: Initializing worksiteServer
: WorkSite::WorkSite -- Adding attributes
: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv/altex/onboard//config/dorado1/workSite.cfg
: Using default vehicle config file "/home/dorado1/auv/altex/onboard//config/dorado1/vehicle.cfg"
: SerialDevice: done...

: TailConeServer::Maximum Elevator Actuator Excursion is 1416 Counts
: TailConeServer::Minimum Elevator Actuator Excursion is -1321 Counts
: TailConeServer::Maximum Rudder Actuator Excursion is 1357 Counts
: TailConeServer::Minimum Rudder Actuator Excursion is -1239 Counts
: SerialDevice: done...

: Preparing to fork

: I'm the child...forking

: SerialDevice: done...

: SerialDevice: done...

: WorkSite::WorkSite -- Finished loading parameters
: 0:	charlie	3.000000E	1.000000N	3981.000000 m	4.000000 ms
: 1:	sylvia	-10.000000E	0.000000N	2001.000000 m	4.000000 ms
: WorkSite server: 0x20794
: SerialDevice: done...

: SerialDevice: done...

: PSA916: constructing...

: seabirdDriver RUNNING...

: SerialDevice: done...

: SerialDevice: done...

: PSA916: initializing...

: SerialDevice: done...

: PSA916: trying to write data...

: Gps: initializing

: Crossbow.cc: Setting polled mode
: PSA916: debug mode on...

: SerialDevice: done...

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

: SerialDevice: done...

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

: Crossbow.cc: In getSerialNumber()
: Gps: done initializing...

: Parosci::init() - mode set okay
: **** EventTriggers::add() - attaching proxy
: PSA916: confirming data stream...

: Crossbow.cc: device->read succeeded
: Crossbow.cc: I think the serial number is 17266 (4372)
: 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
: Crossbow.cc: Setting polled mode
: Seabird::Seabird() - create interface to depth sensor...
: PeriodicTask::run() (crossbow) - sampleInterval=100, maxInterval=100
: Seabird.cc -- constructing Log...

: SerialDevice: done...

: CTDLog.cc -- beginning constructor...

: CTDLog.cc -- constructor succeeded

: PeriodicTask::run() (MetraByte) - sampleInterval=1000, maxInterval=1000
: Seabird.cc -- constructor succeeded

: seabirdDriver -- constructor succeeded

: Seabird:initializing Seabird...

: SerialDevice: done...

: PSA916: data is streaming...

: **** EventTriggers::add() - attaching proxy
: GarminGps::processRecord() - GpsUtils::parseFix() - incomplete GGA sentence?
$PGRMO,,2

: **** EventTriggers::add() - attaching proxy
: this should not have happened:
: **** EventTriggers::add() - attaching proxy
: GarminGps::processRecord() - GpsUtils::parseFix() - incomplete GGA sentence?
$PGRMO,GPGGA,1

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

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

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

: Unknown attribute name: "heading"


: Parse failed for behavior ascend, attribute input "heading = 350"

: Valid attribute descriptions:
: name: startTime
type: MissionTime, default: 0
Description: start time
:  
: name: endTime
type: MissionTime, default: 0
Description: end time
:  
: name: duration
type: MissionTime, default: 0
Description: duration
:  
: name: horizontalMode
type: HorizontalMode ("none", "rudder", "heading", "waypoint"), default: heading
Description: Either "heading", "rudder", or "waypoint"
:  
: name: horizontal
type: Float, default: 0.000e+000
Description: Commanded horizontal value
:  
: name: pitch
type: Angle (deg), default: none - input mandatory
Description: Commanded pitch
:  
: name: speed
type: Float, default: none - input mandatory
Description: Commanded speed
:  
: name: endDepth
type: Float, default: -1.000e+002
Description: End behavior when shallower than this
:  
: name: dropDescentWeight
type: Boolean ("true" or "false"), default: false
Description: Drop descent weight
:  
: name: dropAscentWeight
type: Boolean ("true" or "false"), default: false
Description: Drop ascent weight
:  
: MissionPlan::load() - Parse failed for one or more attribute inputs

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

: TaskServer::signalHandler() for task LayeredControlIFServer - exit()
: Task "layeredControlServer" died?

: Supervisor::Supervisor() - task(s) died; exiting

: Supervisor::shutdown()

: TaskServer::signalHandler() for task AhrsIFServer - exit()
: TaskServer::signalHandler() for task RangeFinderIFServer - exit()
: TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit()
: TaskServer::signalHandler() for task NavigationIFServer - exit()
: TaskServer::signalHandler() for task DynamicControlIFServer - exit()
: TailConeServer::shutdown()... got signal #2
: NavigationOutput::~NavigationOutput()

: Supervisor::signalHandler(); caught signal 2

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

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

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

: Supervisor::signalHandler(); caught signal 2

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

: TaskServer::signalHandler() for task ExternalCommsIFServer - exit()
: **** SharedData destructor for object PSA916Output_ShmemName ****

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

: NavigationOutput::~NavigationOutput()

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

: Supervisor::cleanup() - delete _theSupervisor

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

: Supervisor::cleanup() - delete _theSupervisor

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

: TaskServer::signalHandler() for task CTDIFServer - exit()
: TaskServer::signalHandler() for task DepthSensorIFServer - exit()
: TaskServer::signalHandler() for task GpsIFServer - exit()
: TaskServer::signalHandler() for task AhrsIFServer - exit()
: TaskServer::signalHandler() for task MetraByteIFServer - exit()
: **** SharedData destructor for object navigationOutput ****

: TaskServer::signalHandler() for task NavigationIFServer - exit()
: Supervisor::shutdown()

: Supervisor::shutdown()

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

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

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

: Supervisor::shutdown() - done()

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

: TailConeServer::confirmCommand() - device timed out

: TailConeServer::shutdown() - tried 30 times
: TailConeServer::shutdown() - done
: TaskServer::signalHandler() for task TailConeIFServer - exit()
