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() - layeredControlServer
Super: WorkSite::WorkSite -- Finished loading parameters
v: 0:	L1	577333.000000E	4088477.750000N	47.200001 m	3.000000 ms	channel:1
is: 1:	L2	577333.000000E	4088477.750000N	47.200001 m	3.000000 ms	channel:2
or: 2:	L3	577981.500000E	4085867.750000N	65.300003 m	10.000000 ms	channel:3
::: 3:	L4	577981.500000E	4085867.750000N	65.300003 m	10.000000 ms	channel:4
cre: 4:	L5	577981.500000E	4085867.750000N	65.300003 m	10.000000 ms	channel:5
at: 5:	L6	578934.625000E	4082898.000000N	78.599998 m	3.000000 ms	channel:6
eT: 6:	L7	574507.000000E	4085719.000000N	76.300003 m	3.000000 ms	channel:7
as: 7:	L8	574507.000000E	4085719.000000N	76.300003 m	3.000000 ms	channel:8
k(: 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
- : WorkSite server: 0x21e74
dynamicControlServer
Supervisor::createTask() - tailConeServer
Supervisor::createTask() - crossbowServer
Supervisor::createTask() - gpsServer
Supervisor::createTas: Preparing to fork

k() - parosc: DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize()
i: DynamicControlServer - Got event 1 from TailCone

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

S: I'm the child...forking

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

: SerialDevice: done...

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

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

vi: PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200
sor::createTask() - psa916Serv: SerialDevice: done...

er
Supervi: TailConeServer -- Maximum Elevator Actuator Excursion is 1421 Counts
sor: TailConeServer:: -- Minimum Elevator Actuator Excursion is -1272 Counts
::: TailConeServer -- Maximum Rudder Actuator Excursion is 1242 Counts
cr: TailConeServer -- Minimum Rudder Actuator Excursion is -1096 Counts
eat: SerialDevice: done...

eTask(: SerialDevice: done...

) - seabirdServer
Supervisor::createT: Gps: initializing

ask: SerialDevice: done...

(: SerialDevice: done...

: SerialDevice: done...

) -: SerialDevice: done...

: PSA916: constructing...

 m: Gps: done initializing...

e: PSA916: initializing...

tr: Crossbow.cc: Setting polled mode
abyt: **** EventTriggers::add() - attaching proxy
e: PSA916: trying to write data...

Serve: PSA916: debug mode on...

r
: Crossbow.cc: Setting polled mode
: SerialDevice: done...

: PSA916: confirming data stream...

: Crossbow.cc: In getSerialNumber()
: PSA916: data is streaming...

: **** EventTriggers::add() - attaching proxy
: Crossbow.cc: device->read succeeded
: seabirdDriver RUNNING...

: Crossbow.cc: I think the serial number is 17266 (4372)
: SerialDevice: done...

: Crossbow.cc: Setting polled mode
: SerialDevice: done...

: PeriodicTask::run() (crossbow) - sampleInterval=100, maxInterval=100
: Parosci::init() - mode set okay
: Seabird.cc -- Loading CTD constants from /home/dorado1/auv/altex/onboard//config/dorado1/seabird.cfg

: SerialDevice: done...

: 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...

: CTDLog.cc -- beginning constructor...

: SerialDevice: done...

: CTDLog.cc -- constructor succeeded

: Seabird.cc -- constructor succeeded

: seabirdDriver -- constructor succeeded

: Seabird:initializing Seabird...

: SerialDevice: done...

: PeriodicTask::run() (MetraByte) - sampleInterval=1000, maxInterval=1000
: Parosci.cc -- Initial pressure = 0.827371
: Parosci.cc -- Parosci initial pressure period = 30.462490
: Parosci.cc -- Parosci initial temp period = 5.880851
: 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
: LayeredControl::execute() -- (t = 0.000000) Behavior setpoint 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 ***

: 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...

: 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...

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

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

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

: Seabird: sending DS command...

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

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

: Ctd:initialize() - ready!
: **** EventTriggers::add() - attaching proxy
: TailConeServer::initElevator : Succeeded initializing elevator actuator, proceed
: TailConeServer::initRudder : Succeeded initializing rudder actuator, proceed
: PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200
: LayeredControl::execute() -- (t = 40.197246) Behavior setpoint has changed to state Finished

: LayeredControl::execute() -- (t = 40.197246) Behavior descend has changed to state Active

: LayeredControl::execute() -- (t = 80.394493) Behavior descend has changed to state Finished

: LayeredControl::execute() -- (t = 80.394493) Behavior setpoint has changed to state Active

: LayeredControl::execute() -- (t = 200.396272) Behavior setpoint has changed to state Finished

: LayeredControl::execute() -- (t = 200.396272) Behavior ascend has changed to state Finished

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

: **** EventTriggers::add() - attaching proxy
: LayeredControl::execute() -- (t = 200.596258) 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()
: 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

: Supervisor::signalHandler(); caught signal 2

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

: **** 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 navigationOutput ****

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

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

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

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

: NavigationOutput::~NavigationOutput()

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

: Supervisor::cleanup() - delete _theSupervisor

: Supervisor::cleanup() - delete _theSupervisor

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

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

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

: Supervisor::shutdown()

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

: Supervisor::shutdown()

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

: Supervisor::shutdown() - done()

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

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

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

