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() - : Using default vehicle config file "/home/dorado1/auv/altex/onboard//config/dorado1/vehicle.cfg"
dropWeight
Supervisor::createTask() - externalCommsServer
Supervisor::createTask() - navigationServer
Supervisor::createTask() : WorkSite::WorkSite -- Finished loading parameters
- : 0:	L1	577333.000000E	4088477.750000N	47.200001 m	3.000000 ms	channel:1
lay: 1:	L2	577333.000000E	4088477.750000N	47.200001 m	3.000000 ms	channel:2
ere: 2:	L3	577981.500000E	4085867.750000N	65.300003 m	10.000000 ms	channel:3
dCo: 3:	L4	577981.500000E	4085867.750000N	65.300003 m	10.000000 ms	channel:4
ntr: 4:	L5	577981.500000E	4085867.750000N	65.300003 m	10.000000 ms	channel:5
olS: 5:	L6	578934.625000E	4082898.000000N	78.599998 m	3.000000 ms	channel:6
erv: 6:	L7	574507.000000E	4085719.000000N	76.300003 m	3.000000 ms	channel:7
e: 7:	L8	574507.000000E	4085719.000000N	76.300003 m	3.000000 ms	channel:8
r
: 8:	L9	574507.000000E	4085719.000000N	76.300003 m	3.000000 ms	channel:9
: 9:	La	574507.000000E	4085719.000000N	76.300003 m	3.000000 ms	channel:10
Su: WorkSite server: 0x21e74
pervisor::createTask() - dynamicControlServer
Supervisor::createTask() - tailConeServer
Supervisor::createTask() - crossbowServer
Supervisor::createTask() - g: DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize()
p: DynamicControlServer - Got event 1 from TailCone

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

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

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

: SerialDevice: done...

: Unknown attribute name: "elevator"


Supe: Parse failed for behavior setpoint, attribute input "elevator = -2.0"

rvi: Valid attribute descriptions:
so: name: startTime
type: MissionTime, default: 0
Description: start time
r: TailConeServer -- Maximum Elevator Actuator Excursion is 1421 Counts
::c:  
re: TailConeServer:: -- Minimum Elevator Actuator Excursion is -1272 Counts
at: name: endTime
type: MissionTime, default: 0
Description: end time
eT: TailConeServer -- Maximum Rudder Actuator Excursion is 1242 Counts
as:  
: Preparing to fork

k(: TailConeServer -- Minimum Rudder Actuator Excursion is -1096 Counts
) : name: duration
type: MissionTime, default: 0
Description: duration
- pa: I'm the child...forking

r: SerialDevice: done...

os:  
ciServe: name: heading
type: Angle (deg), default: none - input mandatory
Description: Commanded heading
r
:  
S: name: speed
type: Float, default: none - input mandatory
Description: Commanded speed
up:  
erv: name: verticalMode
type: VerticalMode ("none", "elevator", "pitch", "depth"), default: elevator
Description: Either "depth" or "pitch"
iso:  
r::: name: depth
type: Float, default: -1.000e+005
Description: Commanded depth if verticalMode is "depth"
cr:  
ea: name: pitch
type: Angle (deg), default: -5.730e+004
Description: Commanded pitch if verticalMode is "pitch"
te:  
Ta: SerialDevice: done...

s: name: legDuration
type: Integer, default: -1
Description: Duration of each leg
k(: SerialDevice: done...

) :  
- ps: name: maxLegs
type: Integer, default: 1
Description: Maximum number of legs
a9:  
16: name: headingInc
type: Angle (deg), default: 0.000e+000
Description: Increment heading by this amount after each leg
Se:  
rv: MissionPlan::load() - Parse failed for one or more attribute inputs

er: *** LayeredControl::initialize() - couldn't load NORMAL plan "/home/dorado1/auv/altex/onboard//missions/surface_short.cfg"


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

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

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

: TailConeServer::initElevator : Succeeded initializing elevator actuator, proceed
so: **** SharedData destructor for object LayeredControlOutput_ShmemName ****

r:: Gps: initializing

:creat: SerialDevice: done...

eTask: Gps: done initializing...

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

d: PSA916: constructing...

Se: SerialDevice: done...

: PSA916: initializing...

r: PSA916: trying to write data...

ve: PSA916: debug mode on...

r: GarminGps::processRecord() - GpsUtils::parseFix() - incomplete GGA sentence?
$PGRMO,,2


Su: SerialDevice: done...

: SerialDevice: done...

perv: **** EventTriggers::add() - attaching proxy
i: PSA916: confirming data stream...

sor::: Crossbow.cc: Setting polled mode
creat: PSA916: data is streaming...

e: **** EventTriggers::add() - attaching proxy
Ta: Crossbow.cc: Setting polled mode
sk(): TailConeServer::initRudder : Succeeded initializing rudder actuator, proceed
 : Crossbow.cc: In getSerialNumber()
- m: GarminGps::processRecord() - GpsUtils::parseFix() - incomplete GGA sentence?
$PGRMO,GPGGA,1

et: Crossbow.cc: device->read succeeded
rab: SerialDevice: done...

yt: Crossbow.cc: I think the serial number is 17266 (4372)
eSer: Crossbow.cc: Setting polled mode
ver
: PeriodicTask::run() (crossbow) - sampleInterval=100, maxInterval=100
: Task "layeredControlServer" died?

: Parosci::init() - mode set okay
Superv: seabirdDriver RUNNING...

isor::cr: SerialDevice: done...

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

dControl: PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200
Server
: 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
: Supervisor::Supervisor() - task(s) died; exiting

: Seabird::Seabird() - create interface to depth sensor...
: Supervisor::shutdown()

: Seabird.cc -- constructing Log...

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

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

: Supervisor::signalHandler(); caught signal 2

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

: TaskServer::signalHandler() for task EventLogIFServer - exit()
: TaskServer::signalHandler() for task WorkSiteIFServer - exit()
: TaskServer::signalHandler() for task DropWeightIFServer - exit()
: TaskServer::signalHandler() for task ExternalCommsIFServer - exit()
: TaskServer::signalHandler() for task GpsIFServer - exit()
: TaskServer::signalHandler() for task DepthSensorIFServer - exit()
: TaskServer::signalHandler() for task CTDIFServer - exit()
: **** SharedData destructor for object SeabirdOutput_ShmemName ****

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

: Supervisor::signalHandler(); caught signal 2

: TaskServer::signalHandler() for task MetraByteIFServer - exit()
: **** SharedData destructor for object crossbowOutput ****

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

: TaskServer::signalHandler() for task ExternalCommsIFServer - exit()
: **** SharedData destructor for object PSA916Input_ShmemName ****

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

: NavigationOutput::~NavigationOutput()

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

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

: Supervisor::cleanup() - delete _theSupervisor

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

: Supervisor::cleanup() - delete _theSupervisor

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

: TaskServer::signalHandler() for task DepthSensorIFServer - exit()
: **** SharedData destructor for object GpsOutput_ShmemName ****

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

: **** SharedData destructor for object MetraByteOutput ****

: TaskServer::signalHandler() for task RangeFinderIFServer - exit()
: TaskServer::signalHandler() for task GpsIFServer - exit()
: **** SharedData destructor for object navigationOutput ****

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

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

: Supervisor::shutdown()

: Supervisor::shutdown()

: TaskServer::signalHandler() for task TailConeIFServer - exit()
: **** SharedData destructor for object SeabirdOutput_ShmemName ****

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

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

: TaskServer::signalHandler() - _theTaskServer doesn't exist
: TaskServer::signalHandler() for task DepthSensorIFServer - exit()
: TaskServer::signalHandler() for task CTDIFServer - exit()
: Supervisor::shutdown() - done()

: TaskServer::signalHandler() - _theTaskServer doesn't exist
