Supervisor::createCoreTasks()
Supervisor::createTask() - eventLogServer
Supervisor::createTask() - workSite
Supervisor::createTask() - vehicleConfigurationServer
S: Initializing worksiteServer
upervisor:: WorkSite::WorkSite -- Adding attributes
:cr: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv/altex/onboard//config/dorado538/workSite.cfg
eateTask() - dr: Using default vehicle config file "/home/dorado1/auv/altex/onboard//config/dorado538/vehicle.cfg"
opWeight
Supervisor::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::createTa: DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize()
s: DynamicControlServer - Got event 1 from TailCone

: SerialDevice: done...

k() - octansServer
: Preparing to fork

S: I'm the child...forking

upervis: TailConeServer -- Maximum Elevator Actuator Excursion is 1421 Counts
: TailConeServer:: -- Minimum Elevator Actuator Excursion is -1272 Counts
or:: TailConeServer -- Maximum Rudder Actuator Excursion is 1242 Counts
:c: TailConeServer -- Minimum Rudder Actuator Excursion is -1096 Counts
rea: SerialDevice: done...

teTask() - gpsServer
: Preparing to fork

S: I'm the child...forking

uper: SerialDevice: done...

visor::createTask() : SerialDevice: done...

- parosciServer
: TailConeServer::initElevator : Succeeded initializing elevator actuator, proceed
Superviso: PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200
r::c: SerialDevice: done...

: SerialDevice: done...

reateTask(: SerialDeviceDriver::initialize()
) -: SerialDevice: done...

 : SerialDevice: done...

seabi: Crossbow.cc: Setting polled mode
rdS: **** EventTriggers::add() - attaching proxy
er: Crossbow.cc: Setting polled mode
ver
: Crossbow.cc: In getSerialNumber()
Sup: Crossbow.cc: _device->read failed with error
ervi: TailConeServer::initRudder : Succeeded initializing rudder actuator, proceed
: Gps: initializing

: PeriodicTask::run() (crossbow) - sampleInterval=100, maxInterval=100
sor:: SerialDevice: done...

:creat: Gps: done initializing...

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

 metrabyteServer
Supervisor::createT: SerialDevice: done...

ask() : PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200
- dvlServer
: Parosci::init() - mode set okay
S: seabirdDriver RUNNING...

upervisor::createTask(: SerialDevice: done...

) - ips4Server
Superv: SerialDevice: done...

isor::createTask: PeriodicTask::run() (MetraByte) - sampleInterval=1000, maxInterval=1000
() - buoyL: Seabird.cc -- Loading CTD constants from /home/dorado1/auv/altex/onboard//config/dorado538/seabird.cfg

aunch: SerialDevice: done...

erServer
: 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...

: CTDLog.cc -- constructor succeeded

: SerialDeviceDriver::initialize()
: Seabird.cc -- constructor succeeded

: 
 Starting DVL Initialization.

: seabirdDriver -- constructor succeeded

: SerialDevice: done...

: Seabird:initializing Seabird...

: buoyLauncherDriver::main():Creating driver with params /dev/ser8,57600,8,n,1
: Ips4Log.cc -- beginning constructor...

: ips4Log.cc -- constructor succeeded

: SerialDevice: done...

: 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 = 0.952166
: Parosci.cc -- Parosci initial pressure period = 30.461740
: Parosci.cc -- Parosci initial temp period = 5.880486
: Parosci.cc -- Paroscientific configured.
: PeriodicTask::run() (Parosci) - sampleInterval=200, maxInterval=200
: SerialDevice::confirm() - Timed Out
: Seabird::initialize() - confirm() timed out; sleep a bit
: Navigation: Server for aux sensor "Altimeter" not found
: 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...

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

: **** EventTriggers::add() - attaching proxy
: GetGPS::execute() -- Got a new GPS hit: 1 of 10 needed
: LayeredControl::execute() -- (t = 0.000000) Behavior getgps 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 ***

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

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

: GetGPS::execute() -- Got a new GPS hit: 2 of 10 needed
: Seabird::initialize() - confirming voltage...

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

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

: GetGPS::execute() -- Got a new GPS hit: 3 of 10 needed
: Seabird::initialize() - disabling switch...

: Seabird: sending DS command...

: GetGPS::execute() -- Got a new GPS hit: 4 of 10 needed
: GetGPS::execute() -- Got a new GPS hit: 5 of 10 needed
: GetGPS::execute() -- Got a new GPS hit: 6 of 10 needed
: GetGPS::execute() -- Got a new GPS hit: 7 of 10 needed
: Seabird::initialize() - starting logging...

: GetGPS::execute() -- Got a new GPS hit: 8 of 10 needed
: Ctd:initialize() - Logging Started...

: Ctd:initialize() - ready!
: **** EventTriggers::add() - attaching proxy
: GetGPS::execute() -- Got a new GPS hit: 9 of 10 needed
: GetGPS::execute() -- Got a new GPS hit: 10 of 10 needed
: LayeredControl::execute() -- (t = 10.599274) Behavior getgps has changed to state Finished

: LayeredControl::execute() -- (t = 10.609273) 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 = 70.795150) Behavior setpoint has changed to state Finished

: LayeredControl::execute() -- (t = 70.795150) Behavior descend 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
: Descend::execute() - Descend terminating on depth 15.383160 > 15.000000 at time 131.201012

: LayeredControl::execute() -- (t = 131.201012) Behavior descend has changed to state Finished

: Waypoint Initialization: 
  Begin waypoint control at t= 131.21                            (wplog)
  The current location (N,E) = 4071853.3      , 605194.0         (wplog)
  The next waypoint          = 4073350.3      , 605863.2         (wplog)
  The bearing to the next w.p. is 24.1 Degrees.

: LayeredControl::execute() -- (t = 131.211011) Behavior waypoint 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
: MetraByte::getVoltage() - caught exception: Timed Out

: 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
: 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
: 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
: LayeredControl::execute() -- (t = 731.399896) Behavior waypoint has changed to state Finished

: LayeredControl::execute() -- (t = 731.409895) Behavior ascend has changed to state Active

: 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 = 776.796786) Behavior ascend has changed to state Finished

: LayeredControl::execute() -- (t = 776.796786) Behavior getgps 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
: ctdDriver::readRecord() - serial device timed out
: **** EventTriggers::add() - attaching proxy
: Seabird: error sscanfing 2 bytes in reply: 


: ctdDriver::readRecord() - serial device timed out
: Seabird: error sscanfing 5 bytes in reply: C23


: Seabird: error reading voltages

: Seabird: error reading voltages

: BuoyLauncherDriver::getting 30 second status
: BuoyLauncher::processing getLauncherStatus
: BuoyLauncher::"*G71" sent to LC
: BuoyLauncher::recvd #Gj as response from LC
: ctdDriver::readRecord() - serial device timed out
: Seabird: error sscanfing 4 bytes in reply: 25


: Seabird: error reading voltages

: Seabird: error reading voltages

: Parosci.cc -- Error: Read bad pressure *************************************** bar
: ParosciServer::depth() - error
: ParosciServer::depth() - error
: ctdDriver::readRecord() - serial device timed out
: Seabird: error sscanfing 2 bytes in reply: 


: ParosciServer::depth() - error
: ParosciServer::depth() - error
: Crossbow::readData: Insufficient characters
: ParosciServer::depth() - error
: Crossbow::readData: Insufficient characters
: ParosciServer::depth() - error
: Crossbow::readData: Insufficient characters
: Parosci.cc -- Error: Read bad pressure *************************************** bar
: Crossbow::readData: Insufficient characters
: ParosciServer::depth() - error
: Navigation - 6 consecutive bad readings from sensor DepthSensor
: Navigation - aborting!
: NavigationOutput::~NavigationOutput()

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

: TaskServer::signalHandler() for task NavigationIFServer - exit()
: ctdDriver::readRecord() - serial device timed out
: NavigationOutput::~NavigationOutput()

: Crossbow::readData: Insufficient characters
: **** SharedData destructor for object navigationOutput ****

: layeredControl - caught SharedObject::Error Server "NavigationIFServer" not found
: BuoyLauncher::recvd 56 bytes from LC, should be 56
: **** SharedData destructor for object LayeredControlInput_ShmemName ****

: Crossbow::readData: Insufficient characters
: Seabird Driver: error sscanf'ing conductivity data string

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

: looking for header

: Seabird: error reading voltages

: TaskServer::signalHandler() for task LayeredControlIFServer - exit()
: Seabird: error reading voltages

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

: Parosci.cc -- Error: Read bad pressure *************************************** bar
: **** SharedData destructor for object LayeredControlOutput_ShmemName ****

: looking for header

: looking for header

: looking for header

: looking for header

: looking for header

: Crossbow::readData: Insufficient characters
: looking for header

: looking for header

: Parosci.cc -- Error: Read bad pressure *************************************** bar
: looking for header

: looking for header

: looking for header

: looking for header

: looking for header

: ParosciServer::depth() - error
: looking for header

: Crossbow::readData: Insufficient characters
: looking for header

: looking for header

: Task "navigationServer" died?

: looking for header

Superv: looking for header

isor:: looking for header

:cre: looking for header

ateTa: looking for header

sk() - n: looking for header

avi: TaskServer::signalHandler() for task WorkSiteIFServer - exit()
: TaskServer::signalHandler() for task AhrsIFServer - exit()
: TaskServer::signalHandler() for task DvlIFServer - exit()
: TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit()
: TaskServer::signalHandler() for task DynamicControlIFServer - exit()
: TaskServer::signalHandler() for task TailConeIFServer - exit()
: TaskServer::signalHandler() for task GpsIFServer - exit()
: **** SharedData destructor for object MetraByteOutput ****

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

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

: Supervisor::signalHandler(); caught signal 2

: TaskServer::signalHandler() for task EventLogIFServer - exit()
: TaskServer::signalHandler() for task DropWeightIFServer - exit()
: TaskServer::signalHandler() for task ExternalCommsIFServer - exit()
: TaskServer::signalHandler() for task OctansIFServer - exit()
: TaskServer::signalHandler() for task DepthSensorIFServer - exit()
: TaskServer::signalHandler() for task CtdIFServer - exit()
: TaskServer::signalHandler() for task MetraByteIFServer - exit()
: TaskServer::signalHandler() for task Ips4IFServer - exit()
: TaskServer::signalHandler() for task  - exit()
: **** SharedData destructor for object BuoyLauncherInput_ShmemName ****

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

: Ips4:stopping Ips4...

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

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

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

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

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

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

: Supervisor::cleanup() - delete _theSupervisor

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

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

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

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

: **** SharedData destructor for object BuoyLauncherInput_ShmemName ****

: Ips4:stopped

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

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

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

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

: Supervisor::shutdown()

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

: **** SharedData destructor for object Ips4Output_ShmemName ****

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


//1/home/dorado1/auv/altex/onboard/bin/ips4 terminated (SIGSEGV) at 0007:000216FF.
:  Dvl::~Dvl: Destructor Finished.


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