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() - extern: Using default vehicle config file "/home/dorado1/auv/altex/onboard/config/dorado538/vehicle.cfg"
alCommsServer
Supervisor::createTask() - navigationServer
Supervisor::createTask() - layeredControlServer
Supervisor::create: WorkSite::WorkSite -- Finished loading parameters
Ta: 0:	1	600674.187500E	4067388.750000N	73.699997 m	10.000000 ms	channel:2
sk(): 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
dynam: 3:	4	600848.125000E	4069389.500000N	80.199997 m	10.000000 ms	channel:6
icC: 4:	5	602732.187500E	4067093.000000N	57.299999 m	10.000000 ms	channel:7
ont: WorkSite server: 0x21ed0
rolServer
: ahrs if is Ahrs

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

ott: SerialDevice: done...

Serv: TailConeServer -- Maximum Elevator Actuator Excursion is 0 Counts
er
: TailConeServer:: -- Minimum Elevator Actuator Excursion is 0 Counts
Sup: TailConeServer -- Maximum Rudder Actuator Excursion is 0 Counts
ervi: TailConeServer -- Minimum Rudder Actuator Excursion is 0 Counts
sor:: SerialDevice: done...

:cre: SerialDevice: done...

ateTask() - kearf: Preparing to fork

ott: Preparing to fork

D: I'm the child...forking

vlServer: I'm the child...forking


Supervisor::createTas: SerialDevice: done...

k() - gpsServer
Supervis: creating if InsIFServer

or::cre: SerialDevice: done...

ateTask() -: Preparing to fork

 pa: I'm the child...forking

rosciServer
S: SerialDevice: done...

u: 3 Modules found
per: SerialDevice: done...

visor::createTask() - psa916Server
Superv: SerialDevice: done...

isor::createTask() - : SerialDevice: done...

seab: Crossbow.cc: Setting polled mode
irdServ: Crossbow.cc: Setting polled mode
er: SerialDevice: done...


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

or: Crossbow.cc: device->read succeeded
: SerialDevice: done...

:: SerialDeviceDriver::initialize()
:creat: Crossbow.cc: I think the serial number is 17252 (4364)
eTask() : SerialDevice: done...

- se: Crossbow.cc: Setting polled mode
a: PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200
birdServ: PeriodicTask::run() (crossbow) - sampleInterval=100, maxInterval=100
e: **** EventTriggers::add() - attaching proxy
r
Supervisor::createTask() - metrabyteServer
Superv: SerialDevice: done...

isor::createTask() - ips4Server
Super: Gps: initializing

vis: SerialDevice: done...

or: PSA916: constructing...

::c: Gps: done initializing...

reateTa: **** EventTriggers::add() - attaching proxy
sk() -: PSA916: initializing...

 : PSA916: trying to write data...

: SerialDevice: done...

isu: PSA916: debug mode on...

s
: SerialDevice: done...

Sup: PSA916: confirming data stream...

erviso: Parosci::init() - mode set okay
r:: PSA916: data is streaming...

:create: **** EventTriggers::add() - attaching proxy
Task: KearfottDriver: unable to open ctd interface

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

() - lblS: **** EventTriggers::add() - attaching proxy
erver: seabirdDriver RUNNING...


Sup: seabirdDriver RUNNING...

: gpsDriver::readRecord() - serial device timed out
ervi: **** EventTriggers::add() - attaching proxy
sor::createTask() - scheduler
: Parosci.cc -- Initial pressure = 1.163146
Supervis: KearfottDriver: updating with external sensors

: Parosci.cc -- Parosci initial pressure period = 30.459740
or: GarminGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: 0
::cr: SerialDevice: done...

ea: Parosci.cc -- Parosci initial temp period = 5.879452
teTask: Parosci.cc -- Paroscientific configured.
() : PeriodicTask::run() (Parosci) - sampleInterval=200, maxInterval=200
- buoyL: Seabird/ctdDriver -- Loading CTD constants from /home/dorado1/auv/altex/onboard/config/dorado538/ctdDriver.cfg

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

uncherServ: SerialDevice: done...

er
: 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
: 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
: Seabird/ctdDriver::Seabird() - create interface to depth sensor...
: Seabird/seabird::Seabird() - create interface to depth sensor...
: KearfottDriver: updating with external sensors

: Navigation: Server for aux sensor "Velocimeter" not found
: Schedule Server : Subscribing to Layered Control.

: Seabird/ctdDriver -- constructing Log...

: PeriodicTask::run() (MetraByte) - sampleInterval=1000, maxInterval=1000
: PeriodicTask::run() (navigation) - sampleInterval=200, maxInterval=200
: IsusLog.cc -- beginning constructor...

: Seabird/seabird -- constructing Log...

: PeriodicTask::run() (scheduleServer) - sampleInterval=200, maxInterval=200
: gpsDriver::readRecord() - serial device timed out
: isusLog.cc -- constructor succeeded

: CTDLog.cc -- beginning constructor...

: Lbl::readTaskIF - Got new ping time. Interval = 1004707876.274768
: SerialDevice: done...

: SerialDeviceDriver::initialize()
: CTDLog.cc -- beginning constructor...

: CTDLog.cc -- constructor succeeded

: PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200
: Lbl::readTaskIF - Got new return times.
: SerialDevice: done...

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

: GarminGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: M
: Seabird/ctdDriver -- constructor succeeded

: in first loop

:  The beacon Array is: 

: Ips4Log.cc -- beginning constructor...

: Seabird/seabird -- constructor succeeded

: seabirdDriver -- constructor succeeded

: KearfottDriver: updating with external sensors

: **** EventTriggers::add() - attaching proxy
:    2
: ips4Log.cc -- constructor succeeded

: seabirdDriver -- constructor succeeded

: Seabird/ctdDriver:initializing Seabird...

:    4
:  RotateBuoy::Initiating Buoy rotate.

: SerialDeviceDriver::initialize()
: Seabird/seabird:initializing Seabird...

: buoyLauncherDriver::main():Creating driver with params tcp:arm4:12001,9600,8,n,1
:    5
:  RotateBuoy::Waiting for buoy in data position
: Ips4:initializing Ips4...

: DepthSensor (Navigation): Received bad depth reading: 25.895287
 Substitute previous depth value of -0.115214

:    6
: LayeredControl::execute() -- (t = 0.719951) Behavior RotateBuoy has changed to state Active

: Ips4:create interface to ctd...
:    7
: DepthSensor (Navigation): Received bad depth reading: 25.895287
 Substitute previous depth value of -0.115214

: LayeredControl::execute() -- (t = 0.899938) Behavior missionTimer has changed to state Active

: Ips4:Cycle up to top menu using ...
: 

: **** EventTriggers::add() - attaching proxy
:    2
: *** Mission started ***

: Schedule Server -> Start
:    4
:    5
:    6
:    7
: 

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

:    7
: 

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

:    4
:    5
: BuoyLauncherLog.cc -- constructor succeeded

:    6
: BuoyLauncher::"*T~" sent to LC
:    7
: Ips4:Telling unit to begin processing
: 

:    2
: Ips4:Attempting to read record from Ips
:    4
:    5
: BuoyLauncher::recvd #Tw as response from LC
:    6
:    7
: 

:    2
:    4
:    5
:    6
:    7
: 

:    2
:    4
:    5
:    6
:    7
: 

:    2
:    4
:    5
:    6
:    7
: 

:    2
:    4
:    5
:    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


: KearfottDriver: updating with external sensors

: Lbl::readTaskIF - Got new ping time. Interval = 1701.803418
: Ips4:initialized

: Ips4::Starting CTD profile
: **** EventTriggers::add() - attaching proxy
: SerialDevice::confirm() - Timed Out
: Seabird/ctdDriver::initialize() - confirm() timed out; sleep a bit
: SerialDevice::confirm() - Timed Out
: Seabird/seabird::initialize() - confirm() timed out; sleep a bit
:  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
: Isus:time set with val 1004709578 -> Fri Nov  2 13:59:40 2001

: Isus:comms initialized, warmup countdown begun...
: Isus:starting Isus...
: Isus:started
: 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
: Seabird/ctdDriver: sending configure commands...(14013)

: Ips4: range:-nan, avgSOS:-nan, waterlevel:-nan, draft:-nan
: Seabird/seabird: sending configure commands...(14025)

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

: Seabird/ctdDriver: setting scans...

: Seabird/seabird: setting scans...

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

: Seabird/ctdDriver: setting pump freq...

: Seabird/seabird: setting pump freq...

: Seabird/ctdDriver: setting upcast...

:  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
: Seabird/seabird: setting upcast...

: Seabird/ctdDriver: setting battery type...

: Seabird/seabird: setting battery type...

: KearfottDriver: updating with external sensors

: Seabird/ctdDriver: setting external voltages to 6...(14013)

: Seabird/seabird: setting external voltages to 6...(14025)

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

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

: KearfottDriver: updating with external sensors

: 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
:  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...

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

: 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...

:  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

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

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

: LayeredControl::execute() -- (t = 29.028011) Behavior RotateBuoy has changed to state Finished

: LayeredControl::execute() -- (t = 29.217998) Behavior DownloadData has changed to state Active

: KearfottDriver: updating with external sensors

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

: Seabird/ctdDriver: sending DS command...

: Lbl::readTaskIF - Got new return times.
: Lbl::readTaskIF - Got new ping time. Interval = 9.389357
: KearfottDriver: updating with external sensors

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

: Seabird/seabird: sending DS command...

: 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 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 VehicleConfigurationIFServer - exit()
: NavigationOutput::~NavigationOutput()

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

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

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

: Ips4:stopping Ips4...

: 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 BuoyLauncherInput_ShmemName ****

: 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()
: **** SharedData destructor for object seabirdSeabirdOutput_ShmemName ****

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

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

: TaskServer::signalHandler() for task ExternalCommsIFServer - exit()
: StepGetStat (3) failed to read chars, rcvd=2, want=8
: TaskServer::signalHandler() for task AhrsIFServer - exit()
: **** SharedData destructor for object crossbowCommand ****

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

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

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

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

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

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

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

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

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

: NavigationOutput::~NavigationOutput()

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

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

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

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

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

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

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

: TaskServer::signalHandler() for task seabird - exit()
: StepGetStat (3) 5d 5d 00 00 01 00 00
: **** SharedData destructor for object octansOutput ****

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

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

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

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

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

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

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

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

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

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

: Isus:stopped - response ACK,1004709578,1004709578

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

: Supervisor::shutdown() - done()

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

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


//1/home/dorado1/auv/altex/onboard/bin/ips4 terminated (SIGSEGV) at 0007:0002095B.
: **** SharedData destructor for object TailConeOutput_ShmemName ****

