Supervisor::createCoreTasks()
Supervisor::createTask() - eventLogServer
Supervisor::createTask() - workSite
Supervisor::createTask() - vehicleConfigurationServer
S: Initializing worksiteServer
upervisor: WorkSite::WorkSite -- Adding attributes
::c: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv/altex/onboard/config/dorado538/workSite.cfg
reateTask() - dropWeight
Supervisor::createTask() - externalCommsServer
S: Using default vehicle config file "/home/dorado1/auv/altex/onboard/config/dorado538/vehicle.cfg"
upervisor::createTask() - navigationServer
Supervisor::createTask() - layeredControlServer
Supervisor::c: WorkSite::WorkSite -- Finished loading parameters
rea: 0:	1	600674.187500E	4067388.750000N	73.699997 m	10.000000 ms	channel:2
teTa: 1:	2	600531.687500E	4065156.000000N	73.199997 m	10.000000 ms	channel:4
sk() : 2:	3	598447.000000E	4067412.250000N	91.400002 m	10.000000 ms	channel:5
- dy: 3:	4	600848.125000E	4069389.500000N	80.199997 m	10.000000 ms	channel:6
nam: 4:	5	602732.187500E	4067093.000000N	57.299999 m	10.000000 ms	channel:7
icCon: WorkSite server: 0x21ed0
trolS: ahrs if is Ahrs

erver
Supervisor::createTask() - newTailConeServer
Supervisor::createTask() - crossbowServer
Supervisor::createTask() - octansServer
Supervisor::createTask() : DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize()
: DynamicControlServer - Got event 1 from TailCone

- kearfottServer
Supervisor::createTas: Preparing to fork

k(): I'm the child...forking

 - kearfottDvlS: Preparing to fork

erver
: SerialDevice: done...

: I'm the child...forking

: TailConeServer -- Maximum Elevator Actuator Excursion is 0 Counts
Sup: TailConeServer:: -- Minimum Elevator Actuator Excursion is 0 Counts
ervisor: TailConeServer -- Maximum Rudder Actuator Excursion is 0 Counts
::c: TailConeServer -- Minimum Rudder Actuator Excursion is 0 Counts
reate: SerialDevice: done...

Task() - gpsServer
: SerialDevice: done...

Supervis: creating if InsIFServer

or::createTask() : Preparing to fork

- paros: I'm the child...forking

ciServ: SerialDevice: done...

: SerialDevice: done...

er
Supervisor::createTask() - psa91: SerialDevice: done...

6: SerialDevice: done...

Server
Super: SerialDevice: done...

vi: SerialDevice: done...

sor: Crossbow.cc: Setting polled mode
::crea: Crossbow.cc: Setting polled mode
teTa: SerialDeviceDriver::initialize()
: SerialDevice: done...

s: Crossbow.cc: In getSerialNumber()
: 3 Modules found
: SerialDevice: done...

k() - sea: SerialDevice: done...

birdServer
: Crossbow.cc: device->read succeeded
: Crossbow.cc: I think the serial number is 17252 (4364)
: **** EventTriggers::add() - attaching proxy
: Crossbow.cc: Setting polled mode
: PeriodicTask::run() (crossbow) - sampleInterval=100, maxInterval=100
: SerialDevice: done...

Supervisor::createTask() - seabirdServer
Superv: SerialDevice: done...

isor::createTask() - metrabyteServe: Gps: initializing

r
: SerialDevice: done...

Supervis: Gps: done initializing...

or: **** EventTriggers::add() - attaching proxy
::createTask(): SerialDevice: done...

 : SerialDevice: done...

: KearfottDriver: unable to open ctd interface

: PSA916: constructing...

- ips: Parosci::init() - mode set okay
: PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200
4Serv: PSA916: initializing...

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

Superviso: PSA916: trying to write data...

r::cr: **** EventTriggers::add() - attaching proxy
eat: PSA916: debug mode on...

eTask(): PSA916: confirming data stream...

 - : PSA916: data is streaming...

i: KearfottDriver: updating with external sensors

s: seabirdDriver RUNNING...

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

sor:: **** EventTriggers::add() - attaching proxy
:cre: GarminGps::processRecord() - GpsUtils::parseFix() - incomplete GGA sentence?
$PGRMO,GPGGA,1

ateTask() - lblSer: Parosci.cc -- Initial pressure = 0.068948
ver: seabirdDriver RUNNING...


Supervi: Parosci.cc -- Parosci initial pressure period = 30.460040
sor:: Parosci.cc -- Parosci initial temp period = 5.880435
:: Parosci.cc -- Paroscientific configured.
cre: PeriodicTask::run() (Parosci) - sampleInterval=200, maxInterval=200
ateTask() - : KearfottDriver: updating with external sensors

scheduler: SerialDevice: done...


: Seabird/ctdDriver -- Loading CTD constants from /home/dorado1/auv/altex/onboard/config/dorado538/ctdDriver.cfg

Supervisor::cre: CTD/ctdDriver -- Calibration constants:
	T_a  = 3.679880e-003
	T_b  = 6.065964e-004
	T_c  = 1.663836e-005
	T_d  = 2.138056e-006
	T_f0 = 3188.468000
	C_a  = 1.139962e-004
	C_b  = 1.611862e+000
	C_c  = -10.638105
	C_d  = -8.839956e-005
	C_m  = 3.900
	EPS  = -9.570000e-008
a: Navigation: Server for aux sensor "Velocimeter" not found
t: PeriodicTask::run() (navigation) - sampleInterval=200, maxInterval=200
e: gpsDriver::readRecord() - serial device timed out
Tas: SerialDevice: done...

k: Seabird/ctdDriver::Seabird() - create interface to depth sensor...
() - buoyLaun: Seabird/seabird -- Loading CTD constants from /home/dorado1/auv/altex/onboard/config/dorado538/seabird.cfg

che: Seabird/ctdDriver -- constructing Log...

rSe: GarminGps::processRecord() - GpsUtils::parseFix() - incomplete GGA sentence?
,,*5C

r: Lbl::readTaskIF - Got new ping time. Interval = 1004173539.726983
ver: KearfottDriver: updating with external sensors


: PeriodicTask::run() (MetraByte) - sampleInterval=1000, maxInterval=1000
: IsusLog.cc -- beginning constructor...

: Lbl::readTaskIF - Got new return times.
: CTD/seabird -- Calibration constants:
	T_a  = 3.679880e-003
	T_b  = 6.039117e-004
	T_c  = 1.630564e-005
	T_d  = 2.128883e-006
	T_f0 = 3171.158000
	C_a  = 1.559483e-003
	C_b  = 1.517884e+000
	C_c  = -10.475456
	C_d  = -8.451399e-005
	C_m  = 2.900
	EPS  = -9.570000e-008
: Schedule Server : Subscribing to Layered Control.

: CTDLog.cc -- beginning constructor...

: isusLog.cc -- constructor succeeded

: in first loop

: Seabird/seabird::Seabird() - create interface to depth sensor...
: PeriodicTask::run() (scheduleServer) - sampleInterval=200, maxInterval=200
: CTDLog.cc -- constructor succeeded

: SerialDevice: done...

: SerialDeviceDriver::initialize()
: **** EventTriggers::add() - attaching proxy
: Seabird/seabird -- constructing Log...

: Seabird/ctdDriver -- constructor succeeded

: SerialDevice: done...

: Isus:initializing Isus with lamp off...
: seabirdDriver -- constructor succeeded

: KearfottDriver: updating with external sensors

:  The beacon Array is: 

: Ips4Log.cc -- beginning constructor...

: CTDLog.cc -- beginning constructor...

: Seabird/ctdDriver:initializing Seabird...

: gpsDriver::readRecord() - serial device timed out
:    2
: ips4Log.cc -- constructor succeeded

: CTDLog.cc -- constructor succeeded

:    4
: SerialDeviceDriver::initialize()
: GarminGps::processRecord() - GpsUtils::parseFix() - incomplete GGA sentence?
,*5D

: Seabird/seabird -- constructor succeeded

:    5
: Ips4:initializing Ips4...

: PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200
: seabirdDriver -- constructor succeeded

:    6
: Ips4:create interface to ctd...
: Seabird/seabird:initializing Seabird...

:  RotateBuoy::Initiating Buoy rotate.

:    7
: buoyLauncherDriver::main():Creating driver with params tcp:arm4:12001,9600,8,n,1
: Ips4:Cycle up to top menu using ...
: Seabird/ctdDriver: sending configure commands...(24830)

:  RotateBuoy::Waiting for buoy in data position
: 

: LayeredControl::execute() -- (t = 0.319978) Behavior RotateBuoy has changed to state Active

:    2
: LayeredControl::execute() -- (t = 0.379974) Behavior missionTimer has changed to state Active

:    4
: **** EventTriggers::add() - attaching proxy
:    5
: *** Mission started ***

: Schedule Server -> Start
:    6
:    7
: KearfottDriver: updating with external sensors

: 

:  RotateBuoy::Waiting for buoy in data position
:    2
:    4
: Seabird/seabird: sending configure commands...(24848)

:    5
:    6
:    7
: 

:    2
: Ips4:Telling unit to begin processing
:    4
: Ips4:Attempting to read record from Ips
:    5
: BuoyLauncherLog.cc -- beginning constructor...

:    6
:    7
: BuoyLauncherLog.cc -- constructor succeeded

: 

: BuoyLauncher::"*T~" sent to LC
:    2
:    4
:    5
:    6
:    7
: BuoyLauncher::recvd #Tw as response from LC
: 

:    2
:    4
:    5
:    6
:    7
: 

:    2
:    4
:    5
:    6
:    7
: 

:    2
:    4
:    5
:    6
:    7
: 

:    2
:    4
:    5
:    6
:    7
: KearfottDriver: updating with external sensors

: 

:    2
:    4
:    5
:    6
:    7
: 

:  PS8000: Inactivate unused channels: 
$V, 2,00.0000,00.0000,00.0000,09.0000,00.0000,09.0000,00.0000,09.0000,00.0000,09.0000,00.0000,09.0000,00.0000,09.0000,00.0000,00.0000,00.0000,00.0000,00.0000,00.0000


: Lbl::readTaskIF - Got new ping time. Interval = 43.057050
: Ips4:initialized

: Ips4::Starting CTD profile
: **** EventTriggers::add() - attaching proxy
: KearfottDriver: updating with external sensors

: Seabird/ctdDriver: setting scans...

:  RotateBuoy::Waiting for buoy in data position
:  RotateBuoy::Waiting for buoy in data position
: Seabird/seabird: setting scans...

:  RotateBuoy::Waiting for buoy in data position
: Isus:time set with val 1004173582 -> Sat Oct 27 09:06:24 2001

: Isus:comms initialized, warmup countdown begun...
: Isus:starting Isus...
:  RotateBuoy::Waiting for buoy in data position
:  RotateBuoy::Waiting for buoy in data position
: Isus:started
: KearfottDriver: updating with external sensors

: Seabird/ctdDriver: setting pump freq...

: Seabird/seabird: setting pump freq...

: Seabird/ctdDriver: setting upcast...

: Seabird/seabird: setting upcast...

: KearfottDriver: updating with external sensors

:  RotateBuoy::Waiting for buoy in data position
: Ips4: range:-nan, avgSOS:-nan, waterlevel:-nan, draft:-nan
: Seabird/ctdDriver: setting battery type...

:  RotateBuoy::Waiting for buoy in data position
:  RotateBuoy::Waiting for buoy in data position
: Seabird/seabird: setting battery type...

: KearfottDriver: updating with external sensors

:  RotateBuoy::Waiting for buoy in data position
:  RotateBuoy::Waiting for buoy in data position
: Seabird/ctdDriver: setting external voltages to 6...(24830)

: Seabird/seabird: setting external voltages to 6...(24848)

: KearfottDriver: updating with external sensors

: Lbl::readTaskIF - Got new ping time. Interval = 9.219368
: Lbl::readTaskIF - Got new return times.
: Seabird/ctdDriver::initialize() - confirming voltage...

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

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

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

: KearfottDriver: updating with external sensors

:  RotateBuoy::Waiting for buoy in data position
:  RotateBuoy::Waiting for buoy in data position
: Seabird/ctdDriver::initialize() - confirming voltage...

:  RotateBuoy::Waiting for buoy in data position
:  RotateBuoy::Waiting for buoy in data position
: Seabird/seabird::initialize() - confirming voltage...

:  RotateBuoy::Waiting for buoy in data position
: Ips4: range:-nan, avgSOS:-nan, waterlevel:-nan, draft:-nan
: Seabird/ctdDriver::initialize() - confirming voltage...

: KearfottDriver: updating with external sensors

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

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

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

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

: KearfottDriver: updating with external sensors

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

:  RotateBuoy::Waiting for buoy in data position
:  RotateBuoy::Waiting for buoy in data position
:  RotateBuoy::Waiting for buoy in data position
: KearfottDriver: updating with external sensors

:  RotateBuoy::Waiting for buoy in data position
:  RotateBuoy::Waiting for buoy in data position
: Lbl::readTaskIF - Got new ping time. Interval = 9.249366
: Lbl::readTaskIF - Got new return times.
: KearfottDriver: updating with external sensors

: Ips4: range:-nan, avgSOS:-nan, waterlevel:-nan, draft:-nan
: KearfottDriver: updating with external sensors

:  RotateBuoy::Waiting for buoy in data position
:  RotateBuoy::Waiting for buoy in data position
:  RotateBuoy::Waiting for buoy in data position
: Seabird/ctdDriver::initialize() - disabling switch...

:  RotateBuoy::Waiting for buoy in data position
:  RotateBuoy::Waiting for buoy in data position
: Seabird/ctdDriver: sending DS command...

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

: Seabird/seabird: sending DS command...

: KearfottDriver: updating with external sensors

: PeriodicTask::run() (buoyLauncherDriver) - sampleInterval=2000, maxInterval=2000
:  RotateBuoy::Failed to find a talkative buoy

: LayeredControl::execute() -- (t = 28.548044) Behavior RotateBuoy has changed to state Finished

: KearfottDriver: updating with external sensors

: LayeredControl::execute() -- (t = 28.748031) Behavior DownloadData has changed to state Active

: KearfottDriver: updating with external sensors

: Lbl::readTaskIF - Got new ping time. Interval = 9.209369
: Lbl::readTaskIF - Got new return times.
: KearfottDriver: updating with external sensors

: Ips4: range:-nan, avgSOS:-nan, waterlevel:-nan, draft:-nan
: KearfottDriver: updating with external sensors

: KearfottDriver: updating with external sensors

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

: KearfottDriver: updating with external sensors

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

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

: Ctd/ctdDriver:initialize() - ready!
: **** EventTriggers::add() - attaching proxy
: Ips4: range:0.000000, avgSOS:1445.572953, waterlevel:0.000000, draft:-nan
: Lbl::readTaskIF - Got new return times.
: KearfottDriver: updating with external sensors

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

: Lbl::readTaskIF - Got new ping time. Interval = 9.499349
: Ctd/seabird:initialize() - ready!
: **** EventTriggers::add() - attaching proxy
: Isus:20 seconds of warmup remaining...
: KearfottDriver: updating with external sensors

: Ips4: range:0.000000, avgSOS:1445.573127, waterlevel:0.000000, draft:-nan
: KearfottDriver: updating with external sensors

: KearfottDriver: updating with external sensors

: KearfottDriver: updating with external sensors

: Lbl::readTaskIF - Got new return times.
: KearfottDriver: updating with external sensors

: Lbl::readTaskIF - Got new ping time. Interval = 9.999315
: Ips4: range:0.000000, avgSOS:1445.572109, waterlevel:0.000000, draft:-nan
: KearfottDriver: updating with external sensors

: KearfottDriver: updating with external sensors

: KearfottDriver: updating with external sensors

: KearfottDriver: updating with external sensors

: Lbl::readTaskIF - Got new return times.
: Ips4: range:0.000000, avgSOS:1445.585596, waterlevel:0.000000, draft:-nan
: KearfottDriver: updating with external sensors

: Lbl::readTaskIF - Got new ping time. Interval = 9.999315
: **** SharedData destructor for object ParosciOutput_ShmemName ****

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

: **** SharedData destructor for object kearfottOutput ****

: TaskServer::signalHandler() for task AhrsIFServer - exit()
: TaskServer::signalHandler() for task InsIFServer - exit()
: TaskServer::signalHandler() for task DvlIFServer - exit()
: TaskServer::signalHandler() for task GpsIFServer - exit()
: TaskServer::signalHandler() for task RangeFinderIFServer - exit()
: **** SharedData destructor for object PSA916Input_ShmemName ****

: TaskServer::signalHandler() for task LblIFServer - exit()
: TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit()
: NavigationOutput::~NavigationOutput()

: TaskServer::signalHandler() for task NavigationIFServer - exit()
: TaskServer::signalHandler() for task DynamicControlIFServer - exit()
: **** SharedData destructor for object LayeredControlInput_ShmemName ****

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

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

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

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

: TaskServer::signalHandler() for task ExternalCommsIFServer - exit()
: TaskServer::signalHandler() for task LayeredControlIFServer - exit()
: TaskServer::signalHandler() for task CrossbowIFServer - exit()
: TaskServer::signalHandler() for task ctdDriver - exit()
: TaskServer::signalHandler() for task seabird - exit()
: TaskServer::signalHandler() for task MetraByteIFServer - exit()
: TaskServer::signalHandler() for task Ips4IFServer - exit()
: Isus:stopping Isus...
: **** SharedData destructor for object MetraByteOutput ****

: Ips4:stopping Ips4...

: **** 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 DepthSensorIFServer - exit()
: **** SharedData destructor for object seabirdSeabirdOutput_ShmemName ****

: **** SharedData destructor for object ctdDriverSeabirdOutput_ShmemName ****

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

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

: **** SharedData destructor for object kearfottOutput ****

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

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

: TaskServer::signalHandler() for task LblIFServer - exit()
: TaskServer::signalHandler() for task TailConeIFServer - exit()
: TaskServer::signalHandler() for task NavigationIFServer - exit()
: **** SharedData destructor for object crossbowOutput ****

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

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

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

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

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

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

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

: **** SharedData destructor for object ctdDriverSeabirdOutput_ShmemName ****

: **** SharedData destructor for object seabirdSeabirdOutput_ShmemName ****

: TaskServer::signalHandler() for task seabird - exit()
: TaskServer::signalHandler() for task ctdDriver - exit()
: **** SharedData destructor for object ParosciOutput_ShmemName ****

: **** SharedData destructor for object octansOutput ****

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

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

: NavigationOutput::~NavigationOutput()

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

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

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

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

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

: Supervisor::shutdown()

: TaskServer::signalHandler() for task  - exit()
: Isus:stopped - response ACK,PsuedoDataStart

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

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

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

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

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

: TaskServer::signalHandler() for task CrossbowIFServer - exit()
: TaskServer::signalHandler() for task LayeredControlIFServer - exit()
: **** SharedData destructor for object Ips4Input_ShmemName ****

: **** SharedData destructor for object IsusOutput_ShmemName ****


//1/home/dorado1/auv/altex/onboard/bin/ips4 terminated (SIGSEGV) at 0007:0002095B.
