Supervisor::createCoreTasks()
Supervisor::createTask() - eventLogServer
Supervisor::createTask() - workSite
Supervisor::createTask() - vehicleConfigurationServer
: Initializing worksiteServer
Supervis: WorkSite::WorkSite -- Adding attributes
or: 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
Superviso: WorkSite::WorkSite -- Finished loading parameters
r::: 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
eate: 2:	3	598447.000000E	4067412.250000N	91.400002 m	10.000000 ms	channel:5
Tas: 3:	4	600848.125000E	4069389.500000N	80.199997 m	10.000000 ms	channel:6
k() : 4:	5	602732.187500E	4067093.000000N	57.299999 m	10.000000 ms	channel:7
- l: WorkSite server: 0x22f48
ayeredControlServer
Sup: New Navigation component constructor
ervisor::cre: Navigation - Using only the Dvl to compute altitude.
ateTask() - dynamicControlServer
Supervisor::createTask() - newTailConeServer
Supervisor::createTask() - simulator
Supervisor::createTask() - simAhrs
Supervisor::createT: Create simulator...

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

teT: Okay...

ask() - paro: SerialDevice: done...

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

iS: TailConeServer:: -- Minimum Elevator Actuator Excursion is 0 Counts
erve: Simulator:: initPsi = 0.000000

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

rv: TailConeServer -- Minimum Rudder Actuator Excursion is 0 Counts
isor::: SerialDevice: done...

cre: SerialDevice: done...

ateTask() - seabirdServer
Supervisor::createTask() - bluefinBattDriver
Supervisor::createTask() - dv: SerialDevice: done...

lServer: SerialDevice: done...


Superv: Simulator:: initPsi = 225.000000

is: Simulator:: zMax = 210.000000

or::: SerialDevice: done...

cre: SerialDevice: done...

a: BluefinBatt driver - running with 1 batteries
te:  The utm zone is 10

Task() : SerialDevice: done...

- f:  Simulator: The lat/long in workSite.cfg is 0.641196, -2.12721
anS: Gps: initializing

: BluefineBatt::init() - 1 batteries on 10 second interval
:  Simulator: The lat/long in workSite.cfg, cvt'ed to UTM is 4.06638e+006, 599958
erver: SerialDevice: done...


Supervis: ahrs if is Ahrs

o: Gps: done initializing...

: Invoke simulator->run()...

r::c: **** EventTriggers::add() - attaching proxy
re: BluefinBatt.cc - Looking for Parosci server
ateTask(): SerialDevice: done...

 : AshtechGps::processRecord() - D

- dr: SerialDevice: done...

: BluefinBatt::init() - querying for batt ids
o: GpsUtils::parseFix() - D


pWeightSer: AshtechGps::processRecord() - GpsUtils::parseFix() - incomplete GGA sentence?
D

ver: seabirdDriver RUNNING...


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

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

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


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

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

neServer
: SerialDevice: done...

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

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

: 3 Modules found
: SerialDevice: done...

: AshtechGps::processRecord() - $GPGGA,165727.00,3636.41838,N,12152.47445,W,1,10,1.5,3.49,M,-33.25,M,,*5A

: GpsUtils::parseFix() - $GPGGA,165727.00,3636.41838,N,12152.47445,W,1,10,1.5,3.49,M,-33.25,M,,*5A


: successfully parse sentence at 16:57:27

: AshtechGPS::processRecord -sample time is 1148489847
:  DropWeight::initialize - Resetting counters.
: 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

: **** EventTriggers::add() - attaching proxy
: Seabird/ctdDriver::Seabird() - create interface to depth sensor...
: Seabird/ctdDriver -- constructing Log...

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

: SerialDevice: done...

: CTDLog.cc -- beginning constructor...

: CTDLog.cc -- constructor succeeded

:  s to default

: Seabird/ctdDriver -- constructor succeeded

: seabirdDriver -- constructor succeeded

: Seabird/ctdDriver:initializing Seabird...

: SerialDevice: done...

: 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
: Sonardyne - PG response: 
POS V5,3 R0.00

: SerialDevice/tcp:172.20.64.214:10001::Buffer full!
: SerialDevice/tcp:172.20.64.214:10001::Buffer full!
: SerialDevice/tcp:172.20.64.214:10001::Buffer full!
: SerialDevice/tcp:172.20.64.214:10001::Buffer full!
: SerialDevice/tcp:172.20.64.214:10001::Buffer full!
: SerialDevice/tcp:172.20.64.214:10001::Buffer full!
: SerialDevice/tcp:172.20.64.214:10001::Buffer full!
: SerialDevice/tcp:172.20.64.214:10001::Buffer full!
: SerialDevice/tcp:172.20.64.214:10001::Buffer full!
: SerialDevice/tcp:172.20.64.214:10001::Buffer full!
: SerialDevice/tcp:172.20.64.214:10001::Buffer full!
: SerialDevice/tcp:172.20.64.214:10001::Buffer full!
: SerialDevice/tcp:172.20.64.214:10001::Buffer full!
: SerialDevice/tcp:172.20.64.214:10001::Buffer full!
: SerialDevice/tcp:172.20.64.214:10001::Buffer full!
: SerialDevice/tcp:172.20.64.214:10001::Buffer full!
: Sonardyne - PL response: 
PG0 PAN TDR GAIN: VLOW
PL0 PAN POWER: VLOW

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

: SerialDevice: done...

: SerialDevice/tcp:172.20.64.214:10001::Buffer full!
: 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
: PeriodicTask::run() (fanDriver) - sampleInterval=1000, maxInterval=1000
: AshtechGps::processRecord() - $GPGGA,165728.00,3636.41843,N,12152.47504,W,1,10,1.5,2.97,M,-33.25,M,,*5F

: GpsUtils::parseFix() - $GPGGA,165728.00,3636.41843,N,12152.47504,W,1,10,1.5,2.97,M,-33.25,M,,*5F


: successfully parse sentence at 16:57:28

: AshtechGPS::processRecord -sample time is 1148489847
: Parosci.cc -- Initial pressure = 0.068948
:  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 = 30.138290
: Parosci.cc -- Parosci initial temp period = 5.840536
: Parosci.cc -- Paroscientific configured.
: **** EventTriggers::add() - attaching proxy
: 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,165729.00,3636.41802,N,12152.47452,W,1,10,1.5,3.16,M,-33.25,M,,*51

: GpsUtils::parseFix() - $GPGGA,165729.00,3636.41802,N,12152.47452,W,1,10,1.5,3.16,M,-33.25,M,,*51


: successfully parse sentence at 16:57:29

: AshtechGPS::processRecord -sample time is 1148489848
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,165730.00,3636.41804,N,12152.47463,W,1,10,1.5,2.76,M,-33.25,M,,*5A

: GpsUtils::parseFix() - $GPGGA,165730.00,3636.41804,N,12152.47463,W,1,10,1.5,2.76,M,-33.25,M,,*5A


: successfully parse sentence at 16:57:30

: AshtechGPS::processRecord -sample time is 1148489849
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,165731.00,3636.41846,N,12152.47490,W,1,10,1.5,3.20,M,-33.25,M,,*53

: GpsUtils::parseFix() - $GPGGA,165731.00,3636.41846,N,12152.47490,W,1,10,1.5,3.20,M,-33.25,M,,*53


: successfully parse sentence at 16:57:31

: AshtechGPS::processRecord -sample time is 1148489850
:  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

: 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,165732.00,3636.41864,N,12152.47489,W,1,10,1.5,3.94,M,-33.25,M,,*57

: GpsUtils::parseFix() - $GPGGA,165732.00,3636.41864,N,12152.47489,W,1,10,1.5,3.94,M,-33.25,M,,*57


: successfully parse sentence at 16:57:32

: AshtechGPS::processRecord -sample time is 1148489851
:  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,165733.00,3636.41918,N,12152.47419,W,1,10,1.5,7.27,M,-33.25,M,,*59

: GpsUtils::parseFix() - $GPGGA,165733.00,3636.41918,N,12152.47419,W,1,10,1.5,7.27,M,-33.25,M,,*59


: successfully parse sentence at 16:57:33

: AshtechGPS::processRecord -sample time is 1148489852
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,165734.00,3636.41858,N,12152.47400,W,1,10,1.5,6.19,M,-33.25,M,,*5F

: GpsUtils::parseFix() - $GPGGA,165734.00,3636.41858,N,12152.47400,W,1,10,1.5,6.19,M,-33.25,M,,*5F


: successfully parse sentence at 16:57:34

: AshtechGPS::processRecord -sample time is 1148489853
:  wdt = 00893,  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
: AshtechGps::processRecord() - $GPGGA,165735.00,3636.41889,N,12152.47438,W,1,09,1.5,6.51,M,-33.25,M,,*5D

: GpsUtils::parseFix() - $GPGGA,165735.00,3636.41889,N,12152.47438,W,1,09,1.5,6.51,M,-33.25,M,,*5D


: successfully parse sentence at 16:57:35

: SerialDevice/tcp:172.20.64.214:10001::Buffer full!
: AshtechGPS::processRecord -sample time is 1148489854
: Sonardyne - POSD response: 
POSD S-100.0,N-2.8,D0,U0,Q0.000000

:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,165736.00,3636.41874,N,12152.47419,W,1,09,1.5,6.91,M,-33.25,M,,*53

: GpsUtils::parseFix() - $GPGGA,165736.00,3636.41874,N,12152.47419,W,1,09,1.5,6.91,M,-33.25,M,,*53


: successfully parse sentence at 16:57:36

: AshtechGPS::processRecord -sample time is 1148489855
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,165737.00,3636.41854,N,12152.47407,W,1,10,1.5,6.88,M,-33.25,M,,*5F

: GpsUtils::parseFix() - $GPGGA,165737.00,3636.41854,N,12152.47407,W,1,10,1.5,6.88,M,-33.25,M,,*5F


: successfully parse sentence at 16:57:37

: AshtechGPS::processRecord -sample time is 1148489856
:  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,165738.00,3636.41805,N,12152.47393,W,1,10,1.5,5.80,M,-33.25,M,,*55

: GpsUtils::parseFix() - $GPGGA,165738.00,3636.41805,N,12152.47393,W,1,10,1.5,5.80,M,-33.25,M,,*55


: successfully parse sentence at 16:57:38

: AshtechGPS::processRecord -sample time is 1148489857
:  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
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-2.8,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,165739.00,3636.41807,N,12152.47399,W,1,10,1.5,5.68,M,-33.25,M,,*5A

: GpsUtils::parseFix() - $GPGGA,165739.00,3636.41807,N,12152.47399,W,1,10,1.5,5.68,M,-33.25,M,,*5A


: successfully parse sentence at 16:57:39

: AshtechGPS::processRecord -sample time is 1148489858
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,165740.00,3636.41820,N,12152.47393,W,1,10,1.5,6.05,M,-33.25,M,,*53

: GpsUtils::parseFix() - $GPGGA,165740.00,3636.41820,N,12152.47393,W,1,10,1.5,6.05,M,-33.25,M,,*53


: successfully parse sentence at 16:57:40

: AshtechGPS::processRecord -sample time is 1148489859
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Lbl NavSensor - could not create LBL task interface
: Navigation: Server for aux sensor "Lbl" not found
: AshtechGps::processRecord() - $GPGGA,165741.00,3636.41818,N,12152.47399,W,1,10,1.5,5.83,M,-33.25,M,,*5E

: GpsUtils::parseFix() - $GPGGA,165741.00,3636.41818,N,12152.47399,W,1,10,1.5,5.83,M,-33.25,M,,*5E


: successfully parse sentence at 16:57:41

: AshtechGPS::processRecord -sample time is 1148489860
:  wdt = 00895,  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!
: 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
: AshtechGps::processRecord() - $GPGGA,165742.00,3636.41799,N,12152.47383,W,1,09,1.5,5.89,M,-33.25,M,,*52

: GpsUtils::parseFix() - $GPGGA,165742.00,3636.41799,N,12152.47383,W,1,09,1.5,5.89,M,-33.25,M,,*52


: successfully parse sentence at 16:57:42

: AshtechGPS::processRecord -sample time is 1148489861
: SerialDevice/tcp:172.20.64.214:10001::Buffer full!
: Sonardyne - POSD response: 
POSD S-100.0,N-2.8,D0,U0,Q0.000000

:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,165743.00,3636.41824,N,12152.47422,W,1,09,1.5,5.90,M,-33.25,M,,*5E

: GpsUtils::parseFix() - $GPGGA,165743.00,3636.41824,N,12152.47422,W,1,09,1.5,5.90,M,-33.25,M,,*5E


: successfully parse sentence at 16:57:43

: AshtechGPS::processRecord -sample time is 1148489862
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,165744.00,3636.41744,N,12152.47394,W,1,09,1.5,4.22,M,-33.25,M,,*52

: GpsUtils::parseFix() - $GPGGA,165744.00,3636.41744,N,12152.47394,W,1,09,1.5,4.22,M,-33.25,M,,*52


: successfully parse sentence at 16:57:44

: AshtechGPS::processRecord -sample time is 1148489863
:  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,165745.00,3636.41770,N,12152.47410,W,1,09,1.5,4.53,M,-33.25,M,,*59

: GpsUtils::parseFix() - $GPGGA,165745.00,3636.41770,N,12152.47410,W,1,09,1.5,4.53,M,-33.25,M,,*59


: successfully parse sentence at 16:57:45

: AshtechGPS::processRecord -sample time is 1148489864
:  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!
: 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,165746.00,3636.41797,N,12152.47420,W,1,09,1.5,5.29,M,-33.25,M,,*5C

: GpsUtils::parseFix() - $GPGGA,165746.00,3636.41797,N,12152.47420,W,1,09,1.5,5.29,M,-33.25,M,,*5C


: successfully parse sentence at 16:57:46

: AshtechGPS::processRecord -sample time is 1148489865
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,165747.00,3636.41797,N,12152.47451,W,1,09,1.5,4.98,M,-33.25,M,,*50

: GpsUtils::parseFix() - $GPGGA,165747.00,3636.41797,N,12152.47451,W,1,09,1.5,4.98,M,-33.25,M,,*50


: successfully parse sentence at 16:57:47

: AshtechGPS::processRecord -sample time is 1148489866
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,165748.00,3636.41730,N,12152.47432,W,1,09,1.5,3.94,M,-33.25,M,,*5C

: GpsUtils::parseFix() - $GPGGA,165748.00,3636.41730,N,12152.47432,W,1,09,1.5,3.94,M,-33.25,M,,*5C


: successfully parse sentence at 16:57:48

: AshtechGPS::processRecord -sample time is 1148489867
:  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  0.94 21.87 4.03 4.05 0  3824.16 02:29:33 m

: 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-2.9,D0,U0,Q0.000000

: Sonardyne - no valid response
: AshtechGps::processRecord() - $GPGGA,165749.00,3636.41708,N,12152.47433,W,1,09,1.5,3.76,M,-33.25,M,,*5B

: GpsUtils::parseFix() - $GPGGA,165749.00,3636.41708,N,12152.47433,W,1,09,1.5,3.76,M,-33.25,M,,*5B


: successfully parse sentence at 16:57:49

: AshtechGPS::processRecord -sample time is 1148489868
: 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

:  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 4.030000, mean min cell voltage 4.030000

: AshtechGps::processRecord() - $GPGGA,165750.00,3636.41687,N,12152.47429,W,1,09,1.5,3.72,M,-33.25,M,,*5A

: GpsUtils::parseFix() - $GPGGA,165750.00,3636.41687,N,12152.47429,W,1,09,1.5,3.72,M,-33.25,M,,*5A


: successfully parse sentence at 16:57:50

: AshtechGPS::processRecord -sample time is 1148489869
:  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
: AshtechGps::processRecord() - $GPGGA,165751.00,3636.41630,N,12152.47391,W,1,09,1.5,3.20,M,-33.25,M,,*54

: GpsUtils::parseFix() - $GPGGA,165751.00,3636.41630,N,12152.47391,W,1,09,1.5,3.20,M,-33.25,M,,*54


: successfully parse sentence at 16:57:51

: AshtechGPS::processRecord -sample time is 1148489870
: **** 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 ***

: !!!! Simulator::missionStatusCallback() - Got event 0 from "layeredControl"

: Event received at _simTime=0.02
: Simulator::missionStatusCallback() - mission started

:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,165752.00,3636.41616,N,12152.47391,W,1,09,1.5,2.00,M,-33.25,M,,*50

: GpsUtils::parseFix() - $GPGGA,165752.00,3636.41616,N,12152.47391,W,1,09,1.5,2.00,M,-33.25,M,,*50


: successfully parse sentence at 16:57:52

: AshtechGPS::processRecord -sample time is 1148489871
: GetGPS::execute() -- Got a new GPS hit: 2 of 10 needed
:  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!
: 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!
: 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::confirm() - Timed Out
: 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,165753.00,3636.41657,N,12152.47423,W,1,08,1.7,1.92,M,-33.25,M,,*51

: GpsUtils::parseFix() - $GPGGA,165753.00,3636.41657,N,12152.47423,W,1,08,1.7,1.92,M,-33.25,M,,*51


: successfully parse sentence at 16:57:53

: AshtechGPS::processRecord -sample time is 1148489872
: GetGPS::execute() -- Got a new GPS hit: 3 of 10 needed
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,165754.00,3636.41644,N,12152.47403,W,1,08,1.7,1.86,M,-33.25,M,,*53

: GpsUtils::parseFix() - $GPGGA,165754.00,3636.41644,N,12152.47403,W,1,08,1.7,1.86,M,-33.25,M,,*53


: successfully parse sentence at 16:57:54

: AshtechGPS::processRecord -sample time is 1148489873
: GetGPS::execute() -- Got a new GPS hit: 4 of 10 needed
:  wdt = 00892,  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 SimulatorIFServer - 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 VehicleConfigurationIFServer - exit()
: TaskServer::signalHandler() for task NavigationIFServer - exit()
: TaskServer::signalHandler() for task DynamicControlIFServer - exit()
: TaskServer::signalHandler() for task TailConeIFServer - exit()
: TaskServer::signalHandler() for task LayeredControlIFServer - exit()
: 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 GpsOutput_ShmemName ****

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

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

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

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

: NavigationOutput::~NavigationOutput()

: **** 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 ctdDriverSeabirdOutput_ShmemName ****

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

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

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

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

: Supervisor::cleanup() - delete _theSupervisor

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

: Supervisor::shutdown() - done()

: SerialDevice: done...

:  Dvl::~Dvl: Destructor Finished.


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