Supervisor::createCoreTasks()
Supervisor::createTask() - eventLogServer
Supervisor::createTask() - workSite
Supervisor::createTask() - vehicleConfigurationServer
Supervisor::cre: Initializing worksiteServer
ateTask() : WorkSite::WorkSite -- Adding attributes
- : WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv/altex/onboard/config/dorado538/workSite.cfg
dropWeight
Supervisor::createTask() - exte: Using default vehicle config file "/home/dorado1/auv/altex/onboard/config/dorado538/vehicle.cfg"
rnalCommsServer
Supervisor::createTask() - navigationServer
Supervisor::createTask() - l: WorkSite::WorkSite -- Finished loading parameters
aye: 0:	1	600674.187500E	4067388.750000N	73.699997 m	10.000000 ms	channel:2
red: 1:	2	600531.687500E	4065156.000000N	73.199997 m	10.000000 ms	channel:4
Contr: 2:	3	598447.000000E	4067412.250000N	91.400002 m	10.000000 ms	channel:5
olS: 3:	4	600848.125000E	4069389.500000N	80.199997 m	10.000000 ms	channel:6
erver: 4:	5	602732.187500E	4067093.000000N	57.299999 m	10.000000 ms	channel:7

: WorkSite server: 0x21ed0
Supervisor::createTask() - dynam: ahrs if is Ahrs

icControlServer
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::createT: Preparing to fork

ask(: I'm the child...forking

) - ke: SerialDevice: done...

: TailConeServer -- Maximum Elevator Actuator Excursion is 0 Counts
arf: TailConeServer:: -- Minimum Elevator Actuator Excursion is 0 Counts
ottD: TailConeServer -- Maximum Rudder Actuator Excursion is 0 Counts
vlS: TailConeServer -- Minimum Rudder Actuator Excursion is 0 Counts
er: Preparing to fork

ve: SerialDevice: done...

r
S: I'm the child...forking

uper: SerialDevice: done...

visor::createTask() - gpsServer
Supervis: creating if InsIFServer

or::cre: SerialDevice: done...

ateTask() -: Preparing to fork

 paro: I'm the child...forking

sciSe: SerialDevice: done...

rver
Supervisor::c: SerialDevice: done...

reateTask() - psa916: SerialDevice: done...

Server
: SerialDevice: done...

: 3 Modules found
Supervisor::c: SerialDevice: done...

reat: Crossbow.cc: Setting polled mode
eTask(: SerialDevice: done...

: Crossbow.cc: Setting polled mode
) - seab: SerialDevice: done...

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

dSe: SerialDeviceDriver::initialize()
rver: Crossbow.cc: _device->read failed with error

: SerialDevice: done...

: PeriodicTask::run() (crossbow) - sampleInterval=100, maxInterval=100
: **** EventTriggers::add() - attaching proxy
Supervisor::createTask() - seabirdServer
Supervisor::createTask(: PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200
): SerialDevice: done...

 - metrabyteServer
: Gps: initializing

: SerialDevice: done...

: Gps: done initializing...

: **** EventTriggers::add() - attaching proxy
Supervisor::createTas: GarminGps::processRecord() - GpsUtils::parseFix() - incomplete GGA sentence?
,GPGGA,1

k(: **** EventTriggers::add() - attaching proxy
) -: PSA916: constructing...

 : SerialDevice: done...

ip: PSA916: initializing...

s4S: SerialDevice: done...

erv: PSA916: trying to write data...

er
S: Parosci::init() - mode set okay
up: PSA916: debug mode on...

ervisor:: PSA916: confirming data stream...

:cr: PSA916: data is streaming...

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

k() : **** EventTriggers::add() - attaching proxy
- i: KearfottDriver: unable to open ctd interface

sus
Supervi: seabirdDriver RUNNING...

sor::creat: gpsDriver::readRecord() - serial device timed out
eTask() - lblServer
S: seabirdDriver RUNNING...

upervisor::: GarminGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
create: KearfottDriver: updating with external sensors

Task: Parosci.cc -- Initial pressure = 1.194172
() : Parosci.cc -- Parosci initial pressure period = 30.459400
- sche: SerialDevice: done...

dule: Parosci.cc -- Parosci initial temp period = 5.879300
r: Parosci.cc -- Paroscientific configured.

: PeriodicTask::run() (Parosci) - sampleInterval=200, maxInterval=200
Supervi: Seabird/ctdDriver -- Loading CTD constants from /home/dorado1/auv/altex/onboard/config/dorado538/ctdDriver.cfg

sor::creat: SerialDevice: done...

eTas: 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
k: Navigation: Server for aux sensor "Velocimeter" not found
(): Seabird/ctdDriver::Seabird() - create interface to depth sensor...
 -: PeriodicTask::run() (navigation) - sampleInterval=200, maxInterval=200
 : gpsDriver::readRecord() - serial device timed out
buoyL: Seabird/ctdDriver -- constructing Log...

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

c: KearfottDriver: updating with external sensors

herServe: in first loop

r
: Schedule Server : Subscribing to Layered Control.

: **** EventTriggers::add() - attaching proxy
: CTDLog.cc -- beginning constructor...

: IsusLog.cc -- beginning constructor...

: PeriodicTask::run() (scheduleServer) - sampleInterval=200, maxInterval=200
: 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
: CTDLog.cc -- constructor succeeded

: isusLog.cc -- constructor succeeded

: GarminGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: 0
: Seabird/seabird::Seabird() - create interface to depth sensor...
: SerialDevice: done...

: Seabird/ctdDriver -- constructor succeeded

: SerialDeviceDriver::initialize()
: Seabird/seabird -- constructing Log...

: SerialDevice: done...

: KearfottDriver: updating with external sensors

: seabirdDriver -- constructor succeeded

: Isus:initializing Isus with lamp off...
:  The beacon Array is: 

: PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200
: Seabird/ctdDriver:initializing Seabird...

: CTDLog.cc -- beginning constructor...

: Ips4Log.cc -- beginning constructor...

:    2
: CTDLog.cc -- constructor succeeded

: ips4Log.cc -- constructor succeeded

:    4
: LayeredControl::execute() -- (t = 0.000000) Behavior RotateBuoy has changed to state Active

: Seabird/seabird -- constructor succeeded

: SerialDeviceDriver::initialize()
:    5
: LayeredControl::execute() -- (t = 0.129991) Behavior missionTimer has changed to state Active

: seabirdDriver -- constructor succeeded

:    6
: Ips4:initializing Ips4...

: **** EventTriggers::add() - attaching proxy
: Seabird/seabird:initializing Seabird...

:    7
: Ips4:create interface to ctd...
: *** Mission started ***

: Schedule Server -> Start
: 

: Ips4:Cycle up to top menu using ...
:    2
:    4
:    5
:    6
:    7
: 

: KearfottDriver: updating with external sensors

: buoyLauncherDriver::main():Creating driver with params tcp:arm4:12001,9600,8,n,1
:    2
:    4
:    5
:    6
:    7
: 

:    2
: Ips4:Telling unit to begin processing
:    4
:    5
: Ips4:Attempting to read record from Ips
:    6
:    7
: 

:    2
:    4
:    5
:    6
:    7
: 

:    2
:    4
:    5
:    6
:    7
: Seabird/ctdDriver: sending configure commands...(1331)

: 

:    2
:    4
: BuoyLauncherLog.cc -- beginning constructor...

:    5
: BuoyLauncherLog.cc -- constructor succeeded

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

:    2
:    4
:    5
:    6
:    7
: BuoyLauncher::recvd #Tw as response from LC
: 

: Seabird/seabird: sending configure commands...(1344)

:    2
: Ips4::readRecord() ensemble checksum incorrect
:    4
: Ips4:Attempting to read record from Ips
:    5
: KearfottDriver: updating with external sensors

:    6
:    7
: 

:    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 = 1004707410.776657
: Ips4::readRecord() ensemble checksum incorrect
: Ips4:Attempting to read record from Ips
: KearfottDriver: updating with external sensors

: Isus:time set with val 1004707409 -> Fri Nov  2 13:23:32 2001

: Ips4::readRecord() ensemble checksum incorrect
: Ips4:Attempting to read record from Ips
: Seabird/ctdDriver: setting scans...

: PeriodicTask::run() (buoyLauncherDriver) - sampleInterval=2000, maxInterval=2000
:  RotateBuoy::Initiating Buoy rotate.

: Isus:comms initialized, warmup countdown begun...
: Isus:starting Isus...
: Seabird/seabird: setting scans...

: Isus:started
: Ips4::readRecord() ensemble checksum incorrect
: Ips4:initialize failure

: Ips4:initializing Ips4...

: KearfottDriver: updating with external sensors

: Ips4:create interface to ctd...
: Ips4:Cycle up to top menu using ...
: Seabird/ctdDriver: setting pump freq...

: BuoyLauncherDriver::rotate Buoy commanded
: BuoyLauncher::processing rotateBuoy command
: BuoyLauncher::"*R|" sent to LC
: Ips4:Telling unit to begin processing
: Ips4:Attempting to read record from Ips
: Seabird/seabird: setting pump freq...

: BuoyLauncher::recvd #Ru as response from LC
: Seabird/ctdDriver: setting upcast...

: Seabird/seabird: setting upcast...

: KearfottDriver: updating with external sensors

: Ips4::readRecord() ensemble checksum incorrect
: Ips4:Attempting to read record from Ips
: Seabird/ctdDriver: setting battery type...

: Seabird/seabird: setting battery type...

:  RotateBuoy::Waiting for buoy in data position
:  RotateBuoy::Waiting for buoy in data position
:  RotateBuoy::Waiting for buoy in data position
: Seabird/ctdDriver: setting external voltages to 6...(1331)

:  RotateBuoy::Waiting for buoy in data position
: Ips4:initialized

: Ips4::Starting CTD profile
:  RotateBuoy::Waiting for buoy in data position
: **** EventTriggers::add() - attaching proxy
: KearfottDriver: updating with external sensors

: Seabird/seabird: setting external voltages to 6...(1344)

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

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

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

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

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

: Lbl::readTaskIF - Got new return times.
: Seabird/ctdDriver::initialize() - confirming voltage...

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

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

: KearfottDriver: updating with external sensors

:  RotateBuoy::Waiting for buoy in data position
: 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
:  RotateBuoy::Waiting for buoy in data position
: 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...

: KearfottDriver: updating with external sensors

: Ips4: range:-nan, avgSOS:-nan, waterlevel:-nan, draft:-nan
:  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

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

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

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

: Seabird/ctdDriver: sending DS command...

: Seabird/seabird: sending DS command...

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

: 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

: Lbl::readTaskIF - Got new ping time. Interval = 9.239367
: 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
: Seabird/ctdDriver::initialize() - starting logging...

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

:  RotateBuoy::Waiting for buoy in data position
:  RotateBuoy::Waiting for buoy in data position
: Ctd/ctdDriver:initialize() - Logging Started...

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

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

: Ctd/seabird:initialize() - ready!
: **** EventTriggers::add() - attaching proxy
: Ips4: range:0.000000, avgSOS:1460.643972, waterlevel:0.000000, 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
: Lbl::readTaskIF - Got new ping time. Interval = 9.189371
:  RotateBuoy::Waiting for buoy in data position
: Lbl::readTaskIF - Got new return times.
:  RotateBuoy::Waiting for buoy in data position
: KearfottDriver: updating with external sensors

: Isus:20 seconds of warmup remaining...
: KearfottDriver: updating with external sensors

: 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
: Ips4: range:0.000000, avgSOS:1452.693277, waterlevel:0.000000, draft:-nan
: KearfottDriver: updating with external sensors

: KearfottDriver: updating with external sensors

: Lbl::readTaskIF - Got new return times.
:  RotateBuoy::Waiting for buoy in data position
:  RotateBuoy::Waiting for buoy in data position
: Lbl::readTaskIF - Got new ping time. Interval = 9.719334
:  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

: Ips4: range:0.000000, avgSOS:1452.689150, waterlevel:0.000000, draft:-nan
:  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
:  RotateBuoy::Waiting for buoy in data position
: KearfottDriver: updating with external sensors

: KearfottDriver: updating with external sensors

: Lbl::readTaskIF - Got new return times.
:  RotateBuoy::Waiting for buoy in data position
:  RotateBuoy::Waiting for buoy in data position
: Lbl::readTaskIF - Got new ping time. Interval = 9.939319
:  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

: Ips4: range:0.000000, avgSOS:1452.686974, waterlevel:0.000000, draft:-nan
: KearfottDriver: updating with external sensors

: **** EventTriggers::add() - attaching proxy
: Isus::Buffer full!
:  RotateBuoy::Waiting for buoy in data position
: KearfottDriver: updating with external sensors

:  RotateBuoy::Waiting for buoy in data position
: Isus::select() timeout

: **** EventTriggers::add() - attaching proxy
:  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

: Lbl::readTaskIF - Got new return times.
:  RotateBuoy::Waiting for buoy in data position
: Ips4: range:0.000000, avgSOS:1452.683257, waterlevel:0.000000, draft:-nan
:  RotateBuoy::Waiting for buoy in data position
: Lbl::readTaskIF - Got new ping time. Interval = 9.979316
:  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

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

: Ips4: range:0.000000, avgSOS:1452.681073, waterlevel:0.000000, draft:-nan
: KearfottDriver: updating with external sensors

: Lbl::readTaskIF - Got new return times.
:  RotateBuoy::Waiting for buoy in data position
:  RotateBuoy::Waiting for buoy in data position
: Lbl::readTaskIF - Got new ping time. Interval = 9.989316
:  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

: BuoyLauncher::rotateBuoy: Normal completion
: BuoyLauncherDriver::getting routine status
: BuoyLauncher::processing getLauncherStatus
: BuoyLauncher::"*Gq" sent to LC
: BuoyLauncher::recvd #Gj as response from LC
:  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
:  RotateBuoy::Waiting for buoy in data position
: Ips4: range:0.000000, avgSOS:1452.679156, waterlevel:0.000000, draft:-nan
: KearfottDriver: updating with external sensors

: 
packet coming

: receiving packet, size = 56

: gpsDriver::readRecord() - serial device timed out
: GarminGps::processRecord() - GpsUtils::parseFix() - incomplete GGA sentence?


: KearfottDriver: updating with external sensors

: Lbl::readTaskIF - Got new return times.
: Got packet 1

: BuoyLauncher::recvd 56 bytes from LC, should be 56
: BuoyLauncher::Status=>Err:0 LastOK:0 ByResp:1 NxtRdy:0 
:                       CrtBnum:104 Total:6 Remain:6 Lnchd:0 
: Buoy::        Status=>Bnum:104 Batt:109 Aux:0 Temp:132 Time:1004707484
: BuoyLauncherDriver::Launcher status: Launcher_status_is_OK (0)
: Clearing _command, was R

:  RotateBuoy::Good buoy in position

: LayeredControl::execute() -- (t = 90.193821) Behavior RotateBuoy has changed to state Finished

: loadData: Ð , returning DeviceIF::Ok
: DownloadData::Downloading file /usr/include/form.h to buoy
: LayeredControl::execute() -- (t = 90.423806) Behavior DownloadData has changed to state Active

: Lbl::readTaskIF - Got new ping time. Interval = 9.999315
: KearfottDriver: updating with external sensors

: BuoyLauncherDriver::data transfer commanded: X
: BuoyLauncher::processing loadData command
: BuoyLauncher::processing getLauncherStatus
: BuoyLauncher::"*S}" sent to LC
: BuoyLauncher::recvd #Sv as response from LC
: KearfottDriver: updating with external sensors

: Ips4: range:0.000000, avgSOS:1452.670491, waterlevel:0.000000, draft:-nan
: KearfottDriver: updating with external sensors

: KearfottDriver: updating with external sensors

: Ips4: range:0.000000, avgSOS:1452.670483, waterlevel:0.000000, draft:-nan
: KearfottDriver: updating with external sensors

: 
packet coming

: Lbl::readTaskIF - Got new return times.
: receiving packet, size = 56

: Lbl::readTaskIF - Got new ping time. Interval = 9.909321
: Got packet 1

: BuoyLauncher::recvd 56 bytes from LC, should be 56
: BuoyLauncher::Status=>Err:0 LastOK:0 ByResp:1 NxtRdy:0 
:                       CrtBnum:104 Total:6 Remain:6 Lnchd:0 
: Buoy::        Status=>Bnum:104 Batt:110 Aux:0 Temp:132 Time:1004707500
: BuoyLauncherDriver::Launcher status: Launcher_status_is_OK (0)
: BuoyLauncher::"*T~" sent to LC
: KearfottDriver: updating with external sensors

: BuoyLauncher::recvd #Tw as response from LC
: KearfottDriver: updating with external sensors

: BuoyLauncher::xferData(): transferring file /usr/include/form.h
: BuoyLauncher::"*X‚" sent to LC
: BuoyLauncher::recvd #X{ as response from LC
: KearfottDriver: updating with external sensors

: Ips4: range:0.000000, avgSOS:1452.658422, waterlevel:0.000000, draft:-nan
: KearfottDriver: updating with external sensors

: KearfottDriver: updating with external sensors

: Lbl::readTaskIF - Got new return times.
: BuoyLauncherDriver::xferData: wrote 9600 bytes to LC disk
: Lbl::readTaskIF - Got new ping time. Interval = 9.939319
: KearfottDriver: updating with external sensors

: KearfottDriver: updating with external sensors

: BuoyLauncher::"*X‚" sent to LC
: Ips4: range:0.000000, avgSOS:1452.658402, 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.
: Lbl::readTaskIF - Got new ping time. Interval = 9.849325
: KearfottDriver: updating with external sensors

: Ips4: range:0.000000, avgSOS:1452.653801, waterlevel:0.000000, draft:-nan
: KearfottDriver: updating with external sensors

: KearfottDriver: updating with external sensors

: KearfottDriver: updating with external sensors

: BuoyLauncher::recvd #X{ as response from LC
: KearfottDriver: updating with external sensors

: Lbl::readTaskIF - Got new return times.
: Lbl::readTaskIF - Got new ping time. Interval = 9.939319
: KearfottDriver: updating with external sensors

: BuoyLauncherDriver::xferData: wrote 5928 bytes to LC disk
: Ips4: range:0.000000, avgSOS:1452.648304, waterlevel:0.000000, draft:-nan
: KearfottDriver: updating with external sensors

: KearfottDriver: updating with external sensors

: BuoyLauncherDriver::getting routine status
: BuoyLauncher::processing getLauncherStatus
: BuoyLauncher::"*Gq" sent to LC
: KearfottDriver: updating with external sensors

: KearfottDriver: updating with external sensors

: Lbl::readTaskIF - Got new return times.
: Lbl::readTaskIF - Got new ping time. Interval = 9.949319
: KearfottDriver: updating with external sensors

: Ips4: range:0.000000, avgSOS:1452.643622, waterlevel:0.000000, draft:-nan
: KearfottDriver: updating with external sensors

: BuoyLauncher::recvd #Gj as response from LC
: KearfottDriver: updating with external sensors

: 
packet coming

: receiving packet, size = 56

: Got packet 1

: BuoyLauncher::recvd 56 bytes from LC, should be 56
: BuoyLauncher::Status=>Err:0 LastOK:0 ByResp:1 NxtRdy:1 
:                       CrtBnum:104 Total:6 Remain:6 Lnchd:0 
: Buoy::        Status=>Bnum:104 Batt:110 Aux:0 Temp:132 Time:1004707500
: BuoyLauncherDriver::Launcher status: Launcher_status_is_OK (0)
: Clearing _command, was X

: KearfottDriver: updating with external sensors

: KearfottDriver: updating with external sensors

: Lbl::readTaskIF - Got new return times.
: Lbl::readTaskIF - Got new ping time. Interval = 9.809328
: KearfottDriver: updating with external sensors

: Ips4: range:0.000000, avgSOS:1452.643602, 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

: Ips4: range:0.000000, avgSOS:1452.643582, waterlevel:0.000000, draft:-nan
: Lbl::readTaskIF - Got new ping time. Interval = 9.999315
: KearfottDriver: updating with external sensors

: KearfottDriver: updating with external sensors

: Ips4: range:0.000000, avgSOS:1452.643573, waterlevel:0.000000, draft:-nan
: 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 = 9.949318
: KearfottDriver: updating with external sensors

: KearfottDriver: updating with external sensors

: Ips4: range:0.000000, avgSOS:1452.643555, waterlevel:0.000000, draft:-nan
: 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 = 9.909321
: KearfottDriver: updating with external sensors

: BuoyLauncherDriver::getting routine status
: BuoyLauncher::processing getLauncherStatus
: BuoyLauncher::"*Gq" sent to LC
: BuoyLauncher::recvd #Gj as response from LC
: KearfottDriver: updating with external sensors

: Ips4: range:0.000000, avgSOS:1452.643537, waterlevel:0.000000, draft:-nan
: 
packet coming

: receiving packet, size = 56

: Got packet 1

: KearfottDriver: updating with external sensors

: BuoyLauncher::recvd 56 bytes from LC, should be 56
: BuoyLauncher::Status=>Err:0 LastOK:0 ByResp:1 NxtRdy:1 
:                       CrtBnum:104 Total:6 Remain:6 Lnchd:0 
: Buoy::        Status=>Bnum:104 Batt:110 Aux:0 Temp:132 Time:1004707500
: BuoyLauncherDriver::Launcher status: Launcher_status_is_OK (0)
: KearfottDriver: updating with external sensors

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

: Lbl::readTaskIF - Got new ping time. Interval = 9.959318
: KearfottDriver: updating with external sensors

: KearfottDriver: updating with external sensors

: Ips4: range:0.000000, avgSOS:1452.630531, waterlevel:0.000000, draft:-nan
: 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 = 9.989316
: KearfottDriver: updating with external sensors

: KearfottDriver: updating with external sensors

: KearfottDriver: updating with external sensors

: Ips4: range:0.000000, avgSOS:1452.622487, waterlevel:0.000000, draft:-nan
: KearfottDriver: updating with external sensors

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

: Lbl::readTaskIF - Got new ping time. Interval = 10.049312
: DownloadData::Download confirmed.

: LayeredControl::execute() -- (t = 210.395587) Behavior DownloadData has changed to state Finished

:  RotateBuoy::Initiating Buoy rotate.

:  RotateBuoy::Waiting for buoy in data position
: LayeredControl::execute() -- (t = 210.675568) Behavior RotateBuoy has changed to state Active

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

: BuoyLauncherDriver::rotate Buoy commanded
: BuoyLauncher::processing rotateBuoy command
: BuoyLauncher::"*R|" sent to LC
: BuoyLauncher::recvd #Ru as response from LC
: KearfottDriver: updating with external sensors

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

: Ips4: range:0.000000, avgSOS:1452.614189, waterlevel:0.000000, draft:-nan
: Lbl::readTaskIF - Got new return times.
: KearfottDriver: updating with external sensors

: Lbl::readTaskIF - Got new ping time. Interval = 10.019314
:  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

: 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
: DepthSensor (Navigation): Received bad depth reading: 28.113302
 Substitute previous depth value of 0.169648

:  RotateBuoy::Waiting for buoy in data position
: DepthSensor (Navigation): Received bad depth reading: 28.113302
 Substitute previous depth value of 0.169648

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

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

: Lbl::readTaskIF - Got new ping time. Interval = 9.949318
:  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

: Ips4: range:0.000000, avgSOS:1452.606646, waterlevel:0.000000, draft:-nan
: KearfottDriver: updating with external sensors

: 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

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

: Lbl::readTaskIF - Got new ping time. Interval = 10.029313
:  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

: 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

: Ips4: range:0.000000, avgSOS:1452.602658, waterlevel:0.000000, draft:-nan
: Lbl::readTaskIF - Got new return times.
: KearfottDriver: updating with external sensors

: Lbl::readTaskIF - Got new ping time. Interval = 9.989316
:  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

: KearfottDriver: updating with external sensors

:  RotateBuoy::Waiting for buoy in data position
:  RotateBuoy::Waiting for buoy in data position
: Ips4: range:0.000000, avgSOS:1452.598332, waterlevel:0.000000, draft:-nan
:  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

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

: Lbl::readTaskIF - Got new ping time. Interval = 9.969317
:  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

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

: Ips4: range:0.000000, avgSOS:1452.594370, waterlevel:0.000000, draft:-nan
: Lbl::readTaskIF - Got new return times.
: KearfottDriver: updating with external sensors

: Lbl::readTaskIF - Got new ping time. Interval = 10.029313
:  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

: 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

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

: Lbl::readTaskIF - Got new ping time. Interval = 9.969317
:  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
: Ips4: range:0.000000, avgSOS:1452.590913, waterlevel:0.000000, draft:-nan
:  RotateBuoy::Waiting for buoy in data position
: KearfottDriver: updating with external sensors

: KearfottDriver: updating with external sensors

: 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
: BuoyLauncher::rotateBuoy: Normal completion
: BuoyLauncherDriver::getting routine status
: BuoyLauncher::processing getLauncherStatus
: BuoyLauncher::"*Gq" sent to LC
: BuoyLauncher::recvd #Gj as response from LC
: KearfottDriver: updating with external sensors

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

: 
packet coming

: receiving packet, size = 56

: Lbl::readTaskIF - Got new ping time. Interval = 10.009314
: Got packet 1

:  RotateBuoy::Waiting for buoy in data position
: BuoyLauncher::recvd 56 bytes from LC, should be 56
: BuoyLauncher::Status=>Err:0 LastOK:0 ByResp:1 NxtRdy:0 
:                       CrtBnum:104 Total:6 Remain:6 Lnchd:0 
:  RotateBuoy::Waiting for buoy in data position
: Buoy::        Status=>Bnum:104 Batt:109 Aux:0 Temp:132 Time:1004707688
: BuoyLauncherDriver::Launcher status: Launcher_status_is_OK (0)
: Clearing _command, was R

:  RotateBuoy::Good buoy in position

: LayeredControl::execute() -- (t = 290.590093) Behavior RotateBuoy has changed to state Finished

: loadData: Ð , returning DeviceIF::Ok
: DownloadData::Downloading file /home/dorado1/auv/altex/onboard/config/dorado538/vehicle.cfg to buoy
: LayeredControl::execute() -- (t = 290.800079) Behavior DownloadData has changed to state Active

: KearfottDriver: updating with external sensors

: BuoyLauncherDriver::data transfer commanded: X
: BuoyLauncher::processing loadData command
: BuoyLauncher::processing getLauncherStatus
: BuoyLauncher::"*S}" sent to LC
: BuoyLauncher::recvd #Sv as response from LC
: 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 = 10.009314
: 
packet coming

: receiving packet, size = 56

: KearfottDriver: updating with external sensors

: Got packet 1

: BuoyLauncher::recvd 56 bytes from LC, should be 56
: BuoyLauncher::Status=>Err:0 LastOK:0 ByResp:1 NxtRdy:0 
:                       CrtBnum:104 Total:6 Remain:6 Lnchd:0 
: Buoy::        Status=>Bnum:104 Batt:109 Aux:0 Temp:132 Time:1004707700
: BuoyLauncherDriver::Launcher status: Launcher_status_is_OK (0)
: BuoyLauncher::"*T~" sent to LC
: BuoyLauncher::recvd #Tw as response from LC
: Ips4: range:0.000000, avgSOS:1452.588253, waterlevel:0.000000, draft:-nan
: KearfottDriver: updating with external sensors

: BuoyLauncher::xferData(): transferring file /home/dorado1/auv/altex/onboard/config/dorado538/vehicle.cfg
: BuoyLauncher::"*X‚" sent to LC
: KearfottDriver: updating with external sensors

: BuoyLauncher::recvd #X{ as response from LC
: KearfottDriver: updating with external sensors

: BuoyLauncherDriver::xferData: wrote 2887 bytes to LC disk
: Lbl::readTaskIF - Got new return times.
: KearfottDriver: updating with external sensors

: Lbl::readTaskIF - Got new ping time. Interval = 9.979316
: KearfottDriver: updating with external sensors

: BuoyLauncherDriver::getting routine status
: BuoyLauncher::processing getLauncherStatus
: BuoyLauncher::"*Gq" sent to LC
: gpsDriver::readRecord() - serial device timed out
: GarminGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: M
: KearfottDriver: updating with external sensors

: KearfottDriver: updating with external sensors

: BuoyLauncher::recvd #Gj as response from LC
: KearfottDriver: updating with external sensors

: 
packet coming

: receiving packet, size = 56

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

: Lbl::readTaskIF - Got new ping time. Interval = 10.039312
: Got packet 1

: BuoyLauncher::recvd 56 bytes from LC, should be 56
: BuoyLauncher::Status=>Err:0 LastOK:0 ByResp:1 NxtRdy:1 
: KearfottDriver: updating with external sensors

:                       CrtBnum:104 Total:6 Remain:6 Lnchd:0 
: Buoy::        Status=>Bnum:104 Batt:109 Aux:0 Temp:132 Time:1004707700
: BuoyLauncherDriver::Launcher status: Launcher_status_is_OK (0)
: Clearing _command, was X

: KearfottDriver: updating with external sensors

: KearfottDriver: updating with external sensors

: Ips4: range:0.000000, avgSOS:1452.580513, waterlevel:0.000000, draft:-nan
: KearfottDriver: updating with external sensors

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

: Lbl::readTaskIF - Got new ping time. Interval = 9.969317
: 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.
: KearfottDriver: updating with external sensors

: Lbl::readTaskIF - Got new ping time. Interval = 10.009314
: KearfottDriver: updating with external sensors

: KearfottDriver: updating with external sensors

: KearfottDriver: updating with external sensors

: Ips4: range:0.000000, avgSOS:1452.570027, waterlevel:0.000000, draft:-nan
: 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
: KearfottDriver: updating with external sensors

: KearfottDriver: updating with external sensors

: KearfottDriver: updating with external sensors

: BuoyLauncherDriver::getting routine status
: BuoyLauncher::processing getLauncherStatus
: BuoyLauncher::"*Gq" sent to LC
: BuoyLauncher::recvd #Gj as response from LC
: KearfottDriver: updating with external sensors

: 
packet coming

: Lbl::readTaskIF - Got new return times.
: receiving packet, size = 56

: KearfottDriver: updating with external sensors

: Lbl::readTaskIF - Got new ping time. Interval = 9.989316
: gpsDriver::readRecord() - serial device timed out
: GarminGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: 0
: Got packet 1

: KearfottDriver: updating with external sensors

: BuoyLauncher::recvd 56 bytes from LC, should be 56
: BuoyLauncher::Status=>Err:0 LastOK:0 ByResp:1 NxtRdy:1 
:                       CrtBnum:104 Total:6 Remain:6 Lnchd:0 
: Buoy::        Status=>Bnum:104 Batt:109 Aux:0 Temp:132 Time:1004707700
: BuoyLauncherDriver::Launcher status: Launcher_status_is_OK (0)
: KearfottDriver: updating with external sensors

: DepthSensor (Navigation): Received bad depth reading: 28.441950
 Substitute previous depth value of -0.262886

: 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
: KearfottDriver: updating with external sensors

: Ips4: range:0.000000, avgSOS:1452.562164, 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 = 9.839326
: 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.
: KearfottDriver: updating with external sensors

: Lbl::readTaskIF - Got new ping time. Interval = 9.959318
: KearfottDriver: updating with external sensors

: KearfottDriver: updating with external sensors

: Ips4: range:0.000000, avgSOS:1452.551223, waterlevel:0.000000, draft:-nan
: KearfottDriver: updating with external sensors

: BuoyLauncherDriver::getting routine status
: BuoyLauncher::processing getLauncherStatus
: BuoyLauncher::"*Gq" sent to LC
: BuoyLauncher::recvd #Gj as response from LC
: KearfottDriver: updating with external sensors

: Lbl::readTaskIF - Got new return times.
: 
packet coming

: receiving packet, size = 56

: KearfottDriver: updating with external sensors

: Lbl::readTaskIF - Got new ping time. Interval = 9.979316
: Got packet 1

: BuoyLauncher::recvd 56 bytes from LC, should be 56
: BuoyLauncher::Status=>Err:0 LastOK:0 ByResp:1 NxtRdy:1 
:                       CrtBnum:104 Total:6 Remain:6 Lnchd:0 
: Buoy::        Status=>Bnum:104 Batt:109 Aux:0 Temp:132 Time:1004707700
: BuoyLauncherDriver::Launcher status: Launcher_status_is_OK (0)
: KearfottDriver: updating with external sensors

: KearfottDriver: updating with external sensors

: KearfottDriver: updating with external sensors

: Ips4::Stopping CTD profile with 240 points
: Ips4: range:0.000000, avgSOS:1452.548529, waterlevel:0.000000, draft:-nan
: KearfottDriver: updating with external sensors

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

: Lbl::readTaskIF - Got new ping time. Interval = 10.019314
: DownloadData::Download confirmed.

: LayeredControl::execute() -- (t = 410.801858) Behavior DownloadData has changed to state Finished

:  BuoyLaunch::Initiating Buoy Launch.

:  BuoyLaunch::fake is 0, armed 0

: sending command to launcher

: BuoyLauncherServer::Sent M launch command to driver
: LayeredControl::execute() -- (t = 411.061840) Behavior BuoyLaunch has changed to state Active

: KearfottDriver: updating with external sensors

: BuoyLauncherDriver::Launch commanded: M
: BuoyLauncher::processing launch command
: BuoyLauncher::"*Mw" sent to LC
: BuoyLauncher::recvd #Mp as response from LC
: BuoyLauncher::"*Mw" sent to LC
: BuoyLauncher::recvd #Mp as response from LC
: 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 = 10.019314
: KearfottDriver: updating with external sensors

: KearfottDriver: updating with external sensors

: KearfottDriver: updating with external sensors

: Ips4: range:0.000000, avgSOS:1452.548529, waterlevel:0.000000, draft:-nan
: KearfottDriver: updating with external sensors

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

: Lbl::readTaskIF - Got new ping time. Interval = 9.979316
: KearfottDriver: updating with external sensors

: KearfottDriver: updating with external sensors

: BuoyLauncher::launchBuoy(): recvd ACK, buoy in position
: 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 = 10.009314
: Ips4: range:0.000000, avgSOS:1452.548529, 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

: BuoyLauncher::LaunchBuoy: recvd ACK, launchOK
: Lbl::readTaskIF - Got new return times.
: KearfottDriver: updating with external sensors

: Lbl::readTaskIF - Got new ping time. Interval = 9.999315
: KearfottDriver: updating with external sensors

: KearfottDriver: updating with external sensors

: Ips4: range:0.000000, avgSOS:1452.548529, waterlevel:0.000000, draft:-nan
: 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 = 10.029313
: KearfottDriver: updating with external sensors

: KearfottDriver: updating with external sensors

: KearfottDriver: updating with external sensors

: KearfottDriver: updating with external sensors

: Ips4: range:0.000000, avgSOS:1452.548529, waterlevel:0.000000, draft:-nan
: Lbl::readTaskIF - Got new return times.
: KearfottDriver: updating with external sensors

: Lbl::readTaskIF - Got new ping time. Interval = 9.969317
: KearfottDriver: updating with external sensors

: KearfottDriver: updating with external sensors

: KearfottDriver: updating with external sensors

: BuoyLauncher::LaunchBuoy: recvd ACK, launchDone
: BuoyLauncherDriver::getting routine status
:  BuoyLaunch::Launch Confirmed.

: BuoyLauncher::processing getLauncherStatus
:  BuoyLaunch::Launch successful!.

: BuoyLauncher::"*Gq" sent to LC
:  BuoyLaunch::Arms Retracted!.

: LayeredControl::execute() -- (t = 476.597351) Behavior BuoyLaunch has changed to state Finished

: BuoyLauncher::recvd #Gj as response from LC
: Stack empty after processing.  Aborting.
: *** LayeredControl - initiating mission abort... ***
: Initiating Mission Abort!

: **** EventTriggers::add() - attaching proxy
: Schedule Server -> Stop
: LayeredControl::execute() -- (t = 476.997323) Behavior setpoint has changed to state Active

: LayeredControl::execute() -- (t = 476.997323) Behavior missionTimer has changed to state Active

: KearfottDriver: updating with external sensors

: Lbl::readTaskIF - Got new return times.
: 
packet coming

: receiving packet, size = 56

: Got packet 1

: KearfottDriver: updating with external sensors

: BuoyLauncher::recvd 56 bytes from LC, should be 56
: BuoyLauncher::Status=>Err:0 LastOK:1 ByResp:0 NxtRdy:0 
:                       CrtBnum:104 Total:6 Remain:5 Lnchd:1 
: Buoy::        Status=>Bnum:104 Batt:109 Aux:0 Temp:132 Time:1004707821
: BuoyLauncherDriver::Launcher status: Launcher_status_is_OK (0)
: Clearing _command, was M

: KearfottDriver: updating with external sensors

:  Init_filter: ERROR: idr = NB_DATA_EST.

: 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 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 ****

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

: 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()
: 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 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 ****

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

: Supervisor::shutdown()

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

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

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

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

: TaskServer::signalHandler() for task LayeredControlIFServer - exit()
: TaskServer::signalHandler() for task CrossbowIFServer - exit()
: TaskServer::signalHandler() for task MetraByteIFServer - exit()
: Isus:stopped - response 11/02/2001 13:31:25,12.88,30.12,0.000760

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


//1/home/dorado1/auv/altex/onboard/bin/isus terminated (SIGSEGV) at 0007:0001A0DD.
: Ips4:stopping Ips4...

: Ips4:stopped

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

: **** SharedData destructor for object Ips4Input_ShmemName ****


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