: Using default vehicle config file "/home/altex/auv/altex/onboard//config/vehicle.cfg"
: Supervisor::createRealTasks() - spawning odyTailCone 
: Supervisor::createRealTasks() - spawning ahrsServer 
: Supervisor::createRealTasks() - spawning kvhCompassDriver 
: WorkSite server: 0x1f24c
: Supervisor::createRealTasks() - spawning kvhInclinoDriver 
: Create tailcone
: Supervisor::createRealTasks() - spawning gpsServer 
: SerialDevice: done...

: Run tailcone
: Supervisor::createRealTasks() - spawning parosciServer 
: Supervisor::createRealTasks() - spawning psa916Server 
: Supervisor::createRealTasks() - spawning ctdServer 
: SerialDevice: done...

: KvhCompassDriver::initialize()
: 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/xbow8.cfg

: Successfully loaded /home/altex/auv/altex/onboard//missions/xbow8.cfg

: PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200
: SerialDevice: done...

: PeriodicTask::run() (navigation) - sampleInterval=200, maxInterval=200
: KvhInclinoDriver::initialize()
: Gps: initializing

: ParosciServer::depth() - device not ready
: Navigation::periodicCallback() - bad parosci data?
: SerialDevice: done...

: PSA916: constructing...

: SerialDevice: done...

: ParosciServer::depth() - device not ready
: Gps: done initializing...

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

: PSA916: initializing...

: PSA916: trying to write data...

: Crossbow.cc: Setting polled mode
: Ctd::Ctd() - create interface to depth sensor...
: PSA916: debug mode on...

: SerialDevice: done...

: Crossbow.cc: Setting polled mode
: Crossbow.cc: In getSerialNumber()
: CTD:initializing CTD...

: ParosciServer::depth() - device not ready
: Gps::processRecord() - bad data
: Navigation::periodicCallback() - bad parosci data?
: read failed

: 	indexing rudder ... 
: SerialDevice: done...

: PSA916: confirming data stream...

: Crossbow.cc: _device->read failed with error
: PSA916: data is streaming...

: **** EventTriggers::add() - attaching proxy
: this should not have happened:
: CTD: sending configure commands...

: ParosciServer::depth() - device not ready
: Navigation::periodicCallback() - bad parosci data?
: Gps::processRecord() - bad data
: ParosciServer::depth() - device not ready
: Navigation::periodicCallback() - bad parosci data?
: CTD: setting scans...

: KvhDriver::setUpdateRate(5)
: ParosciServer::depth() - device not ready
: Navigation::periodicCallback() - bad parosci data?
: KvhInclinoDriver::initialize() - ready!
: KvhInclinoDriver::initialize() - finished
: **** EventTriggers::add() - attaching proxy
: CTD: setting pump freq...

: ParosciServer::depth() - device not ready
: Navigation::periodicCallback() - bad parosci data?
: CTD: setting upcast...

: ParosciServer::depth() - device not ready
: Navigation::periodicCallback() - bad parosci data?
: KvhDriver::setUpdateRate(5)
: CTD: setting battery type...

: CTD: setting external voltages...

: ParosciServer::depth() - device not ready
: Navigation::periodicCallback() - bad parosci data?
: Ctd::initialize() - confirming voltage...

: ParosciServer::depth() - device not ready
: Navigation::periodicCallback() - bad parosci data?
: ParosciServer::depth() - device not ready
: Navigation::periodicCallback() - bad parosci 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?
: Ctd::initialize() - disabling switch...

: CTD: sending DS command...

: 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?
: ParosciServer::depth() - device not ready
: Navigation::periodicCallback() - bad parosci data?
: Parosci.cc -- Initial pressure = 1.714037
: ParosciServer::depth() - device not ready
: Navigation::periodicCallback() - bad parosci data?
: Parosci.cc -- Parosci initial pressure period = 30.259610
: Parosci.cc -- Parosci initial temp period = 5.833948
: Parosci.cc -- Paroscientific configured.
: PeriodicTask::run() (Parosci) - sampleInterval=200, maxInterval=200
: done

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

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

: Ctd:initialize() - ready!
: **** EventTriggers::add() - attaching proxy
: 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 = 0.019999) Behavior missionTimer has changed to state Active

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

: LayeredControl::execute() -- (t = 19.238682) Behavior launch has changed to state Finished

: LayeredControl::execute() -- (t = 19.288679) Behavior descend has changed to state Active

: Descend::execute() - Descend terminating on depth 5.075301 > 5.000000 at time 37.237449

: LayeredControl::execute() -- (t = 37.287446) Behavior descend has changed to state Finished

: LayeredControl::execute() -- (t = 37.287446) Behavior setpoint has changed to state Active

: LayeredControl::execute() -- (t = 157.409217) Behavior setpoint has changed to state Finished

: LayeredControl::execute() -- (t = 157.479212) Behavior ascend has changed to state Active

: LayeredControl::execute() -- (t = 167.438530) Behavior ascend has changed to state Finished

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

: LayeredControl::execute() -- (t = 167.648515) Behavior setRudder has changed to state Active

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

: LayeredControl::execute() -- (t = 167.698512) Behavior setElevator has changed to state Active

: LayeredControl::execute() -- (t = 167.708511) Behavior missionTimer has changed to state Active

: LayeredControl::execute() -- (t = 168.838434) Behavior setRudder has changed to state Finished

: LayeredControl::execute() -- (t = 168.878431) 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()

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

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

: Navigation::~Navigation() - this=0x29600

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

: NavigationOutput::~NavigationOutput()

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

: Supervisor::signalHandler(); caught signal 2

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

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

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

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

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

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

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

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

: Navigation::~Navigation() - delete output
: Supervisor::cleanup() - delete _theSupervisor

: **** 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 ****

