Supervisor::createCoreTasks()
Supervisor::createTask() - eventLogServer
Supervisor::createTask() - workSite
Supervisor::createTask() - vehicleConfigurationServer: Initializing worksiteServer

Supervi: WorkSite::WorkSite -- Adding attributes
sor: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv/altex/onboard/config/docking/workSite.cfg
::createTask() - externalCommsServer
Supe: Using default vehicle config file "/home/dorado1/auv/altex/onboard/config/docking/vehicle.cfg"
rvisor::createTask() - navigationServer
Supervis: WorkSite::WorkSite -- Finished loading parameters
or:: 0:	1	600674.187500E	4067388.750000N	73.699997 m	10.000000 ms	channel:2
:cr: 1:	2	600531.687500E	4065156.000000N	73.199997 m	10.000000 ms	channel:4
eat: 2:	3	598447.000000E	4067412.250000N	91.400002 m	10.000000 ms	channel:5
eTa: 3:	4	600848.125000E	4069389.500000N	80.199997 m	10.000000 ms	channel:6
sk(: 4:	5	602732.187500E	4067093.000000N	57.299999 m	10.000000 ms	channel:7
) - : WorkSite server: 0x22f48
layeredControlServer
: New Navigation component constructor
S: Navigation - Using only the Dvl to compute altitude.
upervisor::createTask() - dynamicControlServer
Supervisor::createTask() - newTailConeServer
Supervisor::createTask() - simulator
Supervisor::createTask() - simAhrs
Supervisor::createT: Create simulator...

ask() - gpsServer
Supervisor:: Create VehicleConfigurationIF...

:cre: Okay...

ateTask() - pa: SerialDevice: done...

r: TailConeServer -- Maximum Elevator Actuator Excursion is 0 Counts
: Create attributes...

osc: TailConeServer:: -- Minimum Elevator Actuator Excursion is 0 Counts
iSer: Simulator:: initPsi = 0.000000

ve: TailConeServer -- Maximum Rudder Actuator Excursion is 0 Counts
r
S: Done creating attributes. Parse 'em...

up: TailConeServer -- Minimum Rudder Actuator Excursion is 0 Counts
ervisor: SerialDevice: done...

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

abirdServer
Supervisor::createTask() - bluefinBattDri: SerialDevice: done...

ver
Superv: Simulator:: initPsi = 225.000000

is: Simulator:: zMax = 210.000000

or::createT:  The utm zone is 10

ask():  Simulator: The lat/long in workSite.cfg is 0.642326, -2.1256
 - :  Simulator: The lat/long in workSite.cfg, cvt'ed to UTM is 4.07365e+006, 608109
dv: Gps: initializing

l: SerialDevice: done...

Serv: SerialDevice: done...

er: SerialDevice: done...

: Invoke simulator->run()...


: SerialDevice: done...

Supervisor::: Gps: done initializing...

cre: **** EventTriggers::add() - attaching proxy
ateT: SerialDevice: done...

ask() : BluefineBatt::init() - 1 batteries on 10 second interval
- fanServer: seabirdDriver RUNNING...


Supe: BluefinBatt.cc - Looking for Parosci server
rv: SerialDevice: done...

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

so: SerialDevice: done...

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


eate: BluefinBatt::init() - querying for batt ids
Ta: AshtechGps::processRecord() - GpsUtils::parseFix() - incomplete GGA sentence?
$PASHR,ACK*3D

sk() - : **** EventTriggers::add() - attaching proxy
dr: Seabird/ctdDriver -- Loading CTD constants from /home/dorado1/auv/altex/onboard/config/docking/ctdDriver.cfg

opWeightServer
Supervisor: SerialDevice: done...

: ahrs if is Ahrs

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

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


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

() - sonardyneServer
: SerialDevice: done...

: 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

: 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...

: DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize()
: DynamicControlServer - Got event 1 from TailCone

: PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200
: SerialDevice: done...

: SerialDevice: done...

: SerialDevice: done...

: 3 Modules found
:  DropWeight::initialize - Resetting counters.
: **** EventTriggers::add() - attaching proxy
: SerialDeviceDriver::initialize()
: 
 Starting DVL Initialization.

: SerialDevice: done...

: Unknown attribute name: "VJSE"


: 

: sonardyneDriver - caught Exception: 

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

:  t = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,163156.00,3637.23204,N,12152.63640,W,1,12,0.7,-2.78,M,-33.19,M,,*7D

: GpsUtils::parseFix() - $GPGGA,163156.00,3637.23204,N,12152.63640,W,1,12,0.7,-2.78,M,-33.19,M,,*7D


: successfully parse sentence at 16:31:56

: AshtechGPS::processRecord -sample time is 1145291515
: SerialDevice: done...

: PeriodicTask::run() (fanDriver) - sampleInterval=1000, maxInterval=1000
: PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200
: Parosci.cc -- Initial pressure = 0.068948
: Parosci.cc -- Parosci initial pressure period = 30.138660
:  wdt = 00878,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,163157.00,3637.23213,N,12152.63636,W,1,12,0.7,-2.45,M,-33.19,M,,*75

: GpsUtils::parseFix() - $GPGGA,163157.00,3637.23213,N,12152.63636,W,1,12,0.7,-2.45,M,-33.19,M,,*75


: successfully parse sentence at 16:31:57

: AshtechGPS::processRecord -sample time is 1145291516
: Parosci.cc -- Parosci initial temp period = 5.841881
: 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
: **** EventTriggers::add() - attaching proxy
: Task "sonardyneServer" died?

Supervisor::createTask() - sonardyneServer
: Supervisor::Supervisor() - task(s) died; exiting

: Supervisor::shutdown()

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

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


//10/home/dorado1/auv/altex/onboard/bin/layeredControl terminated (SIGSEGV) at 0007:00036D88.
: TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit()
: TaskServer::signalHandler() for task NavigationIFServer - exit()
: TaskServer::signalHandler() for task DynamicControlIFServer - exit()
: TaskServer::signalHandler() for task LayeredControlIFServer - exit()
: Supervisor::signalHandler(); caught signal 2
: TaskServer::signalHandler() for task EventLogIFServer - exit()
: TaskServer::signalHandler() for task WorkSiteIFServer - exit()
: TaskServer::signalHandler() for task ExternalCommsIFServer - exit()
: TaskServer::signalHandler() for task SimulatorIFServer - exit()
: TaskServer::signalHandler() for task GpsIFServer - exit()
: TaskServer::signalHandler() for task DepthSensorIFServer - exit()
: TaskServer::signalHandler() for task ctdDriver - exit()
: TaskServer::signalHandler() for task DvlIFServer - exit()
: TaskServer::signalHandler() for task FanIFServer - exit()
: TaskServer::signalHandler() for task DropWeightIFServer - exit()
:  Fan Destructor Executing.
: **** SharedData destructor for object BluefinBattOutput ****

:  DropWeight Destructor Executing.
: Supervisor::signalHandler(); caught signal 2
: **** SharedData destructor for object GpsOutput_ShmemName ****

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

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

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

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

: NavigationOutput::~NavigationOutput()

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

: Supervisor::signalHandler(); 
Never received a SIGTERM from slay, or a SIGQUIT.
I WILL START BURNING THE DROP WEIGHT WIRE IN 15 MINUTES!
To prevent a weight-drop, you must manually start
dropWeightServer before the countdown timer expires.
See devices.cfg for the syntax and serial port number.
: **** SharedData destructor for object fanOutput ****

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

: Supervisor::signalHandler(); 
Never received a SIGTERM from slay, or a SIGQUIT.
I WILL START BURNING THE DROP WEIGHT WIRE IN 15 MINUTES!
To prevent a weight-drop, you must manually start
dropWeightServer before the countdown timer expires.
See devices.cfg for the syntax and serial port number.
: **** SharedData destructor for object dropWeightOutput ****

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

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

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

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

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

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

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

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

: Supervisor::cleanup() - delete _theSupervisor

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

: Supervisor::cleanup() - delete _theSupervisor

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

: Supervisor::shutdown()

: Supervisor::shutdown() - done()

: Supervisor::shutdown() - done()

: SerialDevice: done...

:  Dvl::~Dvl: Destructor Finished.


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