Supervisor::createCoreTasks()
Supervisor::createTask() - eventLogServer
Supervisor::createTask() - workSite
Supervisor::createTask() - vehicleConfigurationServer
: Initializing worksiteServer
Superviso: WorkSite::WorkSite -- Adding attributes
r::: 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
Supervisor::createTask() - layeredCont: WorkSite::WorkSite -- Finished loading parameters
rol: 0:	1	600674.187500E	4067388.750000N	73.699997 m	10.000000 ms	channel:2
Ser: 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

S: 3:	4	600848.125000E	4069389.500000N	80.199997 m	10.000000 ms	channel:6
up: 4:	5	602732.187500E	4067093.000000N	57.299999 m	10.000000 ms	channel:7
er: WorkSite server: 0x22f48
viso: New Navigation component constructor
r::createTask() - dynamicControlSe: Navigation - Using only the Dvl to compute altitude.
rver
Supervisor::createTask() - newTailConeServer
Supervisor::createTask() - crossbowServer
Supervisor::createTask() - gpsServer
Supervisor::createTask() - parosciServer
Supervisor::: Preparing to fork

cre: I'm the child...forking

at: SerialDevice: done...

eTa: TailConeServer -- Maximum Elevator Actuator Excursion is 0 Counts
sk(: TailConeServer:: -- Minimum Elevator Actuator Excursion is 0 Counts
) -: TailConeServer -- Maximum Rudder Actuator Excursion is 0 Counts
 sea: TailConeServer -- Minimum Rudder Actuator Excursion is 0 Counts
bi: SerialDevice: done...

rdSe: SerialDevice: done...

rver
Supervisor::createTask() - b: SerialDevice: done...

luefinBattDriv: SerialDevice: done...

er
Supervisor::createTask() - dvlS: SerialDevice: done...

erve: SerialDevice: done...

r
S: Gps: initializing

up: SerialDevice: done...

: SerialDevice: done...

er: SerialDevice: done...

viso: BluefinBatt driver - running with 1 batteries
r::cre: Crossbow.cc: Setting polled mode
a: Gps: done initializing...

teTa: SerialDevice: done...

sk(): Crossbow.cc: Setting polled mode
: **** EventTriggers::add() - attaching proxy
 - fan: BluefineBatt::init() - 1 batteries on 10 second interval
S: Crossbow.cc: In getSerialNumber()
erver: seabirdDriver RUNNING...


Supervis: SerialDevice: done...

or::: BluefinBatt.cc - Looking for Parosci server
crea: SerialDevice: done...

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

s: BluefinBatt::init() - querying for batt ids
k(: GpsUtils::parseFix() - $PASHR,ACK*3D


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

: Seabird/ctdDriver -- Loading CTD constants from /home/dorado1/auv/altex/onboard/config/docking/ctdDriver.cfg

opWe: **** EventTriggers::add() - attaching proxy
ightServer
Supervisor::createTa: AshtechGps::processRecord() - $PASHR,ACK*3D

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


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

 s: SerialDevice: done...

onardyneServer
: SerialDevice: done...

: 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

: 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...

: AshtechGps::processRecord() - $GPGGA,165414.00,3636.43801,N,12152.48173,W,1,09,1.3,1.10,M,-33.25,M,,*5E

: GpsUtils::parseFix() - $GPGGA,165414.00,3636.43801,N,12152.48173,W,1,09,1.3,1.10,M,-33.25,M,,*5E


: successfully parse sentence at 16:54:14

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

: AshtechGPS::processRecord -sample time is 1148489654
: DynamicControlServer - Got event 1 from TailCone

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

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

:  DropWeight::initialize - Resetting counters.
: SerialDevice: done...

: **** EventTriggers::add() - attaching proxy
:  etting counters to default

: Sonardyne -- configuration:
	PollPeriod = 500 ms
	PresetGain = 0
	PowerLevel = 0
	LblWait    = 3 s
	ESV        = 1485.000000 m/s
	Beacon     = V5,3

: SonardyneDriver - interrogation string is POS V5,3
, timeout is 8000 ms
: SerialDevice/tcp:172.20.64.214:10001::Buffer full!
: SerialDevice/tcp:172.20.64.214:10001::Buffer full!
: SerialDevice: done...

: Sonardyne - PG response: 
PG0 PAN TDR GAIN: VLOW

: SerialDevice/tcp:172.20.64.214:10001::Buffer full!
: Sonardyne - PL response: 
PL0 PAN POWER: VLOW

: SerialDevice/tcp:172.20.64.214:10001::Buffer full!
: Sonardyne - LW response: 
LW3

: Crossbow.cc: device->read succeeded
: Crossbow.cc: I think the serial number is 107382 (1a376)
: Crossbow.cc: Setting polled mode
: PeriodicTask::run() (crossbow) - sampleInterval=100, maxInterval=100
: AshtechGps::processRecord() - $GPGGA,165415.00,3636.43784,N,12152.48141,W,1,08,1.7,-0.03,M,-33.25,M,,*77

: GpsUtils::parseFix() - $GPGGA,165415.00,3636.43784,N,12152.48141,W,1,08,1.7,-0.03,M,-33.25,M,,*77


: successfully parse sentence at 16:54:15

: AshtechGPS::processRecord -sample time is 1148489654
: PeriodicTask::run() (fanDriver) - sampleInterval=1000, maxInterval=1000
: PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200
: SerialDevice/tcp:172.20.64.214:10001::Buffer full!
: Sonardyne - VJSE response: 
VJSE ENABLED T0.5,F33.000

: PeriodicTask::run() (sonardyneDriver) - sampleInterval=500, maxInterval=500
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Parosci.cc -- Initial pressure = 0.068948
: Parosci.cc -- Parosci initial pressure period = 30.138360
: Parosci.cc -- Parosci initial temp period = 5.840553
: 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.

: **** EventTriggers::add() - attaching proxy
: EC1490
>
: 
>
:  Dvl::initialize() - The DVL is initialized.

: **** EventTriggers::add() - attaching proxy
: AshtechGps::processRecord() - $GPGGA,165416.00,3636.43815,N,12152.48183,W,1,10,1.0,1.78,M,-33.25,M,,*53

: GpsUtils::parseFix() - $GPGGA,165416.00,3636.43815,N,12152.48183,W,1,10,1.0,1.78,M,-33.25,M,,*53


: successfully parse sentence at 16:54:16

: AshtechGPS::processRecord -sample time is 1148489655
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,165417.00,3636.43799,N,12152.48172,W,1,10,1.0,0.89,M,-33.25,M,,*58

: GpsUtils::parseFix() - $GPGGA,165417.00,3636.43799,N,12152.48172,W,1,10,1.0,0.89,M,-33.25,M,,*58


: successfully parse sentence at 16:54:17

: AshtechGPS::processRecord -sample time is 1148489656
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,165418.00,3636.43749,N,12152.48192,W,1,09,1.3,3.24,M,-33.25,M,,*5B

: GpsUtils::parseFix() - $GPGGA,165418.00,3636.43749,N,12152.48192,W,1,09,1.3,3.24,M,-33.25,M,,*5B


: successfully parse sentence at 16:54:18

: AshtechGPS::processRecord -sample time is 1148489657
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: SerialDevice::confirm() - Timed Out
: Seabird/ctdDriver::initialize() - confirm() timed out; sleep a bit
: SerialDevice/tcp:172.20.64.214:10001::Buffer full!
: Sonardyne - POS response: 
POS V5,3 R0.00
OS V5,3 R0.00
POS V5,3 R0.00
POS V5,3 R0.00

: Sonardyne - parsing R0.00
OS V5,3 R0.00
POS V5,3 R0.00
POS V5,3 R0.00

: Sonardyne - R is not valid
: SerialDevice/tcp:172.20.64.214:10001::Buffer full!
: SerialDevice/tcp:172.20.64.214:10001::Buffer full!
: Sonardyne - POSD response: 
POSD S-100.0,N-2.8,D0,U0,Q0.000000

: Sonardyne - no valid response
: SerialDevice/tcp:172.20.64.214:10001::Buffer full!
: SerialDevice/tcp:172.20.64.214:10001::Buffer full!
: Sonardyne - POSD response: 
POSD S-100.0,N-2.8,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,165419.00,3636.43886,N,12152.48288,W,1,10,1.0,5.22,M,-33.25,M,,*55

: GpsUtils::parseFix() - $GPGGA,165419.00,3636.43886,N,12152.48288,W,1,10,1.0,5.22,M,-33.25,M,,*55


: successfully parse sentence at 16:54:19

: AshtechGPS::processRecord -sample time is 1148489658
:  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
: BluefinBatt::init() - battery echo is $aawf 1


: AshtechGps::processRecord() - $GPGGA,165420.00,3636.43811,N,12152.48245,W,1,10,1.0,4.39,M,-33.25,M,,*5B

: GpsUtils::parseFix() - $GPGGA,165420.00,3636.43811,N,12152.48245,W,1,10,1.0,4.39,M,-33.25,M,,*5B


: successfully parse sentence at 16:54:20

: AshtechGPS::processRecord -sample time is 1148489659
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,165421.00,3636.43803,N,12152.48248,W,1,10,1.0,4.77,M,-33.25,M,,*5E

: GpsUtils::parseFix() - $GPGGA,165421.00,3636.43803,N,12152.48248,W,1,10,1.0,4.77,M,-33.25,M,,*5E


: successfully parse sentence at 16:54:21

: AshtechGPS::processRecord -sample time is 1148489660
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,165422.00,3636.43787,N,12152.48250,W,1,10,1.0,4.58,M,-33.25,M,,*5A

: GpsUtils::parseFix() - $GPGGA,165422.00,3636.43787,N,12152.48250,W,1,10,1.0,4.58,M,-33.25,M,,*5A


: successfully parse sentence at 16:54:22

: AshtechGPS::processRecord -sample time is 1148489661
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: SerialDevice/tcp:172.20.64.214:10001::Buffer full!
: SerialDevice/tcp:172.20.64.214:10001::Buffer full!
: Sonardyne - POS response: 
POS V5,3 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: SerialDevice/tcp:172.20.64.214:10001::Buffer full!
: SerialDevice/tcp:172.20.64.214:10001::Buffer full!
: Sonardyne - POSD response: 
POSD S-100.0,N-2.8,D0,U0,Q0.000000

: Sonardyne - no valid response
: SerialDevice/tcp:172.20.64.214:10001::Buffer full!
: SerialDevice/tcp:172.20.64.214:10001::Buffer full!
: Sonardyne - POSD response: 
POSD S-100.0,N-2.8,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,165423.00,3636.43726,N,12152.48212,W,1,10,1.0,4.04,M,-33.25,M,,*5F

: GpsUtils::parseFix() - $GPGGA,165423.00,3636.43726,N,12152.48212,W,1,10,1.0,4.04,M,-33.25,M,,*5F


: successfully parse sentence at 16:54:23

: AshtechGPS::processRecord -sample time is 1148489662
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,165424.00,3636.43731,N,12152.48217,W,1,11,0.9,4.55,M,-33.25,M,,*56

: GpsUtils::parseFix() - $GPGGA,165424.00,3636.43731,N,12152.48217,W,1,11,0.9,4.55,M,-33.25,M,,*56


: successfully parse sentence at 16:54:24

: AshtechGPS::processRecord -sample time is 1148489663
:  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  
: PeriodicTask::run() (BluefinBatt) - sampleInterval=10000, maxInterval=10000
: AshtechGps::processRecord() - $GPGGA,165425.00,3636.43663,N,12152.48181,W,1,11,0.9,3.72,M,-33.25,M,,*5F

: GpsUtils::parseFix() - $GPGGA,165425.00,3636.43663,N,12152.48181,W,1,11,0.9,3.72,M,-33.25,M,,*5F


: successfully parse sentence at 16:54:25

: AshtechGPS::processRecord -sample time is 1148489664
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: SerialDevice/tcp:172.20.64.214:10001::Buffer full!
: Sonardyne - POS response: 
POS V5,3 R0.00
OS V5,3 R0.00

: Sonardyne - parsing R0.00
OS V5,3 R0.00

: Sonardyne - R is not valid
: SerialDevice/tcp:172.20.64.214:10001::Buffer full!
: Sonardyne - POSD response: 
POSD S-100.0,N-2.8,D0,U0,Q0.000000

: Sonardyne - no valid response
: SerialDevice/tcp:172.20.64.214:10001::Buffer full!
: SerialDevice/tcp:172.20.64.214:10001::Buffer full!
: Sonardyne - POSD response: 
POSD S-100.0,N-2.8,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,165426.00,3636.43649,N,12152.48177,W,1,11,0.9,3.96,M,-33.25,M,,*57

: GpsUtils::parseFix() - $GPGGA,165426.00,3636.43649,N,12152.48177,W,1,11,0.9,3.96,M,-33.25,M,,*57


: successfully parse sentence at 16:54:26

: AshtechGPS::processRecord -sample time is 1148489665
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,165427.00,3636.43674,N,12152.48198,W,1,11,0.9,4.34,M,-33.25,M,,*56

: GpsUtils::parseFix() - $GPGGA,165427.00,3636.43674,N,12152.48198,W,1,11,0.9,4.34,M,-33.25,M,,*56


: successfully parse sentence at 16:54:27

: AshtechGPS::processRecord -sample time is 1148489666
: 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,165428.00,3636.43615,N,12152.48151,W,1,11,0.9,4.07,M,-33.25,M,,*5B

: GpsUtils::parseFix() - $GPGGA,165428.00,3636.43615,N,12152.48151,W,1,11,0.9,4.07,M,-33.25,M,,*5B


: successfully parse sentence at 16:54:28

: AshtechGPS::processRecord -sample time is 1148489667
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,165429.00,3636.43593,N,12152.48145,W,1,11,0.9,3.67,M,-33.25,M,,*53

: GpsUtils::parseFix() - $GPGGA,165429.00,3636.43593,N,12152.48145,W,1,11,0.9,3.67,M,-33.25,M,,*53


: successfully parse sentence at 16:54:29

: AshtechGPS::processRecord -sample time is 1148489668
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: SerialDevice/tcp:172.20.64.214:10001::Buffer full!
: SerialDevice/tcp:172.20.64.214:10001::Buffer full!
: Sonardyne - POS response: 
POS V5,3 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: SerialDevice/tcp:172.20.64.214:10001::Buffer full!
: SerialDevice/tcp:172.20.64.214:10001::Buffer full!
: Sonardyne - POSD response: 
POSD S-100.0,N-3.0,D0,U0,Q0.000000

: Sonardyne - no valid response
: SerialDevice/tcp:172.20.64.214:10001::Buffer full!
: SerialDevice/tcp:172.20.64.214:10001::Buffer full!
: Sonardyne - POSD response: 
POSD S-100.0,N-3.0,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,165430.00,3636.43573,N,12152.48140,W,1,11,0.9,3.13,M,-33.25,M,,*53

: GpsUtils::parseFix() - $GPGGA,165430.00,3636.43573,N,12152.48140,W,1,11,0.9,3.13,M,-33.25,M,,*53


: successfully parse sentence at 16:54:30

: AshtechGPS::processRecord -sample time is 1148489669
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,165431.00,3636.43576,N,12152.48131,W,1,11,0.9,2.95,M,-33.25,M,,*5E

: GpsUtils::parseFix() - $GPGGA,165431.00,3636.43576,N,12152.48131,W,1,11,0.9,2.95,M,-33.25,M,,*5E


: successfully parse sentence at 16:54:31

: AshtechGPS::processRecord -sample time is 1148489670
:  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::initialize() - confirm() timed out again, send multiple newlines
: Seabird/ctdDriver: first Ctrl-Z  sent...

: AshtechGps::processRecord() - $GPGGA,165432.00,3636.43593,N,12152.48146,W,1,11,0.9,2.70,M,-33.25,M,,*5D

: GpsUtils::parseFix() - $GPGGA,165432.00,3636.43593,N,12152.48146,W,1,11,0.9,2.70,M,-33.25,M,,*5D


: successfully parse sentence at 16:54:32

: AshtechGPS::processRecord -sample time is 1148489671
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: SerialDevice/tcp:172.20.64.214:10001::Buffer full!
: Sonardyne - POS response: 
POS V5,3 R0.00
OS V5,3 R0.00
POS V5,3 R0.00
POS V5,3 R0.00

: Sonardyne - parsing R0.00
OS V5,3 R0.00
POS V5,3 R0.00
POS V5,3 R0.00

: Sonardyne - R is not valid
: SerialDevice/tcp:172.20.64.214:10001::Buffer full!
: SerialDevice/tcp:172.20.64.214:10001::Buffer full!
: Sonardyne - POSD response: 
POSD S-100.0,N-2.8,D0,U0,Q0.000000

: Sonardyne - no valid response
: SerialDevice/tcp:172.20.64.214:10001::Buffer full!
: SerialDevice/tcp:172.20.64.214:10001::Buffer full!
: Sonardyne - POSD response: 
POSD S-100.0,N-2.8,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,165433.00,3636.43578,N,12152.48141,W,1,11,0.9,2.87,M,-33.25,M,,*56

: GpsUtils::parseFix() - $GPGGA,165433.00,3636.43578,N,12152.48141,W,1,11,0.9,2.87,M,-33.25,M,,*56


: successfully parse sentence at 16:54:33

: AshtechGPS::processRecord -sample time is 1148489672
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,165434.00,3636.43577,N,12152.48159,W,1,11,0.9,2.58,M,-33.25,M,,*55

: GpsUtils::parseFix() - $GPGGA,165434.00,3636.43577,N,12152.48159,W,1,11,0.9,2.58,M,-33.25,M,,*55


: successfully parse sentence at 16:54:34

: AshtechGPS::processRecord -sample time is 1148489673
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,165435.00,3636.43559,N,12152.48150,W,1,11,0.9,2.82,M,-33.25,M,,*56

: GpsUtils::parseFix() - $GPGGA,165435.00,3636.43559,N,12152.48150,W,1,11,0.9,2.82,M,-33.25,M,,*56


: successfully parse sentence at 16:54:35

: AshtechGPS::processRecord -sample time is 1148489674
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $aaq0 d- 32.36  4.85 21.87 4.03 4.05 0  3824.84 02:26:20 m

: AshtechGps::processRecord() - $GPGGA,165436.00,3636.43560,N,12152.48159,W,1,10,0.9,2.84,M,-33.25,M,,*51

: GpsUtils::parseFix() - $GPGGA,165436.00,3636.43560,N,12152.48159,W,1,10,0.9,2.84,M,-33.25,M,,*51


: successfully parse sentence at 16:54:36

: AshtechGPS::processRecord -sample time is 1148489675
: SerialDevice/tcp:172.20.64.214:10001::Buffer full!
: Sonardyne - POS response: 
POS V5,3 R0.00
OS V5,3 R0.00

: Sonardyne - parsing R0.00
OS V5,3 R0.00

: Sonardyne - R is not valid
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: SerialDevice/tcp:172.20.64.214:10001::Buffer full!
: SerialDevice/tcp:172.20.64.214:10001::Buffer full!
: Sonardyne - POSD response: 
POSD S-100.0,N-2.9,D0,U0,Q0.000000

: Sonardyne - no valid response
: SerialDevice/tcp:172.20.64.214:10001::Buffer full!
: SerialDevice/tcp:172.20.64.214:10001::Buffer full!
: Sonardyne - POSD response: 
POSD S-100.0,N-2.9,D0,U0,Q0.000000

: batts online 1, min cell voltage 4.030000, mean min cell voltage 4.030000

: AshtechGps::processRecord() - $GPGGA,165437.00,3636.43569,N,12152.48179,W,1,11,0.9,2.58,M,-33.25,M,,*5B

: GpsUtils::parseFix() - $GPGGA,165437.00,3636.43569,N,12152.48179,W,1,11,0.9,2.58,M,-33.25,M,,*5B


: successfully parse sentence at 16:54:37

: AshtechGPS::processRecord -sample time is 1148489676
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: 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,  36.737845, -121.880423

:  Navigation: The lat/long in workSite.cfg, cvt'ed to UTM is 4066375.51, 599958.36

: PeriodicTask::run() (navigation) - sampleInterval=200, maxInterval=200
: **** EventTriggers::add() - attaching proxy
: LayeredControl::execute() -- (t = 0.000000) Behavior setpoint 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,165438.00,3636.43542,N,12152.48167,W,1,11,0.9,2.69,M,-33.25,M,,*50

: GpsUtils::parseFix() - $GPGGA,165438.00,3636.43542,N,12152.48167,W,1,11,0.9,2.69,M,-33.25,M,,*50


: successfully parse sentence at 16:54:38

: AshtechGPS::processRecord -sample time is 1148489677
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,165439.00,3636.43521,N,12152.48150,W,1,11,0.9,3.06,M,-33.25,M,,*58

: GpsUtils::parseFix() - $GPGGA,165439.00,3636.43521,N,12152.48150,W,1,11,0.9,3.06,M,-33.25,M,,*58


: successfully parse sentence at 16:54:39

: AshtechGPS::processRecord -sample time is 1148489678
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: SerialDevice::confirm() - Timed Out
: SerialDevice/tcp:172.20.64.214:10001::Buffer full!
: SerialDevice/tcp:172.20.64.214:10001::Buffer full!
: Sonardyne - POS response: 
POS V5,3 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: SerialDevice/tcp:172.20.64.214:10001::Buffer full!
: SerialDevice/tcp:172.20.64.214:10001::Buffer full!
: Sonardyne - POSD response: 
POSD S-100.0,N-2.9,D0,U0,Q0.000000

: Sonardyne - no valid response
: SerialDevice/tcp:172.20.64.214:10001::Buffer full!
: SerialDevice/tcp:172.20.64.214:10001::Buffer full!
: Sonardyne - POSD response: 
POSD S-100.0,N-2.9,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,165440.00,3636.43508,N,12152.48143,W,1,11,0.9,3.16,M,-33.25,M,,*5E

: GpsUtils::parseFix() - $GPGGA,165440.00,3636.43508,N,12152.48143,W,1,11,0.9,3.16,M,-33.25,M,,*5E


: successfully parse sentence at 16:54:40

: AshtechGPS::processRecord -sample time is 1148489679
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,165441.00,3636.43511,N,12152.48146,W,1,11,0.9,3.34,M,-33.25,M,,*52

: GpsUtils::parseFix() - $GPGGA,165441.00,3636.43511,N,12152.48146,W,1,11,0.9,3.34,M,-33.25,M,,*52


: successfully parse sentence at 16:54:41

: AshtechGPS::processRecord -sample time is 1148489680
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,165442.00,3636.43506,N,12152.48133,W,1,11,0.9,4.02,M,-33.25,M,,*57

: GpsUtils::parseFix() - $GPGGA,165442.00,3636.43506,N,12152.48133,W,1,11,0.9,4.02,M,-33.25,M,,*57


: successfully parse sentence at 16:54:42

: AshtechGPS::processRecord -sample time is 1148489681
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,165443.00,3636.43506,N,12152.48126,W,1,11,0.9,3.95,M,-33.25,M,,*5B

: GpsUtils::parseFix() - $GPGGA,165443.00,3636.43506,N,12152.48126,W,1,11,0.9,3.95,M,-33.25,M,,*5B


: successfully parse sentence at 16:54:43

: AshtechGPS::processRecord -sample time is 1148489682
: SerialDevice/tcp:172.20.64.214:10001::Buffer full!
: Sonardyne - POS response: 
POS V5,3 R0.00
OS V5,3 R0.00

: Sonardyne - parsing R0.00
OS V5,3 R0.00

: Sonardyne - R is not valid
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: SerialDevice/tcp:172.20.64.214:10001::Buffer full!
: SerialDevice/tcp:172.20.64.214:10001::Buffer full!
: Sonardyne - POSD response: 
POSD S-100.0,N-2.9,D0,U0,Q0.000000

: Sonardyne - no valid response
: SerialDevice/tcp:172.20.64.214:10001::Buffer full!
: SerialDevice/tcp:172.20.64.214:10001::Buffer full!
: Sonardyne - POSD response: 
POSD S-100.0,N-2.9,D0,U0,Q0.000000

: SerialDevice::confirm() - Timed Out
: Seabird/ctdDriver: confirmed power on returns: -1

: Seabird/ctdDriver: no power on detected yet...

: AshtechGps::processRecord() - $GPGGA,165444.00,3636.43499,N,12152.48127,W,1,11,0.9,3.56,M,-33.25,M,,*55

: GpsUtils::parseFix() - $GPGGA,165444.00,3636.43499,N,12152.48127,W,1,11,0.9,3.56,M,-33.25,M,,*55


: successfully parse sentence at 16:54:44

: AshtechGPS::processRecord -sample time is 1148489683
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,165445.00,3636.43492,N,12152.48124,W,1,11,0.9,3.46,M,-33.25,M,,*5D

: GpsUtils::parseFix() - $GPGGA,165445.00,3636.43492,N,12152.48124,W,1,11,0.9,3.46,M,-33.25,M,,*5D


: successfully parse sentence at 16:54:45

: AshtechGPS::processRecord -sample time is 1148489684
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $aaq0 d- 32.36  0.40 21.87 4.03 4.05 0  3824.81 02:26:30 m

: AshtechGps::processRecord() - $GPGGA,165446.00,3636.43487,N,12152.48120,W,1,11,0.9,3.41,M,-33.25,M,,*59

: GpsUtils::parseFix() - $GPGGA,165446.00,3636.43487,N,12152.48120,W,1,11,0.9,3.41,M,-33.25,M,,*59


: successfully parse sentence at 16:54:46

: AshtechGPS::processRecord -sample time is 1148489685
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: SerialDevice/tcp:172.20.64.214:10001::Buffer full!
: Sonardyne - POS response: 
POS V5,3 R0.00
OS V5,3 R0.00
POS V5,3 R0.00

: Sonardyne - parsing R0.00
OS V5,3 R0.00
POS V5,3 R0.00

: Sonardyne - R is not valid
: SerialDevice/tcp:172.20.64.214:10001::Buffer full!
: SerialDevice/tcp:172.20.64.214:10001::Buffer full!
: Sonardyne - POSD response: 
POSD S-100.0,N-2.9,D0,U0,Q0.000000

: Sonardyne - no valid response
: batts online 1, min cell voltage 4.030000, mean min cell voltage 4.030000

: SerialDevice/tcp:172.20.64.214:10001::Buffer full!
: Sonardyne - POSD response: 
POSD S-100.0,N-2.9,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,165447.00,3636.43480,N,12152.48112,W,1,11,0.9,3.35,M,-33.25,M,,*5D

: GpsUtils::parseFix() - $GPGGA,165447.00,3636.43480,N,12152.48112,W,1,11,0.9,3.35,M,-33.25,M,,*5D


: successfully parse sentence at 16:54:47

: AshtechGPS::processRecord -sample time is 1148489686
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: SerialDevice::confirm() - Timed Out
: Seabird/ctdDriver: no power on detected yet...

: AshtechGps::processRecord() - $GPGGA,165448.00,3636.43477,N,12152.48109,W,1,11,0.9,3.36,M,-33.25,M,,*53

: GpsUtils::parseFix() - $GPGGA,165448.00,3636.43477,N,12152.48109,W,1,11,0.9,3.36,M,-33.25,M,,*53


: successfully parse sentence at 16:54:48

: AshtechGPS::processRecord -sample time is 1148489687
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,165449.00,3636.43443,N,12152.48089,W,1,11,0.9,3.53,M,-33.25,M,,*5F

: GpsUtils::parseFix() - $GPGGA,165449.00,3636.43443,N,12152.48089,W,1,11,0.9,3.53,M,-33.25,M,,*5F


: successfully parse sentence at 16:54:49

: AshtechGPS::processRecord -sample time is 1148489688
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

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

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


//10/home/dorado1/auv/altex/onboard/bin/layeredControl terminated (SIGSEGV) at 0007:000375B8.
: TaskServer::signalHandler() for task NavigationIFServer - exit()
: TaskServer::signalHandler() for task DynamicControlIFServer - exit()
: TaskServer::signalHandler() for task TailConeIFServer - exit()
: TaskServer::signalHandler() for task LayeredControlIFServer - exit()
: **** SharedData destructor for object navigationOutput ****

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

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

: TaskServer::signalHandler() for task DepthSensorIFServer - exit()
: TaskServer::signalHandler() for task ExternalCommsIFServer - exit()
: **** 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 GpsOutput_ShmemName ****

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

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

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

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

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

: **** 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 dropWeightOutput ****

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

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

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

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

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

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

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

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

: Supervisor::cleanup() - delete _theSupervisor

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

: Supervisor::shutdown()

: Supervisor::shutdown() - done()

: SerialDevice: done...

:  Dvl::~Dvl: Destructor Finished.


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