Supervisor::createCoreTasks()
Supervisor::createTask() - eventLogServer
Supervisor::createTask() - workSite
Supervisor::createTask() - vehicleCon: Initializing worksiteServer
figurati: WorkSite::WorkSite -- Adding attributes
onS: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv/altex/onboard/config/docking/workSite.cfg
erver
Supervisor::createTask() - external: Using default vehicle config file "/home/dorado1/auv/altex/onboard/config/docking/vehicle.cfg"
CommsServer
Supervisor::createTask() - navigat: WorkSite::WorkSite -- Finished loading parameters
io: 0:	1	600674.187500E	4067388.750000N	73.699997 m	10.000000 ms	channel:2
nSer: 1:	2	600531.687500E	4065156.000000N	73.199997 m	10.000000 ms	channel:4
ver: 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
Super: 4:	5	602732.187500E	4067093.000000N	57.299999 m	10.000000 ms	channel:7
viso: WorkSite server: 0x22eec
r::createTask() - layeredCont: New Navigation component constructor
rol: Navigation - Using only the Dvl to compute altitude.
Server
Supervisor::createTask() - dynamicControlServer
Supervisor::createTask() - newTailConeServer
Supervisor::createTask() - crossbowServer
Supervisor::createTask() - gpsServer
Supervisor::createTask: SerialDevice: done...

(: TailConeServer -- Maximum Elevator Actuator Excursion is 0 Counts
) -: TailConeServer:: -- Minimum Elevator Actuator Excursion is 0 Counts
 pa: TailConeServer -- Maximum Rudder Actuator Excursion is 0 Counts
ros: TailConeServer -- Minimum Rudder Actuator Excursion is 0 Counts
c: Preparing to fork

iS: SerialDevice: done...

erver: I'm the child...forking


: SerialDevice: done...

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

Supervisor:: SerialDevice: done...

:createTask() - bluefinBattDriver: Gps: initializing


: SerialDevice: done...

Su: SerialDevice: done...

perv: SerialDevice: done...

iso: SerialDevice: done...

r:: Gps: done initializing...

:c: Crossbow.cc: Setting polled mode
: **** EventTriggers::add() - attaching proxy
reateTask: Crossbow.cc: Setting polled mode
() - : Crossbow.cc: In getSerialNumber()
dvlS: Crossbow.cc: _device->read failed with error
erv: PeriodicTask::run() (crossbow) - sampleInterval=100, maxInterval=100
er: SerialDevice: done...


Su: SerialDevice: done...

per: seabirdDriver RUNNING...

viso: BluefineBatt::init() - 1 batteries on 10 second interval
r::cr: SerialDevice: done...

eate: AshtechGps::processRecord() - $PASHR,ACK*3D

Tas: GpsUtils::parseFix() - $PASHR,ACK*3D


k(): AshtechGps::processRecord() - GpsUtils::parseFix() - incomplete GGA sentence?
$PASHR,ACK*3D

 - f: **** EventTriggers::add() - attaching proxy
: BluefinBatt.cc - Looking for Parosci server
anServe: Seabird/ctdDriver -- Loading CTD constants from /home/dorado1/auv/altex/onboard/config/docking/ctdDriver.cfg

r: SerialDevice: done...


Supe: BluefinBatt::init() - querying for batt ids
rvisor::create: AshtechGps::processRecord() - $PASHR,ACK*3D

Tas: GpsUtils::parseFix() - $PASHR,ACK*3D


k(): AshtechGps::processRecord() - GpsUtils::parseFix() - incomplete GGA sentence?
$PASHR,ACK*3D

 - dropWeightServer
Supervisor::createTas: SerialDevice: done...

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

nardyneServe: ahrs if is Ahrs

: CTD/ctdDriver -- Calibration constants:
	T_a  = 3.681217e-003
	T_b  = 6.006525e-004
	T_c  = 1.574158e-005
	T_d  = 1.973049e-006
	T_f0 = 3081.132000
	C_a  = 8.440420e-007
	C_b  = 1.341363e+000
	C_c  = -10.325094
	C_d  = -8.517875e-005
	C_m  = 5.900
	EPS  = -9.570000e-008
	SOc  = 3.985000e-001
	BOc  = 0.000000e+000
	Voff = -5.038000e-001
	TCor = 4.000000e-004
	PCor = 1.350000e-004

r
Task::spawnServer() - execlp() of "fan" failed: Operation not permitted
: Seabird/ctdDriver::Seabird() - create interface to depth sensor...
: Seabird/ctdDriver -- constructing Log...

: CTDLog.cc -- beginning constructor...

: CTDLog.cc -- constructor succeeded

: Seabird/ctdDriver -- constructor succeeded

: seabirdDriver -- constructor succeeded

: Seabird/ctdDriver:initializing Seabird...

: SerialDevice: done...

: SerialDevice: done...

: Seabird/ctdDriver: sending configure commands...(11975)

:  DropWeight::initialize - Resetting counters.
: **** EventTriggers::add() - attaching proxy
: SerialDevice: done...

: SerialDeviceDriver::initialize()
: 
 Starting DVL Initialization.

: DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize()
: SerialDevice: done...

: DynamicControlServer - Got event 1 from TailCone

: SerialDevice: done...

: PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200
: AshtechGps::processRecord() - $GPGGA,231254.00,3636.69417,N,12152.60297,W,1,12,0.7,-3.98,M,-33.22,M,,*79

: 3 Modules found
: GpsUtils::parseFix() - $GPGGA,231254.00,3636.69417,N,12152.60297,W,1,12,0.7,-3.98,M,-33.22,M,,*79


:  tting counters to default

: successfully parse sentence at 23:12:54

: AshtechGPS::processRecord -sample time is 1143760373
: Sonardyne -- configuration:
	PollPeriod = 500 ms
	PresetGain = 0
	PowerLevel = 0
	LblWait    = 3 s
	ESV        = 1485.000000 m/s
	Beacon     = V4,1

: SonardyneDriver - interrogation string is POS V4,1
, timeout is 4000 ms
: Sonardyne - PG response: 
PG0 PAN TDR GAIN: VLOW

: Seabird/ctdDriver: setting scans...

: Sonardyne - PL response: 
PL0 PAN POWER: LOW

: Sonardyne - LW response: 
LW3

: PeriodicTask::run() (sonardyneDriver) - sampleInterval=500, maxInterval=500
: SerialDevice: done...

: Parosci.cc -- Initial pressure = 0.068948
: AshtechGps::processRecord() - $GPGGA,231255.00,3636.69422,N,12152.60293,W,1,12,0.7,-3.99,M,-33.22,M,,*7B

: GpsUtils::parseFix() - $GPGGA,231255.00,3636.69422,N,12152.60293,W,1,12,0.7,-3.99,M,-33.22,M,,*7B


: successfully parse sentence at 23:12:55

: AshtechGPS::processRecord -sample time is 1143760374
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Parosci.cc -- Parosci initial pressure period = 30.138930
: Parosci.cc -- Parosci initial temp period = 5.842305
: Parosci.cc -- Paroscientific configured.
: CR1
[Parameters set to FACTORY defaults]
>
: PD5
>
: BK1
>
: TP00:00.00
>
: TE00:00:00.60
>
: BL,10,010,100
>
: BP001
>
: CF11010
>
: CB611
>
: SerialDevice: done...

:  Dvl::initialize - Baud rate set to 38400.

: EX10011
>
: EA+04500
>
: WP0001
>
: WN25
>
:  Dvl::initialize - The number of cells is 25.

: WV210
>
:  Dvl::initialize - 14 valid commands read in from dvl.cfg.

: EC1490
>
: 
>
:  Dvl::initialize() - The DVL is initialized.

: **** EventTriggers::add() - attaching proxy
: PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200
: AshtechGps::processRecord() - $GPGGA,231256.00,3636.69426,N,12152.60292,W,1,12,0.7,-3.96,M,-33.22,M,,*72

: GpsUtils::parseFix() - $GPGGA,231256.00,3636.69426,N,12152.60292,W,1,12,0.7,-3.96,M,-33.22,M,,*72


: successfully parse sentence at 23:12:56

: AshtechGPS::processRecord -sample time is 1143760375
: **** EventTriggers::add() - attaching proxy
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231257.00,3636.69437,N,12152.60291,W,1,12,0.7,-4.01,M,-33.22,M,,*79

: GpsUtils::parseFix() - $GPGGA,231257.00,3636.69437,N,12152.60291,W,1,12,0.7,-4.01,M,-33.22,M,,*79


: successfully parse sentence at 23:12:57

: AshtechGPS::processRecord -sample time is 1143760376
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: AshtechGps::processRecord() - $GPGGA,231258.00,3636.69442,N,12152.60285,W,1,12,0.7,-3.99,M,-33.22,M,,*77

: GpsUtils::parseFix() - $GPGGA,231258.00,3636.69442,N,12152.60285,W,1,12,0.7,-3.99,M,-33.22,M,,*77


: successfully parse sentence at 23:12:58

: AshtechGPS::processRecord -sample time is 1143760377
: Sonardyne - POSD response: 
POSD S-100.0,N1.8,D0,U0,Q0.000000

: Sonardyne - no valid response
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S-100.0,N1.8,D0,U0,Q0.000000

: SerialDevice::confirm() - Timed Out
: AshtechGps::processRecord() - $GPGGA,231259.00,3636.69448,N,12152.60279,W,1,12,0.7,-3.89,M,-33.22,M,,*7E

: GpsUtils::parseFix() - $GPGGA,231259.00,3636.69448,N,12152.60279,W,1,12,0.7,-3.89,M,-33.22,M,,*7E


: successfully parse sentence at 23:12:59

: AshtechGPS::processRecord -sample time is 1143760378
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt::init() - battery ids are aa  
: BluefinBatt::init() - found battery aa
: AshtechGps::processRecord() - $GPGGA,231300.00,3636.69450,N,12152.60275,W,1,12,0.7,-3.93,M,-33.22,M,,*7D

: GpsUtils::parseFix() - $GPGGA,231300.00,3636.69450,N,12152.60275,W,1,12,0.7,-3.93,M,-33.22,M,,*7D


: successfully parse sentence at 23:13:0

: AshtechGPS::processRecord -sample time is 1143760379
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231301.00,3636.69446,N,12152.60272,W,1,12,0.7,-3.94,M,-33.22,M,,*7B

: GpsUtils::parseFix() - $GPGGA,231301.00,3636.69446,N,12152.60272,W,1,12,0.7,-3.94,M,-33.22,M,,*7B


: successfully parse sentence at 23:13:1

: AshtechGPS::processRecord -sample time is 1143760380
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N1.9,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N1.9,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,231302.00,3636.69452,N,12152.60271,W,1,12,0.7,-4.00,M,-33.22,M,,*74

: GpsUtils::parseFix() - $GPGGA,231302.00,3636.69452,N,12152.60271,W,1,12,0.7,-4.00,M,-33.22,M,,*74


: successfully parse sentence at 23:13:2

: AshtechGPS::processRecord -sample time is 1143760381
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: SerialDevice::confirm() - Timed Out
: Seabird/ctdDriver: setting pump freq...

: Seabird/ctdDriver: setting upcast...

: Seabird/ctdDriver: setting battery type...

: Seabird/ctdDriver: setting external voltages to 6...(11975)

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

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

: AshtechGps::processRecord() - $GPGGA,231303.00,3636.69452,N,12152.60266,W,1,12,0.7,-3.87,M,-33.22,M,,*7B

: GpsUtils::parseFix() - $GPGGA,231303.00,3636.69452,N,12152.60266,W,1,12,0.7,-3.87,M,-33.22,M,,*7B


: successfully parse sentence at 23:13:3

: AshtechGPS::processRecord -sample time is 1143760382
: Seabird/ctdDriver::initialize() - confirming voltage...

:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

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

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

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

: AshtechGps::processRecord() - $GPGGA,231304.00,3636.69453,N,12152.60261,W,1,12,0.7,-3.86,M,-33.22,M,,*7B

: GpsUtils::parseFix() - $GPGGA,231304.00,3636.69453,N,12152.60261,W,1,12,0.7,-3.86,M,-33.22,M,,*7B


: successfully parse sentence at 23:13:4

: AshtechGPS::processRecord -sample time is 1143760383
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt::init() - battery watchdog state is $aawf 1
 
: Seabird/ctdDriver::initialize() - disabling switch...

: Seabird/ctdDriver: sending DS command...

: PeriodicTask::run() (BluefinBatt) - sampleInterval=10000, maxInterval=10000
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: AshtechGps::processRecord() - $GPGGA,231305.00,3636.69454,N,12152.60256,W,1,12,0.7,-3.95,M,-33.22,M,,*7B

: GpsUtils::parseFix() - $GPGGA,231305.00,3636.69454,N,12152.60256,W,1,12,0.7,-3.95,M,-33.22,M,,*7B


: successfully parse sentence at 23:13:5

: AshtechGPS::processRecord -sample time is 1143760384
: Sonardyne - POSD response: 
POSD S-100.0,N5.5,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N5.5,D0,U0,Q0.000000

:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231306.00,3636.69460,N,12152.60254,W,1,12,0.7,-4.07,M,-33.22,M,,*71

: GpsUtils::parseFix() - $GPGGA,231306.00,3636.69460,N,12152.60254,W,1,12,0.7,-4.07,M,-33.22,M,,*71


: successfully parse sentence at 23:13:6

: AshtechGPS::processRecord -sample time is 1143760385
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231307.00,3636.69466,N,12152.60250,W,1,12,0.7,-3.98,M,-33.22,M,,*73

: GpsUtils::parseFix() - $GPGGA,231307.00,3636.69466,N,12152.60250,W,1,12,0.7,-3.98,M,-33.22,M,,*73


: successfully parse sentence at 23:13:7

: AshtechGPS::processRecord -sample time is 1143760386
: Lbl NavSensor - could not create LBL task interface
: Navigation: Server for aux sensor "Lbl" not found
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231308.00,3636.69466,N,12152.60240,W,1,12,0.7,-3.88,M,-33.22,M,,*7C

: GpsUtils::parseFix() - $GPGGA,231308.00,3636.69466,N,12152.60240,W,1,12,0.7,-3.88,M,-33.22,M,,*7C


: successfully parse sentence at 23:13:8

: AshtechGPS::processRecord -sample time is 1143760387
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N2.8,D0,U0,Q0.000000

: Sonardyne - no valid response
: Seabird/ctdDriver::initialize() - starting logging...

: Sonardyne - POSD response: 
POSD S-100.0,N2.8,D0,U0,Q0.000000

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

: Ctd/ctdDriver:initialize() - ready!
: **** EventTriggers::add() - attaching proxy
: AshtechGps::processRecord() - $GPGGA,231309.00,3636.69468,N,12152.60234,W,1,12,0.7,-4.07,M,-33.22,M,,*70

: GpsUtils::parseFix() - $GPGGA,231309.00,3636.69468,N,12152.60234,W,1,12,0.7,-4.07,M,-33.22,M,,*70


: successfully parse sentence at 23:13:9

: AshtechGPS::processRecord -sample time is 1143760388
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231310.00,3636.69476,N,12152.60233,W,1,12,0.7,-4.14,M,-33.22,M,,*72

: GpsUtils::parseFix() - $GPGGA,231310.00,3636.69476,N,12152.60233,W,1,12,0.7,-4.14,M,-33.22,M,,*72


: successfully parse sentence at 23:13:10

: AshtechGPS::processRecord -sample time is 1143760389
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231311.00,3636.69486,N,12152.60235,W,1,12,0.7,-4.17,M,-33.22,M,,*79

: GpsUtils::parseFix() - $GPGGA,231311.00,3636.69486,N,12152.60235,W,1,12,0.7,-4.17,M,-33.22,M,,*79


: successfully parse sentence at 23:13:11

: AshtechGPS::processRecord -sample time is 1143760390
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: AshtechGps::processRecord() - $GPGGA,231312.00,3636.69488,N,12152.60232,W,1,12,0.7,-4.11,M,-33.22,M,,*75

: GpsUtils::parseFix() - $GPGGA,231312.00,3636.69488,N,12152.60232,W,1,12,0.7,-4.11,M,-33.22,M,,*75


: successfully parse sentence at 23:13:12

: AshtechGPS::processRecord -sample time is 1143760391
: Sonardyne - POSD response: 
POSD S-100.0,N2.6,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N2.6,D0,U0,Q0.000000

:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231313.00,3636.69494,N,12152.60228,W,1,12,0.7,-4.05,M,-33.22,M,,*77

: GpsUtils::parseFix() - $GPGGA,231313.00,3636.69494,N,12152.60228,W,1,12,0.7,-4.05,M,-33.22,M,,*77


: successfully parse sentence at 23:13:13

: AshtechGPS::processRecord -sample time is 1143760392
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231314.00,3636.69499,N,12152.60219,W,1,12,0.7,-3.98,M,-33.22,M,,*7C

: GpsUtils::parseFix() - $GPGGA,231314.00,3636.69499,N,12152.60219,W,1,12,0.7,-3.98,M,-33.22,M,,*7C


: successfully parse sentence at 23:13:14

: AshtechGPS::processRecord -sample time is 1143760393
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231315.00,3636.69494,N,12152.60207,W,1,12,0.7,-3.92,M,-33.22,M,,*75

: GpsUtils::parseFix() - $GPGGA,231315.00,3636.69494,N,12152.60207,W,1,12,0.7,-3.92,M,-33.22,M,,*75


: successfully parse sentence at 23:13:15

: AshtechGPS::processRecord -sample time is 1143760394
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N2.3,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N2.3,D0,U0,Q0.000000

: BluefinBatt Reply: $aaq0 d- 31.42  2.45 16.79 3.91 3.94 0  1114.57 07:10:37 m

: AshtechGps::processRecord() - $GPGGA,231316.00,3636.69496,N,12152.60203,W,1,12,0.7,-3.93,M,-33.22,M,,*71

: GpsUtils::parseFix() - $GPGGA,231316.00,3636.69496,N,12152.60203,W,1,12,0.7,-3.93,M,-33.22,M,,*71


: successfully parse sentence at 23:13:16

: AshtechGPS::processRecord -sample time is 1143760395
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: batts online 1, min cell voltage 3.910000, mean min cell voltage 3.910000

: AshtechGps::processRecord() - $GPGGA,231317.00,3636.69499,N,12152.60203,W,1,12,0.7,-3.98,M,-33.22,M,,*74

: GpsUtils::parseFix() - $GPGGA,231317.00,3636.69499,N,12152.60203,W,1,12,0.7,-3.98,M,-33.22,M,,*74


: successfully parse sentence at 23:13:17

: AshtechGPS::processRecord -sample time is 1143760396
: Navigation: Server for aux sensor "Altimeter" not found
: Navigation: Server for aux sensor "Velocimeter" not found
:  Navigation: The utm zone is 10

:  Navigation: The lat/long in workSite.cfg,  36.802552, -121.788121

:  Navigation: The lat/long in workSite.cfg, cvt'ed to UTM is 4073654.20, 608108.69

: PeriodicTask::run() (navigation) - sampleInterval=200, maxInterval=200
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: **** EventTriggers::add() - attaching proxy
: GetGPS::execute() -- Got a new GPS hit: 1 of 10 needed
: LayeredControl::execute() -- (t = 0.000000) Behavior getgps has changed to state Active

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

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

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

: AshtechGps::processRecord() - $GPGGA,231318.00,3636.69513,N,12152.60208,W,1,12,0.7,-4.13,M,-33.22,M,,*77

: GpsUtils::parseFix() - $GPGGA,231318.00,3636.69513,N,12152.60208,W,1,12,0.7,-4.13,M,-33.22,M,,*77


: successfully parse sentence at 23:13:18

: AshtechGPS::processRecord -sample time is 1143760397
: GetGPS::execute() -- Got a new GPS hit: 2 of 10 needed
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: AshtechGps::processRecord() - $GPGGA,231319.00,3636.69522,N,12152.60205,W,1,12,0.7,-4.09,M,-33.22,M,,*72

: GpsUtils::parseFix() - $GPGGA,231319.00,3636.69522,N,12152.60205,W,1,12,0.7,-4.09,M,-33.22,M,,*72


: successfully parse sentence at 23:13:19

: AshtechGPS::processRecord -sample time is 1143760398
: Sonardyne - POSD response: 
POSD S-100.0,N4.3,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.3,D0,U0,Q0.000000

: GetGPS::execute() -- Got a new GPS hit: 3 of 10 needed
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Supervisor::signalHandler(); caught signal 15
: Supervisor::signalHandler(); 
Received a SIGTERM or SIGQUIT. 
DropWeightServer NOT started.
: Supervisor::cleanup() - delete _theSupervisor

: Supervisor::shutdown()

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

: TaskServer::signalHandler() for task WorkSiteIFServer - exit()
: TaskServer::signalHandler() for task AhrsIFServer - exit()
: TaskServer::signalHandler() for task DepthSensorIFServer - exit()
: TaskServer::signalHandler() for task DvlIFServer - exit()
: TaskServer::signalHandler() for task UsblIFServer - exit()
: TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit()
: NavigationOutput::~NavigationOutput()

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

: TaskServer::signalHandler() for task EventLogIFServer - exit()
: TaskServer::signalHandler() for task ExternalCommsIFServer - exit()
: TaskServer::signalHandler() for task ctdDriver - exit()
: **** SharedData destructor for object BluefinBattOutput ****

: TaskServer::signalHandler() for task FanIFServer - exit()
: TaskServer::signalHandler() for task DropWeightIFServer - exit()
: TaskServer::signalHandler() for task FanIFServer - exit()
:  DropWeight Destructor Executing.
: **** SharedData destructor for object GpsOutput_ShmemName ****

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

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

: **** SharedData destructor for object SonardyneOutput_ShmemName ****

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

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

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

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

: **** SharedData destructor for object SonardyneOutput_ShmemName ****

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

: NavigationOutput::~NavigationOutput()

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

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

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


//10/home/dorado1/auv/altex/onboard/bin/layeredControl terminated (SIGSEGV) at 0007:00036D38.
: TaskServer::signalHandler() for task DepthSensorIFServer - exit()
: TaskServer::signalHandler() for task LayeredControlIFServer - exit()
: TaskServer::signalHandler() for task ExternalCommsIFServer - exit()
: **** SharedData destructor for object TailConeInput_ShmemName ****

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

: **** SharedData destructor for object dropWeightOutput ****

: **** SharedData destructor for object fanOutput ****

: **** SharedData destructor for object dropWeightOutput ****

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

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

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


//10/home/dorado1/auv/altex/onboard/bin/sonardyneDriver terminated (SIGSEGV) at 0007:000218F4.
: TaskServer::signalHandler() for task UsblIFServer - exit()
: TaskServer::signalHandler() for task GpsIFServer - exit()
: **** SharedData destructor for object TailConeOutput_ShmemName ****

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

: TaskServer::signalHandler() for task DropWeightIFServer - exit()
: SerialDevice: done...

:  Dvl::~Dvl: Destructor Finished.


//10/home/dorado1/auv/altex/onboard/bin/dvl terminated (SIGSEGV) at 0007:00023FBF.
