: Using default vehicle config file "/home/altex/auv/altex/onboard//config/vehicle.cfg"
: Supervisor::createRealTasks() - spawning odyTailCone 
: Supervisor::createRealTasks() - spawning kvhServer kvh 
: Supervisor::createRealTasks() - spawning gpsServer 
: Supervisor::createRealTasks() - spawning parosciServer 
: Create tailcone
: WorkSite server: 0x1f24c
: Supervisor::createRealTasks() - spawning psa916Server 
: Supervisor::createRealTasks() - spawning ctdServer 
: SerialDevice: done...

: 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/Lab1a.cfg

: Successfully loaded /home/altex/auv/altex/onboard//missions/Lab1a.cfg

: PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200
: PeriodicTask::run() (navigation) - sampleInterval=200, maxInterval=200
: Navigation::periodicCallback() - bad ahrs data?
: Gps: initializing

: SerialDevice: done...

: Gps: done initializing...

: **** EventTriggers::add() - attaching proxy
: Navigation::periodicCallback() - bad ahrs data?
: Navigation::periodicCallback() - bad ahrs data?
: Navigation::periodicCallback() - bad ahrs data?
: 	indexing rudder ... 
: SerialDevice: done...

: PSA916: constructing...

: SerialDevice: done...

: SerialDevice: done...

: KvhInclinoDriver::initialize()
: KvhCompassDriver::initialize()
: Ctd::Ctd() - create interface to depth sensor...
: Gps::processRecord() - bad data
: Navigation::periodicCallback() - bad ahrs data?
: PSA916: initializing...

: CTD:initializing CTD...

: PSA916: trying to write data...

: SerialDevice: done...

: PSA916: debug mode on...

: SerialDevice: done...

: PSA916: confirming data stream...

: Gps::processRecord() - bad data
: PSA916: data is streaming...

: **** EventTriggers::add() - attaching proxy
: this should not have happened:
: Navigation::periodicCallback() - bad ahrs data?
: Navigation::periodicCallback() - bad ahrs data?
: Navigation::periodicCallback() - bad ahrs data?
: Navigation::periodicCallback() - bad ahrs data?
: Navigation::periodicCallback() - bad ahrs data?
: KvhDriver::setUpdateRate(5)
: KvhInclinoDriver::initialize() - ready!
: KvhInclinoDriver::initialize() - finished
: **** EventTriggers::add() - attaching proxy
: 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?
: Parosci.cc -- Initial pressure = 0.137895
: Parosci.cc -- Parosci initial pressure period = 30.259020
: ParosciServer::depth() - device not ready
: Navigation::periodicCallback() - bad parosci data?
: Parosci.cc -- Parosci initial temp period = 5.833587
: Parosci.cc -- Paroscientific configured.
: PeriodicTask::run() (Parosci) - sampleInterval=200, maxInterval=200
: SerialDevice::confirm() - Timed Out
: Ctd::initialize() - confirm() timed out; sleep a bit
: done

: 	indexing elevator ... 
: done

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

: LayeredControl::execute() -- (t = 0.000000) Behavior missionTimer has changed to state Active

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

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

: SerialDevice::confirm() - Timed Out
: SerialDevice::confirm() - Timed Out
: CTD: confirmed power on returns: -1

: CTD: no power on detected yet...

: Abort request issued by behavior "missionTimer"

: *** LayeredControl - initiating mission abort... ***
: Initiating Mission Abort!

: LayeredControl::execute() -- (t = 20.398603) Behavior setRudder has changed to state Active

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

: LayeredControl::execute() -- (t = 20.398603) Behavior setElevator has changed to state Active

: LayeredControl::execute() -- (t = 20.478597) Behavior missionTimer has changed to state Active

: LayeredControl::execute() -- (t = 21.598520) Behavior setRudder has changed to state Finished

: LayeredControl::execute() -- (t = 21.598520) 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()

: Navigation::~Navigation() - this=0x295e0

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

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

: **** 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 GpsOutput_ShmemName ****

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

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

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

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

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

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

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

: Supervisor::cleanup() - delete _theSupervisor

: Navigation::~Navigation() - delete output
: NavigationOutput::~NavigationOutput()

: Supervisor::shutdown()

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

: Navigation::~Navigation() - delete ahrs
: Supervisor::shutdown() - done()

