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() - externalC: Using default vehicle config file "/home/dorado1/auv/altex/onboard/config/docking/vehicle.cfg"
ommsServer
Supervisor::createTask() - navigati: WorkSite::WorkSite -- Finished loading parameters
onS: 0:	1	600674.187500E	4067388.750000N	73.699997 m	10.000000 ms	channel:2
erv: 1:	2	600531.687500E	4065156.000000N	73.199997 m	10.000000 ms	channel:4
er
: 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
uper: 4:	5	602732.187500E	4067093.000000N	57.299999 m	10.000000 ms	channel:7
viso: WorkSite server: 0x22eec
r::createTask() - layeredCo: New Navigation component constructor
ntro: Navigation - Using only the Dvl to compute altitude.
lServer
Supervisor::createTask() - dynamicControlServer
Supervisor::createTask() - newTailConeServer
Supervisor::createTask() - simulator
Supervisor::createTask() - simAhrs
: Create simulator...

Supervisor::createTask(): Create VehicleConfigurationIF...

 - g: Okay...

ps: SerialDevice: done...

Ser: TailConeServer -- Maximum Elevator Actuator Excursion is 0 Counts
ver: TailConeServer:: -- Minimum Elevator Actuator Excursion is 0 Counts

: TailConeServer -- Maximum Rudder Actuator Excursion is 0 Counts
Sup: TailConeServer -- Minimum Rudder Actuator Excursion is 0 Counts
: Create attributes...

erv: SerialDevice: done...

isor: Simulator:: initPsi = 0.000000

::crea: SerialDevice: done...

te: Done creating attributes. Parse 'em...

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

createTask(: Simulator:: initPsi = 225.000000

) : Simulator:: zMax = 210.000000

- bluefi:  The utm zone is 10

nBatt:  Simulator: The lat/long in workSite.cfg is 0.641196, -2.12721
Dri:  Simulator: The lat/long in workSite.cfg, cvt'ed to UTM is 4.06638e+006, 599958
ver
: Gps: initializing

Sup: SerialDevice: done...

: SerialDevice: done...

er: SerialDevice: done...

: Invoke simulator->run()...

v: SerialDevice: done...

isor: Gps: done initializing...

::crea: **** EventTriggers::add() - attaching proxy
teTask() - dvlServ: BluefinBatt driver - running with 1 batteries
er
Su: SerialDevice: done...

per: seabirdDriver RUNNING...

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

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

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


 -: BluefinBatt.cc - Looking for Parosci server
 f: AshtechGps::processRecord() - GpsUtils::parseFix() - incomplete GGA sentence?
$PASHR,ACK*3D

anSer: SerialDevice: done...

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

er
S: BluefinBatt::init() - querying for batt ids
upervisor::createTask(): AshtechGps::processRecord() - $PASHR,ACK*3D

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


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

WeightServer
: SerialDevice: done...

Supervisor::crea: SerialDevice: done...

teTask() - sonardyneServer
: 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...
: ahrs if is Ahrs

: 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...

: AshtechGps::processRecord() - $GPGGA,172228.00,3636.83023,N,12152.61841,W,1,13,0.7,-2.59,M,-33.25,M,,*7B

: GpsUtils::parseFix() - $GPGGA,172228.00,3636.83023,N,12152.61841,W,1,13,0.7,-2.59,M,-33.25,M,,*7B


: successfully parse sentence at 17:22:28

: AshtechGPS::processRecord -sample time is 1148491348
:  DropWeight::initialize - Resetting counters.
: **** EventTriggers::add() - attaching proxy
: SerialDeviceDriver::initialize()
: 
 Starting DVL Initialization.

: SerialDevice: done...

: SerialDevice: done...

: 3 Modules found
:  Resetting counters to default

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

: MissionPlan::load() error:
Line 1: syntax error
offending text: ""

: *** LayeredControl::initialize() - couldn't load NORMAL plan "/home/dorado1/auv/altex/onboard/missions/CrossCal-15.cfg.pp"


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

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

: 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!
: Sonardyne - PL response: 
PG0 PAN TDR GAIN: VLOW
PL0 PAN POWER: VLOW

: Sonardyne - LW response: 
LW3
W3
LW3
LW3
LW3
LW3
LW3
LW3
LW3
LW3
LW3

:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: 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
JSE ENABLED T0.5,F33.000

: PeriodicTask::run() (sonardyneDriver) - sampleInterval=500, maxInterval=500
: PeriodicTask::run() (fanDriver) - sampleInterval=1000, maxInterval=1000
: AshtechGps::processRecord() - $GPGGA,172229.00,3636.83034,N,12152.61847,W,1,13,0.7,-2.66,M,-33.25,M,,*76

: GpsUtils::parseFix() - $GPGGA,172229.00,3636.83034,N,12152.61847,W,1,13,0.7,-2.66,M,-33.25,M,,*76


: successfully parse sentence at 17:22:29

: AshtechGPS::processRecord -sample time is 1148491348
: Parosci.cc -- Initial pressure = 0.068948
: PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200
: Parosci.cc -- Parosci initial pressure period = 30.138340
: Parosci.cc -- Parosci initial temp period = 5.840932
: CR1
[Parameters set to FACTORY defaults]
>
: Parosci.cc -- Paroscientific configured.
: PD5
>
: BK1
>
: TP00:00.00
>
: TE00:00:00.60
>
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: **** EventTriggers::add() - attaching proxy
: 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
: AshtechGps::processRecord() - $GPGGA,172230.00,3636.83038,N,12152.61862,W,1,13,0.7,-2.75,M,-33.25,M,,*77

: GpsUtils::parseFix() - $GPGGA,172230.00,3636.83038,N,12152.61862,W,1,13,0.7,-2.75,M,-33.25,M,,*77


: successfully parse sentence at 17:22:30

: AshtechGPS::processRecord -sample time is 1148491349
: Task "layeredControlServer" died?

Supervisor::createTask() - layeredControlServer
: 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()
: TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit()
: NavigationOutput::~NavigationOutput()

: TaskServer::signalHandler() for task NavigationIFServer - exit()
: TaskServer::signalHandler() for task DynamicControlIFServer - 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.
: TaskServer::signalHandler() for task UsblIFServer - exit()
: **** 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 ****

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

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

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

: NavigationOutput::~NavigationOutput()

: 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 TailConeInput_ShmemName ****

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

: 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 SonardyneOutput_ShmemName ****

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

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

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

: TaskServer::signalHandler() for task UsblIFServer - exit()
: **** 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.
