Supervisor::createCoreTasks()
Supervisor::createTask() - eventLogServer
Supervisor::createTask() - workSite
Supervisor::createTask() - vehicleConfigurationServer
Supervisor::createTa: Initializing worksiteServer
sk() - dr: WorkSite::WorkSite -- Adding attributes
opW: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv/altex/onboard/config/dorado538/workSite.cfg
eight
Supervisor::createTask(: Using default vehicle config file "/home/dorado1/auv/altex/onboard/config/dorado538/vehicle.cfg"
) - externalCommsServer
Supervisor::createTask() - navigationServer
Supervisor::createTask() - layeredControlServer
: 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
S: 4:	5	602732.187500E	4067093.000000N	57.299999 m	10.000000 ms	channel:7
uperv: WorkSite server: 0x21ed0
isor::createTask() - dynamicControlServer
: ahrs if is Ahrs

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

er
Supervisor::createTask() - kearfo: Preparing to fork

ttDv: Preparing to fork

l: I'm the child...forking

Serve: I'm the child...forking

r
: SerialDevice: done...

S: TailConeServer -- Maximum Elevator Actuator Excursion is 0 Counts
upervi: TailConeServer:: -- Minimum Elevator Actuator Excursion is 0 Counts
sor::: TailConeServer -- Maximum Rudder Actuator Excursion is 0 Counts
crea: TailConeServer -- Minimum Rudder Actuator Excursion is 0 Counts
teTas: SerialDevice: done...

k(): SerialDevice: done...

 - g: creating if InsIFServer

psServer
Supervi: Preparing to fork

sor: I'm the child...forking

::creat: SerialDevice: done...

eTask(): SerialDevice: done...

 - paro: SerialDevice: done...

sciServer
Supervisor::: SerialDevice: done...

cr: SerialDevice: done...

eateTask() - : SerialDeviceDriver::initialize()
psa: SerialDevice: done...

916Server
S: **** EventTriggers::add() - attaching proxy
upe: SerialDevice: done...

rv: SerialDevice: done...

: 3 Modules found
isor::crea: SerialDevice: done...

teTask: Crossbow.cc: Setting polled mode
() - s: Crossbow.cc: Setting polled mode
eabir: Crossbow.cc: In getSerialNumber()
dServ: Crossbow.cc: device->read succeeded
er
: Crossbow.cc: I think the serial number is 17252 (4364)
: SerialDevice: done...

: Crossbow.cc: Setting polled mode
Supervisor:: PeriodicTask::run() (crossbow) - sampleInterval=100, maxInterval=100
:createTask() - seabirdServer
Supervisor::createTask() - metr: SerialDevice: done...

abyteServer
Super: PSA916: constructing...

v: PSA916: initializing...

isor: PSA916: trying to write data...

::c: PSA916: debug mode on...

reat: PSA916: confirming data stream...

eTas: Gps: initializing

: KearfottDriver: unable to open ctd interface

: PSA916: data is streaming...

k() - ips: **** EventTriggers::add() - attaching proxy
: PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200
4: SerialDevice: done...

Serv: SerialDevice: done...

er
: PSA916::processRecord() - this should not have happened: record=99.99E

Supervi: SerialDevice: done...

sor: **** EventTriggers::add() - attaching proxy
::: Gps: done initializing...

create: Parosci::init() - mode set okay
Ta: KearfottDriver: updating with external sensors

sk(: **** EventTriggers::add() - attaching proxy
) - isus
S: seabirdDriver RUNNING...

upervisor::createTask() - lblServer: seabirdDriver RUNNING...


Supervisor::c: KearfottDriver: updating with external sensors

r: Parosci.cc -- Initial pressure = 1.241057
eateTa: SerialDevice: done...

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

r
: Parosci.cc -- Parosci initial pressure period = 30.460010
: gpsDriver::readRecord() - serial device timed out
Supe: **** EventTriggers::add() - attaching proxy
rvi: Parosci.cc -- Parosci initial temp period = 5.880435
so: SerialDevice: done...

r::c: Parosci.cc -- Paroscientific configured.
: 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
reateTa: PeriodicTask::run() (Parosci) - sampleInterval=200, maxInterval=200
sk(): Seabird/ctdDriver::Seabird() - create interface to depth sensor...
 - b: PeriodicTask::run() (MetraByte) - sampleInterval=1000, maxInterval=1000
uoy: Seabird/ctdDriver -- constructing Log...

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

cherSer: KearfottDriver: updating with external sensors

ver
: Navigation: Server for aux sensor "Velocimeter" not found
: PeriodicTask::run() (navigation) - sampleInterval=200, maxInterval=200
: CTDLog.cc -- beginning constructor...

: 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
: IsusLog.cc -- beginning constructor...

: GarminGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: 0
: CTDLog.cc -- constructor succeeded

: Schedule Server : Subscribing to Layered Control.

: Seabird/seabird::Seabird() - create interface to depth sensor...
: Lbl::readTaskIF - Got new ping time. Interval = 1004173274.835130
: isusLog.cc -- constructor succeeded

: Seabird/ctdDriver -- constructor succeeded

: PeriodicTask::run() (scheduleServer) - sampleInterval=200, maxInterval=200
: Seabird/seabird -- constructing Log...

: Lbl::readTaskIF - Got new return times.
: SerialDevice: done...

: SerialDeviceDriver::initialize()
: seabirdDriver -- constructor succeeded

: KearfottDriver: updating with external sensors

: in first loop

: SerialDevice: done...

: Isus:initializing Isus with lamp off...
: CTDLog.cc -- beginning constructor...

: Seabird/ctdDriver:initializing Seabird...

: **** EventTriggers::add() - attaching proxy
:  The beacon Array is: 

: CTDLog.cc -- constructor succeeded

: Ips4Log.cc -- beginning constructor...

:    2
: Seabird/seabird -- constructor succeeded

: ips4Log.cc -- constructor succeeded

:    4
: seabirdDriver -- constructor succeeded

: PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200
:    5
: SerialDeviceDriver::initialize()
: Seabird/seabird:initializing Seabird...

:    6
: Ips4:initializing Ips4...

:    7
:  RotateBuoy::Initiating Buoy rotate.

: buoyLauncherDriver::main():Creating driver with params tcp:arm4:12001,9600,8,n,1
: Ips4:create interface to ctd...
: 

:  RotateBuoy::Waiting for buoy in data position
: Ips4:Cycle up to top menu using ...
:    2
: LayeredControl::execute() -- (t = 0.249983) Behavior RotateBuoy has changed to state Active

: KearfottDriver: updating with external sensors

:    4
: LayeredControl::execute() -- (t = 0.419971) Behavior missionTimer has changed to state Active

:    5
: **** EventTriggers::add() - attaching proxy
:    6
: *** Mission started ***

: Schedule Server -> Start
:    7
: 

:    2
:    4
:  RotateBuoy::Waiting for buoy in data position
:    5
:    6
:    7
: 

:    2
:    4
:    5
:    6
:    7
: 

: Ips4:Telling unit to begin processing
: BuoyLauncherLog.cc -- beginning constructor...

:    2
: Ips4:Attempting to read record from Ips
:    4
: BuoyLauncherLog.cc -- constructor succeeded

:    5
:    6
: BuoyLauncher::"*T~" sent to LC
:    7
: 

:    2
:    4
:    5
:    6
: BuoyLauncher::recvd #Tw as response from LC
:    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 = 217.025133
: SerialDevice::confirm() - Timed Out
: Seabird/ctdDriver::initialize() - confirm() timed out; sleep a bit
: MetraByte::getVoltage() - caught exception: Timed Out

: SerialDevice::confirm() - Timed Out
: Seabird/seabird::initialize() - confirm() timed out; sleep a bit
: Ips4:initialized

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

: Isus:time set with val 1004173490 -> Sat Oct 27 09:04:53 2001

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

: KearfottDriver: updating with external sensors

: Seabird/ctdDriver: sending configure commands...(23463)

: Seabird/seabird: sending configure commands...(23479)

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

: Seabird/seabird: setting scans...

: KearfottDriver: updating with external sensors

: Lbl::readTaskIF - Got new ping time. Interval = 9.199370
: Lbl::readTaskIF - Got new return times.
: Seabird/ctdDriver: setting pump freq...

: Seabird/seabird: setting pump freq...

: Seabird/ctdDriver: setting upcast...

: KearfottDriver: updating with external sensors

: Seabird/seabird: setting upcast...

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

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

: KearfottDriver: updating with external sensors

: Seabird/ctdDriver: setting external voltages to 6...(23463)

: Seabird/seabird: setting external voltages to 6...(23479)

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

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

: KearfottDriver: updating with external sensors

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

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

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

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

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

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

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

: Lbl::readTaskIF - Got new ping time. Interval = 9.219368
: Lbl::readTaskIF - Got new return times.
: KearfottDriver: updating with external sensors

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

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

: Ips4: range:-nan, avgSOS:-nan, waterlevel:-nan, draft:-nan
: Seabird/seabird::initialize() - confirming voltage...

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

: KearfottDriver: updating with external sensors

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

: LayeredControl::execute() -- (t = 28.758030) Behavior RotateBuoy has changed to state Finished

: LayeredControl::execute() -- (t = 28.968016) Behavior DownloadData has changed to state Active

: KearfottDriver: updating with external sensors

: Lbl::readTaskIF - Got new return times.
: Lbl::readTaskIF - Got new ping time. Interval = 9.459352
: Seabird/ctdDriver::initialize() - disabling switch...

: Ips4: range:-nan, avgSOS:-nan, waterlevel:-nan, draft:-nan
: Seabird/ctdDriver: sending DS command...

: KearfottDriver: updating with external sensors

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

: Seabird/seabird: sending DS command...

: KearfottDriver: updating with external sensors

: KearfottDriver: updating with external sensors

: KearfottDriver: updating with external sensors

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

: Isus:20 seconds of warmup remaining...
: Lbl::readTaskIF - Got new ping time. Interval = 9.999315
: KearfottDriver: updating with external sensors

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

: KearfottDriver: updating with external sensors

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

: Ctd/ctdDriver:initialize() - ready!
: **** EventTriggers::add() - attaching proxy
: Seabird/seabird::initialize() - starting logging...

: KearfottDriver: updating with external sensors

: Ips4: range:0.000000, avgSOS:1445.462527, waterlevel:0.000000, draft:-nan
: Ctd/seabird:initialize() - Logging Started...

: Ctd/seabird:initialize() - ready!
: **** EventTriggers::add() - attaching proxy
: KearfottDriver: updating with external sensors

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

: Lbl::readTaskIF - Got new ping time. Interval = 9.989316
: KearfottDriver: updating with external sensors

: KearfottDriver: updating with external sensors

: Ips4: range:0.000000, avgSOS:1445.469017, waterlevel:0.000000, draft:-nan
: KearfottDriver: updating with external sensors

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

: **** SharedData destructor for object LblDriverOutput_ShmemName ****

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

: TaskServer::signalHandler() for task LblIFServer - exit()
: TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit()
: 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 DepthSensorIFServer - exit()
: TaskServer::signalHandler() for task RangeFinderIFServer - exit()
: **** SharedData destructor for object PSA916Input_ShmemName ****

: NavigationOutput::~NavigationOutput()

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

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

: Isus:stopping Isus...
: **** SharedData destructor for object MetraByteOutput ****

: Ips4:stopping Ips4...

: Supervisor::signalHandler(); caught signal 2

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

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

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

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

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

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

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

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

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

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

: **** 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 NavigationIFServer - exit()
: **** SharedData destructor for object BuoyLauncherInput_ShmemName ****

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

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

: Supervisor::cleanup() - delete _theSupervisor

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

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

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

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

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

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

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

: TaskServer::signalHandler() for task RangeFinderIFServer - exit()
: NavigationOutput::~NavigationOutput()

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

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

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

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

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

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

: Supervisor::shutdown()

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

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

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

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

: TaskServer::signalHandler() - _theTaskServer doesn't exist
: TaskServer::signalHandler() for task LayeredControlIFServer - exit()
: TaskServer::signalHandler() for task CrossbowIFServer - exit()
: **** SharedData destructor for object Ips4Input_ShmemName ****


//1/home/dorado1/auv/altex/onboard/bin/ips4 terminated (SIGSEGV) at 0007:0002095B.
: Isus:stopped - response +59
+58
+57
+56
+55
+54
+53
+52
+51
+50
+49
+48
+47
+46
+45
+44
+43
+42
+41
+40
+39
+38
+37
+36
+35
: **** SharedData destructor for object IsusOutput_ShmemName ****

