: 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"
: 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...

: Preparing to fork

: I'm the child...forking

: 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...

: SerialDevice: done...

: DynamicControlServer::DynamicControl() - status 3 from _tailCone->initialize()
: MissionPlan::load() - file = /home/dorado1/auv/altex/onboard//missions/abortMplan.cfg

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

: SerialDevice: done...

: MissionPlan::load() - file = /home/dorado1/auv/altex/onboard//missions/depthControl2.cfg

: SerialDevice: done...

: Successfully loaded /home/dorado1/auv/altex/onboard//missions/depthControl2.cfg

: PSA916: constructing...

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

: SerialDevice: done...

: seabirdDriver RUNNING...

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

: PSA916: initializing...

: Crossbow.cc: Setting polled mode
: PSA916: trying to write data...

: Gps: initializing

: SerialDevice: done...

: PSA916: debug mode on...

: Crossbow.cc: In getSerialNumber()
: SerialDevice: done...

: SerialDevice: done...

: PSA916: confirming data stream...

: SerialDevice: done...

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

: Crossbow.cc: device->read succeeded
: Gps: done initializing...

: Crossbow.cc: I think the serial number is 17266 (4372)
: **** EventTriggers::add() - attaching proxy
: Crossbow.cc: Setting polled mode
: PeriodicTask::run() (crossbow) - sampleInterval=100, maxInterval=100
: SerialDevice: done...

: PSA916: data is streaming...

: 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
: **** EventTriggers::add() - attaching proxy
: Seabird::Seabird() - create interface to depth sensor...
: this should not have happened:
: PeriodicTask::run() (MetraByte) - sampleInterval=1000, maxInterval=1000
: Seabird.cc -- constructing Log...

: **** EventTriggers::add() - attaching proxy
: Parosci::init() - mode set okay
: CTDLog.cc -- beginning constructor...

: CTDLog.cc -- constructor succeeded

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

: Seabird.cc -- constructor succeeded

: **** EventTriggers::add() - attaching proxy
: seabirdDriver -- constructor succeeded

: Seabird:initializing Seabird...

: SerialDevice: done...

: GarminGps::processRecord() - GpsUtils::parseFix() - incomplete GGA sentence?
$PGRMO,GPGGA,1

: Parosci.cc -- Initial pressure = 1.378952
: Parosci.cc -- Parosci initial pressure period = 30.458210
: Parosci.cc -- Parosci initial temp period = 5.879706
: 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 "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 = 0.009999) 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
: LayeredControl::execute() -- (t = 20.198616) Behavior setpoint has changed to state Finished

: LayeredControl::execute() -- (t = 20.198616) Behavior setpoint has changed to state Active

: LayeredControl::execute() -- (t = 200.596258) Behavior setpoint has changed to state Finished

: LayeredControl::execute() -- (t = 200.596258) Behavior setpoint has changed to state Active

: Abort request issued by behavior "depthEnvelope"

: *** LayeredControl - initiating mission abort... ***
: Initiating Mission Abort!

: LayeredControl::execute() -- (t = 215.795217) Behavior setRudder has changed to state Active

: Behavior::shouldBehaviorStart -- Checking to see if setElevator should run
:  -- it should

: LayeredControl::execute() -- (t = 215.815216) Behavior setElevator has changed to state Active

: LayeredControl::execute() -- (t = 215.815216) Behavior missionTimer has changed to state Active

: LayeredControl::execute() -- (t = 216.995135) Behavior setRudder has changed to state Finished

: LayeredControl::execute() -- (t = 216.995135) Behavior setElevator has changed to state Finished

: Abort request issued by behavior "missionTimer"

: *** LayeredControl - initiating vehicle shutdown... ***
: TaskServer::signalHandler() for task LayeredControlIFServer - exit()
: Task "layeredControlServer" died?

: 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 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
: Supervisor::signalHandler(); caught signal 2

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

: TaskServer::signalHandler() for task EventLogIFServer - exit()
: TaskServer::signalHandler() for task DropWeightIFServer - exit()
: TaskServer::signalHandler() for task RangeFinderIFServer - exit()
: TaskServer::signalHandler() for task ExternalCommsIFServer - 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 GpsOutput_ShmemName ****

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

: NavigationOutput::~NavigationOutput()

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

: Supervisor::cleanup() - delete _theSupervisor

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

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

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

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

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

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

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

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

: Supervisor::shutdown() - done()

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

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