Supervisor::createCoreTasks()
Supervisor::createTask() - eventLogServer
Supervisor::createTask() - workSite
Supervisor::createTask() - vehicleConfigurationServer
: Initializing worksiteServer
Supervisor: WorkSite::WorkSite -- Adding attributes
::: 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::createTa: WorkSite::WorkSite -- Finished loading parameters
sk: 0:	1	600674.187500E	4067388.750000N	73.699997 m	10.000000 ms	channel:2
() -: 1:	2	600531.687500E	4065156.000000N	73.199997 m	10.000000 ms	channel:4
 la: 2:	3	598447.000000E	4067412.250000N	91.400002 m	10.000000 ms	channel:5
yer: 3:	4	600848.125000E	4069389.500000N	80.199997 m	10.000000 ms	channel:6
edCo: 4:	5	602732.187500E	4067093.000000N	57.299999 m	10.000000 ms	channel:7
ntr: WorkSite server: 0x22f58
olServer
Super: New Navigation component constructor
visor::createTask() - dynamicControlServer
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
 se: TailConeServer -- Minimum Rudder Actuator Excursion is 0 Counts
abi: SerialDevice: done...

rdS: SerialDevice: done...

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

 bluefinBattDriv: SerialDevice: done...

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

rve: SerialDevice: done...

r
Su: SerialDevice: done...

perv: Crossbow.cc: Setting polled mode
: SerialDevice: done...

is: Gps: initializing

or: BluefinBatt driver - running with 1 batteries
::c: Crossbow.cc: Setting polled mode
rea: SerialDevice: done...

teTask: Crossbow.cc: In getSerialNumber()
(: SerialDevice: done...

) - : Gps: done initializing...

fanSer: **** EventTriggers::add() - attaching proxy
: BluefineBatt::init() - 1 batteries on 10 second interval
ve: seabirdDriver RUNNING...

r
Supervisor: SerialDevice: done...

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

: BluefinBatt.cc - Looking for Parosci server
te: **** EventTriggers::add() - attaching proxy
Task(): SerialDevice: done...

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

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

isor::createTask(: SerialDevice: done...

) - sonardyneServer
: Navigation - Using only the Dvl to compute altitude.
: ahrs if is Ahrs

Sup: SerialDevice: done...

ervisor::createTask() - dockSTask::spawnServer() - execlp() of "fan" failed: Operation not permitted
erver
: 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...

: SerialDevice: done...

: SerialDevice: done...

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

: PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200
:  DropWeight::initialize - Resetting counters.
: **** EventTriggers::add() - attaching proxy
: PeriodicTask::run() (dockDriver) - sampleInterval=400, maxInterval=400
: PeriodicTask::run() (vehicleDriver) - sampleInterval=200, maxInterval=200
: SerialDeviceDriver::initialize()
: 
 Starting DVL Initialization.

: SerialDevice: done...

: Sonardyne -- configuration:
	PollPeriod = 500 ms
	PresetGain = 0
	PowerLevel = 0
	LblWait    = 3 s
	ESV        = 1485.000000 m/s
	Beacon     = V7,7

: SonardyneDriver - interrogation string is POS V7,7
, timeout is 8000 ms
: SerialDevice: done...

: 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
: SerialDeviceExt::Ping response = 0.

: Parosci.cc -- Initial pressure = 0.068948
: DockDriver:: _pingCtr = 1.
: Parosci.cc -- Parosci initial pressure period = 30.138000
: Parosci.cc -- Parosci initial temp period = 5.840384
: 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.

: SerialDeviceExt::Ping response = 1.

: 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
: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 0.

: PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200
: DockDriver:: _pingCtr = 1.
: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 0.

: DockDriver:: _pingCtr = 1.
: SerialDeviceExt::Ping response = 0.

: DockDriver:: _pingCtr = 2.
: SerialDeviceExt::Ping response = 0.

: BluefinBatt::init() - battery ids are b6  
: BluefinBatt::init() - found battery b6
: BluefinBatt::init() - battery echo is $b6wf 1


: DockDriver:: _pingCtr = 3.
: DockDriver:: Opened the TCP port.
: SerialDevice::confirm() - Timed Out
: Seabird/ctdDriver::initialize() - confirm() timed out again, send multiple newlines
: Seabird/ctdDriver: first Ctrl-Z  sent...

: Seabird/ctdDriver: sending configure commands...(23793)

: Seabird/ctdDriver: setting scans...

: SerialDeviceExt::Ping response = 0.

: DockDriver:: _pingCtr = 3.
: BluefinBatt::init() - battery watchdog state is  
: PeriodicTask::run() (BluefinBatt) - sampleInterval=10000, maxInterval=10000
: SerialDeviceExt::Ping response = 0.

: DockDriver:: _pingCtr = 3.
: SerialDevice::confirm() - Timed Out
: Lbl NavSensor - could not create LBL task interface
: Navigation: Server for aux sensor "Lbl" not found
: SerialDeviceExt::Ping response = 0.

: DockDriver:: _pingCtr = 3.
: SerialDeviceExt::Ping response = 1.

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

: Seabird/ctdDriver: setting upcast...

: Seabird/ctdDriver: setting battery type...

: DockDriver:: _pingCtr = 0.
: Seabird/ctdDriver: setting external voltages to 6...(23793)

: SerialDeviceExt::Ping response = 0.

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

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

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

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

: DockDriver:: _pingCtr = 1.
: Seabird/ctdDriver::initialize() - confirming voltage...

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

: SerialDeviceExt::Ping response = 0.

: DockDriver:: _pingCtr = 2.
: Seabird/ctdDriver::initialize() - disabling switch...

: SerialDeviceExt::Ping response = 0.

: Seabird/ctdDriver: sending DS command...

: DockDriver:: _pingCtr = 3.
: SerialDeviceExt::Ping response = 0.

: BluefinBatt Reply: $b6q0 d- 33.36  0.03 21.38 4.14 4.16 0 -22914.42 04:49:19 m

: DockDriver:: _pingCtr = 3.
: Seabird/ctdDriver::initialize() - starting logging...

: batts online 1, min cell voltage 4.140000, mean min cell voltage 4.140000

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

: Ctd/ctdDriver:initialize() - ready!
: **** EventTriggers::add() - attaching proxy
: 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,  36.802442, -121.787831

:  Navigation: The lat/long in workSite.cfg, cvt'ed to UTM is 4073642.29, 608134.77

: 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 ***

: SerialDeviceExt::Ping response = 0.

: DockDriver:: _pingCtr = 3.
: SerialDeviceExt::Ping response = 0.

: DockDriver:: _pingCtr = 3.
: SerialDeviceExt::Ping response = 0.

: DockDriver:: _pingCtr = 3.
: BluefinBatt Reply: $b6q0 d- 33.36  0.03 21.38 4.14 4.16 0 -22914.42 04:49:29 m

: batts online 1, min cell voltage 4.140000, mean min cell voltage 4.140000

: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: SerialDeviceExt::Ping response = 0.

: DockDriver:: _pingCtr = 1.
: SerialDeviceExt::Ping response = 0.

: DockDriver:: _pingCtr = 2.
: SerialDeviceExt::Ping response = 0.

: DockDriver:: _pingCtr = 3.
: SerialDeviceExt::Ping response = 0.

: DockDriver:: _pingCtr = 3.
: SerialDeviceExt::Ping response = 0.

: DockDriver:: _pingCtr = 3.
: BluefinBatt Reply: $b6q0 d- 33.32  0.00 21.38 4.14 4.16 0 -22914.42 04:49:39 m

: batts online 1, min cell voltage 4.140000, mean min cell voltage 4.140000

: SerialDeviceExt::Ping response = 0.

: DockDriver:: _pingCtr = 3.
: SerialDeviceExt::Ping response = 0.

: DockDriver:: _pingCtr = 3.
: SerialDeviceExt::Ping response = 0.

: DockDriver:: _pingCtr = 3.
: BluefinBatt Reply: $b6q0 d- 33.36  0.00 21.38 4.14 4.16 0 -22914.42 04:49:49 m

: SerialDeviceExt::Ping response = 0.

: DockDriver:: _pingCtr = 3.
: batts online 1, min cell voltage 4.140000, mean min cell voltage 4.140000

: LayeredControl::execute() -- (t = 30.197931) Behavior setpoint has changed to state Finished

: Undock duration is 100.000000

: Undock:: Network present.
: Undock: Lowering the Probe:
: LayeredControl::execute() -- (t = 30.197931) Behavior undock has changed to state Active

: LayeredControl::execute() -- (t = 30.207931) Behavior setpoint has changed to state Active

: Probe Command: down

: SerialDeviceExt::Ping response = 1.

: DockDriver:: _pingCtr = 0.
: Undock::ERROR Network connection terminated!

: SerialDeviceExt::Ping response = 0.

: DockDriver:: _pingCtr = 1.
: Undock:: Network present.
: SerialDeviceExt::Ping response = 0.

: DockDriver:: _pingCtr = 2.
: SerialDeviceExt::Ping response = 0.

: DockDriver:: _pingCtr = 3.
: Undock: The probe is down!

: Undock: Closing the TCP port.!

: SerialDeviceExt::closeSD() - closed

closeSD() tcsetattr error. : Inappropriate I/O control operation
: BluefinBatt Reply: $b6q0 d- 33.36  0.00 21.38 4.14 4.16 0 -22914.43 04:49:59 m

: batts online 1, min cell voltage 4.140000, mean min cell voltage 4.140000

: BluefinBatt Reply: $b6q0 d- 33.36  0.00 21.48 4.14 4.16 0 -22914.43 04:50:09 m

: batts online 1, min cell voltage 4.140000, mean min cell voltage 4.140000

: BluefinBatt Reply: $b6q0 d- 33.36  0.00 21.48 4.14 4.16 0 -22914.43 04:50:19 m

: batts online 1, min cell voltage 4.140000, mean min cell voltage 4.140000

: LayeredControl::execute() -- (t = 60.395863) Behavior setpoint has changed to state Finished

: BluefinBatt Reply: $b6q0 d- 33.40  0.28 21.48 4.14 4.16 0 -22914.62 04:50:29 m

: batts online 1, min cell voltage 4.140000, mean min cell voltage 4.140000

: BluefinBatt Reply: $b6q0 d- 33.09  6.92 21.38 4.14 4.16 0 -22914.62 04:50:39 m

: batts online 1, min cell voltage 4.140000, mean min cell voltage 4.140000

: BluefinBatt Reply: $b6q0 d- 33.32  0.03 21.38 4.14 4.16 0 -22915.11 04:50:49 m

: batts online 1, min cell voltage 4.140000, mean min cell voltage 4.140000

: BluefinBatt Reply: $b6q0 d- 33.36  0.00 21.38 4.14 4.16 0 -22915.12 04:50:59 m

: batts online 1, min cell voltage 4.140000, mean min cell voltage 4.140000

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Undock::execute() - depth = -0.1; duration exceeded - ABORTING THE MISSION.

: Abort request issued by behavior "undock"

: *** LayeredControl - initiating mission abort... ***
: Initiating Mission Abort!

: **** EventTriggers::add() - attaching proxy
: LayeredControl::execute() -- (t = 105.392780) Behavior setpoint has changed to state Active

: LayeredControl::execute() -- (t = 105.392780) Behavior missionTimer has changed to state Active

: **** 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()

//10/home/dorado1/auv/altex/onboard/bin/layeredControl terminated (SIGSEGV) at 0007:00039948.
: TaskServer::signalHandler() for task NavigationIFServer - exit()
: NavigationOutput::~NavigationOutput()

: TaskServer::signalHandler() for task DynamicControlIFServer - exit()
: TaskServer::signalHandler() for task TailConeIFServer - exit()
: TaskServer::signalHandler() for task DockIFServer - 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()
: TaskServer::signalHandler() for task FanIFServer - exit()
: TaskServer::signalHandler() for task DropWeightIFServer - exit()
: TaskServer::signalHandler() for task FanIFServer - exit()
: **** SharedData destructor for object DockOutput_ShmemName ****

: **** SharedData destructor for object VehicleOutput_ShmemName ****

: **** SharedData destructor for object BluefinBattOutput ****

:  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 SonardyneOutput_ShmemName ****

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

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

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

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

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

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

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

: NavigationOutput::~NavigationOutput()

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

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

: **** SharedData destructor for object DockOutput_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.
: SerialDeviceExt::closeSD() - closed

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

: TaskServer::signalHandler() for task DockIFServer - exit()
: **** SharedData destructor for object ctdDriverSeabirdOutput_ShmemName ****

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

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

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

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

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

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

: TaskServer::signalHandler() for task ctdDriver - exit()
: TaskServer::signalHandler() for task UsblIFServer - 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 DropWeightIFServer - exit()
: TaskServer::signalHandler() for task AhrsIFServer - exit()
: Supervisor::shutdown()

: Supervisor::shutdown() - done()

: SerialDevice: done...

:  Dvl::~Dvl: Destructor Finished.


//10/home/dorado1/auv/altex/onboard/bin/dvl terminated (SIGSEGV) at 0007:000242FF.
