Supervisor::createCoreTasks()
Supervisor::createTask() - eventLogServer
Supervisor::createTask() - workSite
Supervisor::createTask() - vehicleConfigurationS: Initializing worksiteServer
erver
S: WorkSite::WorkSite -- Adding attributes
upe: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv/altex/onboard//config/dorado538/workSite.cfg
rvisor::createTask() - dropWeight
S: Using default vehicle config file "/home/dorado1/auv/altex/onboard//config/dorado538/vehicle.cfg"
upervisor::createTask() - externalCommsServer
Supervisor::createTask() - navigationServer
Supervisor::createTask() - layeredControlServer
Supervisor::createTask() - dynamicControlServer
: WorkSite::WorkSite -- Finished loading parameters
: 0:	1	600674.187500E	4067388.750000N	73.699997 m	10.000000 ms	channel:2
: 1:	2	600531.687500E	4065156.000000N	73.199997 m	10.000000 ms	channel:4
: 2:	3	598447.000000E	4067412.250000N	91.400002 m	10.000000 ms	channel:5
: 3:	4	600848.125000E	4069389.500000N	80.199997 m	10.000000 ms	channel:6
: 4:	5	602732.187500E	4067093.000000N	57.299999 m	10.000000 ms	channel:7
: WorkSite server: 0x21e50
Supervisor::createTask() - tailConeServer
Supervisor::createTask() - crossbowServer
Supervisor::createTask() - octansServer
Supervisor::createTask() - : Preparing to fork

: DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize()
gpsS: DynamicControlServer - Got event 1 from TailCone

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

ver
: I'm the child...forking

Supervisor::createTas: SerialDevice: done...

k(: Preparing to fork

) - parosciServer
: TailConeServer -- Maximum Elevator Actuator Excursion is 1421 Counts
: TailConeServer:: -- Minimum Elevator Actuator Excursion is -1272 Counts
: TailConeServer -- Maximum Rudder Actuator Excursion is 1242 Counts
: I'm the child...forking

S: TailConeServer -- Minimum Rudder Actuator Excursion is -1096 Counts
uperv: SerialDevice: done...

isor::createTask() -: SerialDevice: done...

 psa9: Crossbow.cc: Setting polled mode
1: SerialDevice: done...

6Ser: Crossbow.cc: Setting polled mode
ver
: Crossbow.cc: In getSerialNumber()
Sup: Crossbow.cc: _device->read failed with error
erv: PeriodicTask::run() (crossbow) - sampleInterval=100, maxInterval=100
isor::createTask() - seabirdServer
Super: SerialDevice: done...

visor::crea: SerialDevice: done...

teTask() -: SerialDeviceDriver::initialize()
 m: SerialDevice: done...

e: SerialDevice: done...

trabyteSe: Gps: initializing

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


: PSA916: constructing...

Supe: PSA916: initializing...

r: Gps: done initializing...

v: PSA916: trying to write data...

is: PSA916: debug mode on...

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

creat: PSA916: data is streaming...

eTa: **** EventTriggers::add() - attaching proxy
sk: PSA916::processRecord() - this should not have happened: record=99.99E

(): SerialDevice: done...

: **** EventTriggers::add() - attaching proxy
 - dvl: gpsDriver::readRecord() - serial device timed out
Se: **** EventTriggers::add() - attaching proxy
rver
: seabirdDriver RUNNING...

Superviso: GarminGps::processRecord() - GpsUtils::parseFix() - incomplete GGA sentence?
PGGA,1

r: Parosci::init() - mode set okay
::createTask(: SerialDevice: done...

) - ips4Server
Superv: SerialDevice: done...

isor::createTask: PeriodicTask::run() (MetraByte) - sampleInterval=1000, maxInterval=1000
(: SerialDevice: done...

) - buoy: Seabird.cc -- Loading CTD constants from /home/dorado1/auv/altex/onboard//config/dorado538/seabird.cfg

LauncherServer
: 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...

: SerialDeviceDriver::initialize()
: 
 Starting DVL Initialization.

: SerialDevice: done...

: gpsDriver::readRecord() - serial device timed out
: CTDLog.cc -- beginning constructor...

: CTDLog.cc -- constructor succeeded

: Seabird.cc -- constructor succeeded

: GarminGps::processRecord() - GpsUtils::parseFix() - incomplete GGA sentence?
*7D

: seabirdDriver -- constructor succeeded

: Seabird:initializing Seabird...

: buoyLauncherDriver::main():Creating driver with params /dev/ser8,57600,8,n,1
: SerialDevice: done...

: Ips4Log.cc -- beginning constructor...

: ips4Log.cc -- constructor succeeded

: SerialDeviceDriver::initialize()
: Ips4:initializing Ips4...

: Ips4:initialized

: **** EventTriggers::add() - attaching proxy
: BuoyLauncher::"*T7e" sent to LC
: BuoyLauncher::recvd #Tw as response from LC
: PeriodicTask::run() (buoyLauncherDriver) - sampleInterval=2000, maxInterval=2000
:  Dvl::initialize() - The DVL is initialized.

: **** EventTriggers::add() - attaching proxy
: Parosci.cc -- Initial pressure = 0.937687
: Parosci.cc -- Parosci initial pressure period = 30.461940
: Parosci.cc -- Parosci initial temp period = 5.880520
: 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 = 0.009999) 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 ***

: 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
: BuoyLauncherDriver::getting 30 second status
: BuoyLauncher::processing getLauncherStatus
: BuoyLauncher::"*G71" sent to LC
: BuoyLauncher::recvd #Gj as response from LC
: BuoyLauncher::recvd 56 bytes from LC, should be 56
: TailConeServer::initElevator : Succeeded initializing elevator actuator, proceed
: TailConeServer::initRudder : Succeeded initializing rudder actuator, proceed
: PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200
: PSA916::processRecord() - this should not have happened: record=E1

: BuoyLauncherDriver::getting 30 second status
: BuoyLauncher::processing getLauncherStatus
: BuoyLauncher::"*G71" sent to LC
: BuoyLauncher::recvd #Gj as response from LC
: LayeredControl::execute() -- (t = 60.195876) Behavior setpoint has changed to state Finished

: LayeredControl::execute() -- (t = 60.195876) Behavior descend has changed to state Active

: BuoyLauncher::recvd 56 bytes from LC, should be 56
: Descend::execute() - Descend terminating on altitude 0.809665 < 3.000000 at time 85.994109

: LayeredControl::execute() -- (t = 85.994109) Behavior descend has changed to state Finished

: LayeredControl::execute() -- (t = 86.004108) Behavior setpoint has changed to state Active

: BuoyLauncherDriver::getting 30 second status
: BuoyLauncher::processing getLauncherStatus
: BuoyLauncher::"*G71" sent to LC
: BuoyLauncher::recvd #Gj as response from LC
: BuoyLauncher::recvd 56 bytes from LC, should be 56
: BuoyLauncherDriver::getting 30 second status
: BuoyLauncher::processing getLauncherStatus
: BuoyLauncher::"*G71" sent to LC
: BuoyLauncher::recvd #Gj as response from LC
: BuoyLauncher::recvd 56 bytes from LC, should be 56
: BuoyLauncherDriver::getting 30 second status
: BuoyLauncher::processing getLauncherStatus
: BuoyLauncher::"*G71" sent to LC
: BuoyLauncher::recvd #Gj as response from LC
: BuoyLauncher::recvd 56 bytes from LC, should be 56
: BuoyLauncherDriver::getting 30 second status
: BuoyLauncher::processing getLauncherStatus
: BuoyLauncher::"*G71" sent to LC
: BuoyLauncher::recvd #Gj as response from LC
: BuoyLauncher::recvd 56 bytes from LC, should be 56
: BuoyLauncherDriver::getting 30 second status
: BuoyLauncher::processing getLauncherStatus
: BuoyLauncher::"*G71" sent to LC
: BuoyLauncher::recvd #Gj as response from LC
: BuoyLauncher::recvd 56 bytes from LC, should be 56
: DepthSensor (Navigation): Received bad depth reading: 41.257818
 Substitute previous depth value of 12.314364

: DepthSensor (Navigation): Received bad depth reading: 41.257818
 Substitute previous depth value of 12.314364

: LayeredControl::execute() -- (t = 266.191765) Behavior setpoint has changed to state Finished

: LayeredControl::execute() -- (t = 266.191765) Behavior setRudder has changed to state Active

: BuoyLauncherDriver::getting 30 second status
: BuoyLauncher::processing getLauncherStatus
: BuoyLauncher::"*G71" sent to LC
: BuoyLauncher::recvd #Gj as response from LC
: BuoyLauncher::recvd 56 bytes from LC, should be 56
: PSA916::processRecord() - this should not have happened: record=E1

: PSA916::processRecord() - this should not have happened: record=E1

: BuoyLauncherDriver::getting 30 second status
: BuoyLauncher::processing getLauncherStatus
: BuoyLauncher::"*G71" sent to LC
: BuoyLauncher::recvd #Gj as response from LC
: BuoyLauncher::recvd 56 bytes from LC, should be 56
: LayeredControl::execute() -- (t = 326.197654) Behavior setRudder has changed to state Finished

: LayeredControl::execute() -- (t = 326.197654) Behavior setRudder has changed to state Active

: BuoyLauncherDriver::getting 30 second status
: BuoyLauncher::processing getLauncherStatus
: BuoyLauncher::"*G71" sent to LC
: BuoyLauncher::recvd #Gj as response from LC
: BuoyLauncher::recvd 56 bytes from LC, should be 56
: PSA916::processRecord() - this should not have happened: record=E1

: BuoyLauncherDriver::getting 30 second status
: BuoyLauncher::processing getLauncherStatus
: BuoyLauncher::"*G71" sent to LC
: BuoyLauncher::recvd #Gj as response from LC
: BuoyLauncher::recvd 56 bytes from LC, should be 56
: LayeredControl::execute() -- (t = 386.393530) Behavior setRudder has changed to state Finished

: LayeredControl::execute() -- (t = 386.393530) Behavior setRudder has changed to state Active

: PSA916::processRecord() - this should not have happened: record=E1

: PSA916::processRecord() - this should not have happened: record=E1

: BuoyLauncherDriver::getting 30 second status
: BuoyLauncher::processing getLauncherStatus
: BuoyLauncher::"*G71" sent to LC
: BuoyLauncher::recvd #Gj as response from LC
: BuoyLauncher::recvd 56 bytes from LC, should be 56
: LayeredControl::execute() -- (t = 446.399420) Behavior setRudder has changed to state Finished

: LayeredControl::execute() -- (t = 446.399420) Behavior setRudder has changed to state Active

: BuoyLauncherDriver::getting 30 second status
: BuoyLauncher::processing getLauncherStatus
: BuoyLauncher::"*G71" sent to LC
: BuoyLauncher::recvd #Gj as response from LC
: BuoyLauncher::recvd 56 bytes from LC, should be 56
: BuoyLauncherDriver::getting 30 second status
: BuoyLauncher::processing getLauncherStatus
: BuoyLauncher::"*G71" sent to LC
: BuoyLauncher::recvd #Gj as response from LC
: BuoyLauncher::recvd 56 bytes from LC, should be 56
: LayeredControl::execute() -- (t = 506.595296) Behavior setRudder has changed to state Finished

: LayeredControl::execute() -- (t = 506.595296) Behavior setpoint has changed to state Active

: BuoyLauncherDriver::getting 30 second status
: BuoyLauncher::processing getLauncherStatus
: BuoyLauncher::"*G71" sent to LC
: BuoyLauncher::recvd #Gj as response from LC
: BuoyLauncher::recvd 56 bytes from LC, should be 56
: BuoyLauncherDriver::getting 30 second status
: BuoyLauncher::processing getLauncherStatus
: BuoyLauncher::"*G71" sent to LC
: BuoyLauncher::recvd #Gj as response from LC
: BuoyLauncher::recvd 56 bytes from LC, should be 56
: LayeredControl::execute() -- (t = 566.791172) Behavior setpoint has changed to state Finished

: LayeredControl::execute() -- (t = 566.791172) Behavior ascend has changed to state Active

: BuoyLauncherDriver::getting 30 second status
: BuoyLauncher::processing getLauncherStatus
: BuoyLauncher::"*G71" sent to LC
: BuoyLauncher::recvd #Gj as response from LC
: BuoyLauncher::recvd 56 bytes from LC, should be 56
: LayeredControl::execute() -- (t = 626.797061) 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 = 626.997048) 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 AhrsIFServer - exit()
: TaskServer::signalHandler() for task GpsIFServer - exit()
: TaskServer::signalHandler() for task DepthSensorIFServer - exit()
: TaskServer::signalHandler() for task RangeFinderIFServer - exit()
: TaskServer::signalHandler() for task DvlIFServer - exit()
: TaskServer::signalHandler() for task WorkSiteIFServer - exit()
: **** SharedData destructor for object PSA916Input_ShmemName ****

: TaskServer::signalHandler() for task TailConeIFServer - exit()
: TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit()
: TaskServer::signalHandler() for task NavigationIFServer - exit()
: TaskServer::signalHandler() for task DynamicControlIFServer - exit()
: Supervisor::signalHandler(); caught signal 2

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

: TaskServer::signalHandler() for task OctansIFServer - exit()
: TaskServer::signalHandler() for task CtdIFServer - exit()
: TaskServer::signalHandler() for task MetraByteIFServer - exit()
: **** SharedData destructor for object MetraByteOutput ****

: TaskServer::signalHandler() for task Ips4IFServer - exit()
: TaskServer::signalHandler() for task  - exit()
: **** SharedData destructor for object BuoyLauncherInput_ShmemName ****

: Supervisor::signalHandler(); caught signal 2

: TaskServer::signalHandler() for task EventLogIFServer - exit()
: TaskServer::signalHandler() for task DropWeightIFServer - exit()
: TaskServer::signalHandler() for task ExternalCommsIFServer - exit()
: **** SharedData destructor for object GpsOutput_ShmemName ****

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

: Ips4:stopping Ips4...

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

: NavigationOutput::~NavigationOutput()

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

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

: **** SharedData destructor for object DvlOutput_ShmemName ****

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

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

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

: TaskServer::signalHandler() for task OctansIFServer - exit()
: **** SharedData destructor for object DvlOutput_ShmemName ****

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

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

: **** SharedData destructor for object BuoyLauncherOutput_ShmemName ****

: NavigationOutput::~NavigationOutput()

: Supervisor::cleanup() - delete _theSupervisor

: TaskServer::signalHandler() for task NavigationIFServer - exit()
: Supervisor::cleanup() - delete _theSupervisor

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

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

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

: TaskServer::signalHandler() for task MetraByteIFServer - exit()
: Ips4:stopped

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

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

: TaskServer::signalHandler() for task CtdIFServer - exit()
: **** SharedData destructor for object octansOutput ****

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

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

: Supervisor::shutdown()

: Supervisor::shutdown()

: TaskServer::signalHandler() for task  - exit()
: **** SharedData destructor for object Ips4Output_ShmemName ****

: Supervisor::shutdown() - done()

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

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

//1/home/dorado1/auv/altex/onboard/bin/ips4 terminated (SIGSEGV) at 0007:000216FF.
: **** SharedData destructor for object TailConeInput_ShmemName ****

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

:  Dvl::~Dvl: Destructor Finished.


//1/home/dorado1/auv/altex/onboard/bin/dvl terminated (SIGSEGV) at 0007:00021247.
