 of 10 needed
: GetGPS::execute() -- Got a new GPS hit: 5 of 10 needed
: GetGPS::execute() -- Got a new GPS hit: 6 of 10 needed
: GetGPS::execute() -- Got a new GPS hit: 7 of 10 needed
: GetGPS::execute() -- Got a new GPS hit: 8 of 10 needed
: GetGPS::execute() -- Got a new GPS hit: 9 of 10 needed
: GetGPS::execute() -- Got a new GPS hit: 10 of 10 needed
: LayeredControl::execute() -- (t = 831.993005) Behavior getgps has changed to state Finished

: Stack empty after processing.  Aborting.
: *** LayeredControl - initiating mission abort... ***
: Initiating Mission Abort!

: **** EventTriggers::add() - attaching proxy
: LayeredControl::execute() -- (t = 832.192991) Behavior missionTimer has changed to state Active

: Stack empty after processing.  Aborting.
: *** LayeredControl - initiating vehicle shutdown... ***
: **** SharedData destructor for object LayeredControlInput_ShmemName ****

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

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

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

: Task "layeredControlServer" died?

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

: Supervisor::shutdown()

: TaskServer::signalHandler() for task WorkSiteIFServer - exit()
: TaskServer::signalHandler() for task AhrsIFServer - exit()
: TaskServer::signalHandler() for task GpsIFServer - exit()
: TaskServer::signalHandler() for task DepthSensorIFServer - exit()
: TaskServer::signalHandler() for task RangeFinderIFServer - exit()
: **** SharedData destructor for object PSA916Input_ShmemName ****

: TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit()
: NavigationOutput::~NavigationOutput()

: TaskServer::signalHandler() for task NavigationIFServer - exit()
: TaskServer::signalHandler() for task DynamicControlIFServer - exit()
: TaskServer::signalHandler() for task TailConeIFServer - exit()
: Supervisor::signalHandler(); caught signal 2

: **** SharedData destructor for object SeabirdOutput_ShmemName ****

: Supervisor::signalHandler(); caught signal 2

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

: TaskServer::signalHandler() for task EventLogIFServer - exit()
: TaskServer::signalHandler() for task DropWeightIFServer - exit()
: TaskServer::signalHandler() for task ExternalCommsIFServer - exit()
: TaskServer::signalHandler() for task CTDIFServer - exit()
: TaskServer::signalHandler() for task MetraByteIFServer - exit()
: **** SharedData destructor for object MetraByteOutput ****

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

: **** SharedData destructor for object crossbowOutput ****

: TaskServer::signalHandler() for task ExternalCommsIFServer - exit()
: **** SharedData destructor for object PSA916Output_ShmemName ****

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

: **** SharedData destructor for object crossbowCommand ****

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

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

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

: TaskServer::signalHandler() for task NavigationIFServer - exit()
: **** SharedData destructor for object TailConeInput_ShmemName ****

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

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

: Supervisor::cleanup() - delete _theSupervisor

: Supervisor::cleanup() - delete _theSupervisor

: **** SharedData destructor for object crossbowOutput ****

: **** SharedData destructor for object SeabirdOutput_ShmemName ****

: TaskServer::signalHandler() for task CTDIFServer - exit()
: TaskServer::signalHandler() for task AhrsIFServer - exit()
: **** SharedData destructor for object MetraByteOutput ****

: TaskServer::signalHandler() for task DepthSensorIFServer - exit()
: TaskServer::signalHandler() for task RangeFinderIFServer - exit()
: TaskServer::signalHandler() for task TailConeIFServer - exit()
: TaskServer::signalHandler() for task MetraByteIFServer - exit()
: TaskServer::signalHandler() for task GpsIFServer - exit()
: NavigationOutput::~NavigationOutput()

: Supervisor::shutdown()

: Supervisor::shutdown()

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

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

: Supervisor::shutdown() - done()

