: launchCoreTasks: Starting Crossbow driver...

: launchCoreTasks: Done starting Crossbow driver

: Using default vehicle config file "/home/altex/auv/altex/onboard//config/vehicle.cfg"
: Create tailcone
: SerialDevice: done...

: SerialDevice: done...

: Crossbow.cc: Setting polled mode
: Crossbow.cc: Setting polled mode
: Crossbow.cc: In getSerialNumber()
: read failed

: Crossbow.cc: _device->read failed with error
: Crossbow::readData: Checksum does not agree
: Crossbow::readData: ff  0  0 43 72 b5 ff  8 a1 ff
: Crossbow::readData: da c3 9d ff 11 fd 55 fe d8 ff
: Crossbow::readData: b4  a 1b 29 3f  1 8b 17 b1 19
: 

: Gps: initializing

: SerialDevice: done...

: Gps: done initializing...

: **** EventTriggers::add() - attaching proxy
: Gps::processRecord() - bad data
: Gps::processRecord() - bad data
: SerialDevice: done...

: KvhInclinoDriver::initialize()
: Ctd::Ctd() - create interface to depth sensor...
: CTD:initializing CTD...

: SerialDevice: done...

: PSA916: constructing...

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

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

: MissionPlan::load() - file = /home/altex/auv/altex/onboard//missions/gps2.cfg

: Successfully loaded /home/altex/auv/altex/onboard//missions/gps2.cfg

: PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200
: WorkSite server: 0x1f1bc
: PSA916: initializing...

: PSA916: trying to write data...

: PSA916: debug mode on...

: KvhDriver::setUpdateRate(5)
: SerialDevice: done...

: SerialDevice: done...

: KvhCompassDriver::initialize()
: PSA916: confirming data stream...

: SerialDevice: done...

: KvhInclinoDriver::initialize() - ready!
: KvhInclinoDriver::initialize() - finished
: **** EventTriggers::add() - attaching proxy
: PSA916: data is streaming...

: **** EventTriggers::add() - attaching proxy
: this should not have happened:
: PeriodicTask::run() (navigation) - sampleInterval=200, maxInterval=200
: Navigation::periodicCallback() - bad ahrs data?
: Navigation::periodicCallback() - bad ahrs data?
: Navigation::periodicCallback() - bad ahrs data?
: 	indexing rudder ... 
: Navigation::periodicCallback() - bad ahrs data?
: Navigation::periodicCallback() - bad ahrs data?
: Navigation::periodicCallback() - bad ahrs data?
: KvhDriver::setUpdateRate(5)
: Navigation::periodicCallback() - bad ahrs data?
: Navigation::periodicCallback() - bad ahrs data?
: Navigation::periodicCallback() - bad ahrs data?
: KvhCompassDriver::initialize() - ready!
: KvhCompassDriver::initialize() - finished
: **** EventTriggers::add() - attaching proxy
: ParosciServer::depth() - device not ready
: Navigation::periodicCallback() - bad parosci data?
: ParosciServer::depth() - device not ready
: Navigation::periodicCallback() - bad parosci data?
: ParosciServer::depth() - device not ready
: Navigation::periodicCallback() - bad parosci data?
: ParosciServer::depth() - device not ready
: Navigation::periodicCallback() - bad parosci data?
: ParosciServer::depth() - device not ready
: Navigation::periodicCallback() - bad parosci data?
: ParosciServer::depth() - device not ready
: Navigation::periodicCallback() - bad parosci data?
: Parosci.cc -- Initial pressure = 1.715416
: SerialDevice::confirm() - Timed Out
: Ctd::initialize() - confirm() timed out; sleep a bit
: Parosci.cc -- Parosci initial pressure period = 30.259780
: ParosciServer::depth() - device not ready
: Navigation::periodicCallback() - bad parosci data?
: Parosci.cc -- Parosci initial temp period = 5.834009
: Parosci.cc -- Paroscientific configured.
: PeriodicTask::run() (Parosci) - sampleInterval=200, maxInterval=200
: done

: 	indexing elevator ... 
: done

: **** EventTriggers::add() - attaching proxy
: **** EventTriggers::add() - attaching proxy
: LayeredControl::execute() -- (t = 0.000000) Behavior launch has changed to state Active

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

: LayeredControl::execute() -- (t = 0.019999) Behavior depthEnvelope has changed to state Active

: LayeredControl::execute() -- (t = 0.029998) Behavior missionTimer has changed to state Active

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

Domain error in pow
Domain error in pow
: SerialDevice::confirm() - Timed Out
: Ctd::initialize() - confirm() timed out again, send multiple newlines
: CTD: first Ctrl-Z  sent...

: CTD: sending configure commands...

: CTD: setting scans...

: CTD: setting pump freq...

: CTD: setting upcast...

: CTD: setting battery type...

: CTD: setting external voltages...

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

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

: CTD: sending DS command...

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

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

: Ctd:initialize() - ready!
: **** EventTriggers::add() - attaching proxy
: LayeredControl::execute() -- (t = 21.258544) Behavior launch has changed to state Finished

: LayeredControl::execute() -- (t = 21.308540) Behavior setpoint has changed to state Active

: LayeredControl::execute() -- (t = 141.430311) Behavior setpoint has changed to state Finished

: LayeredControl::execute() -- (t = 141.510306) Behavior ascend has changed to state Active

: LayeredControl::execute() -- (t = 147.229914) Behavior ascend has changed to state Finished

: LayeredControl::execute() -- (t = 147.299909) Behavior setpoint has changed to state Active

: LayeredControl::execute() -- (t = 267.421680) Behavior setpoint has changed to state Finished

: LayeredControl::execute() -- (t = 267.491676) Behavior launch has changed to state Active

: LayeredControl::execute() -- (t = 302.829255) Behavior launch has changed to state Finished

: LayeredControl::execute() -- (t = 302.899250) Behavior setpoint has changed to state Active

: LayeredControl::execute() -- (t = 423.021021) Behavior setpoint has changed to state Finished

: LayeredControl::execute() -- (t = 423.091016) Behavior ascend has changed to state Active

: LayeredControl::execute() -- (t = 428.660635) Behavior ascend has changed to state Finished

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

: LayeredControl::execute() -- (t = 428.830623) Behavior setRudder has changed to state Active

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

: LayeredControl::execute() -- (t = 428.920617) Behavior setElevator has changed to state Active

: LayeredControl::execute() -- (t = 428.920617) Behavior missionTimer has changed to state Active

: LayeredControl::execute() -- (t = 430.030541) Behavior setRudder has changed to state Finished

: LayeredControl::execute() -- (t = 430.100536) Behavior setElevator has changed to state Finished

: Abort request issued by behavior "missionTimer"

: *** LayeredControl - initiating vehicle shutdown... ***
: Task "layeredControlServer" died?

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

: Supervisor::shutdown()

: **** SharedData destructor for object KvhCompassOutput_ShmemName ****

: Navigation::~Navigation() - this=0x294d0

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

: NavigationOutput::~NavigationOutput()

: **** SharedData destructor for object dynamicControlInput ****

: **** SharedData destructor for object dynamicControlInput ****

: Navigation::~Navigation() - delete parosci
: Supervisor::signalHandler(); caught signal 2

: **** SharedData destructor for object KvhInclinoOutput_ShmemName ****

: AHRSOutput::AHRSOutput()
: **** SharedData destructor for object GpsOutput_ShmemName ****

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

: **** SharedData destructor for object CTDOutput_ShmemName ****

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

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

: Navigation::~Navigation() - delete log
: **** SharedData destructor for object navigationOutput ****

: **** SharedData destructor for object KvhCompassOutput_ShmemName ****

: Supervisor::cleanup() - delete _theSupervisor

: Navigation::~Navigation() - delete output
: **** SharedData destructor for object ahrsOutput ****

: NavigationOutput::~NavigationOutput()

: Supervisor::shutdown()

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

: Supervisor::shutdown() - done()

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

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

